Instant centers of velocity (Section 3.

13)
Instant center - point in the plane about which a link can be thought to rotate relative to another link (this link can be the ground) An instant center is either (a) a pin point or a (b) two points - - one for each body -- whose positions coincide and have same velocities. 2 2 Instant center: I12 Link 1 (ground) Instant center, I12 1 (ground)
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Finding instant centers

By inspection (e.g. a pinned joint is an instant center) Using rules Aronhold-Kennedy rule

Rules for finding instant centers

Sliding body on curved surface Sliding body on flat surface
2

2
1 1

I12
Rolling wheel (no slip)

I12 is at infinity
common normal

Sliding bodies
2 3

I12 (point of contact)

I23

Common tangent (axis of slip) 3

Link is pivoting about the instant center of this link and the ground link
I13

Link 3 rotates about instant center I13

For each pair of links we have an instant center. Number of centers of rotation is the number of all possible combinations of pairs of objects from a pool of n objects, n(n 1) 2

number of links number of instant centers 3 3 4 5 6 10

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Aronhold-Kennedy rule
Any three bodies have three instant centers that are colinear

Instant centers of four-bar linkage

I13

3 I23 I24 2 I12 1

I34

4 I14
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Velocity analysis using instant centers (Section 3.16)

Problem:

Know 2
Find 3 and 4

I13

VA
2 2 I12

3 A

VB
4

I14 1
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Velocity analysis using instant centers (continued)

Steps 1. Find VA, normal to O2A, magnitude= 2(O2A) 2. Find 3=length of VA/ (I13A) 3. Find VB, normal to O4B, magnitude= 3(I13B) 4. Find 4=length of VB/ (O4B)
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Velocity ratio (Section 3.17)

velocity ratio output vel ocity 4 O2 A input velo city 2 O4 B

B
4 4 O4

A
2 O2

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