ENERGY METHODS- VIRTUAL WORK Newton method provides complete information about all interior forces at pin joints

as well as about the external forces and torques on the mechanisms. One consequence of this fact is the relative complexity of their application which requires the simultaneous solution of large system of equations. Energy methods for solution of these problems are easier but it gives less information. Only the external, work producing, forces and torques are found by these methods. The internal joint forces are not computed. One chief value of the energy approach is its use as a quick check on the correctness of the Newtonian soln for input torque.

Example Find the magnitude and direction of the moment must be applied to link 2 to drive the linkage against a 100 N force at the point E of the link 4 as shown. Use virtual displacement method

D(6cm, 3cm) y 2 A 60o x 1 C B 3 4

100 N

AB=DE=2.5 cm, DC=4 cm, BC=5.7cm

Solution

D y
2

E R4 100 N

B 3
o

T 2 A 60 1 x

4 C

v v v v v v FE = 100 j , R E = 0 .025 ; R E = 0 .025 * 4 j

W = F R = 0 ; Tk ( 2 k ) + FE R E = 0 T * 2 + 100 * 0 .025 * 4 = 0
4
We need the ratio of analysis.
dt . This ratio can easily be found from instantaneous velocity dt

D I14 y 2 A I23 B
o

E
1 2

3 I24 VI24 I34 C 4

4 3

60 I12 1

V I 24 = AI 24 * 2 = 0 .029 *

2
dt

and V I 24 = DI 24 * 4 = 0 .0345 *

4
dt

4 0 .029 = = 0 .8405 Substituting this into above equation. 2 0 .0345

T = 100 * 0 .025 * 0 .8405 = 2 .1 Nm CCW ANSWER

Example: Calculate the magnitude of the external motor torque on crank AB to drive the linkage against a 100 N and 50 N force at the point D of the link 4 as shown. Use virtual displacement method. Mechanism is given is scale.

C 3 D(6cm, 3cm) B
2

50 N 4 100 N
x

2 = 2 k v v 2 = k

v v F100 = 100 i v v F50 = 50 j v v x = x i

y 2 A 1 120
o

v v v v v v v v v 0 = ( 2 k k ) + (( 100 i ) ( x i )) + (( 50 i ) ( x i )) 0 = 2 * + 100 * x + 0 x x dt . This ratio can easily be 2 * = 100 * x 2 = 100 . We need the ratio of

W = + F r = 0

dt

found from instantaneous velocity analysis.

C I34 3 VI24 B I23 2 1

V I 24 =

4 D(6cm, 3cm) I34 1 100 N 2

I24 y A 120 I12

* AI 24 =
o

x
x
dt

3
CW CEVAP

dt

x = 0 .029 , 2 = 100 ( 0 .029 ) = 2 .9 Nm