Analytical approach for Kinematic

Analysis of Mechanism

By
Shivaprasad.P
Introduction:

The analysis using graphical approach are
suitable for finding out velocity acceleration of
the link mechanism in one or two position.

The process of finding velocity and acceleration
at various configuration by graphical method
becomes a tedious task .

Hence possible alternative derivation of
analytical expression using general parameters.

These expressions can then be coded using any
programming language and executed.
 Background

The principal goal of kinematic analysis is to determine the
accelerations of all the moving parts in the assembly.

Dynamic forces are proportional to acceleration, from
Newton's second law.

We need to know the dynamic forces in order to calculate the
stresses in the components.

Thus the stresses in the materials must be kept well below
allowable levels. To calculate the stresses, we need to know the
static and dynamic forces on the parts.

To calculate the dynamic forces, we need to know the
accelerations.

In order to calculate the accelerations, we must first find the
positions of all the links or elements in the mechanism for
each increment of input motion, and then differentiate the
position equations versus time to find velocities, and then
differentiate again to obtain the expressions for acceleration.
Methods

Vector method.

Absolute Cartesian method .
Vector method:

Description of Vector:

A vector r has two components in the (x,y) plane: rx and ry .


It is important for the sake of consistency
and to formalize the analysis to adopt a
convention for the positive angles
characterizing vector directions.

It is taken that the positive angle ‘α’ is
always directed counterclockwise and is
measured from the positive direction of
the x-axis.
Vector loop:
 •If one starts from point O and continues through points A and B, one will come
back again to O.
•The system of vectors thus makes a loop.
•The mathematical representation of this requirement is that the sum of all
vectors in the loop must be equal to zero.

The above equation can be segregated in to two equations

r1 cos Θ1 + r2 cos Θ 2 + r3 cos Θ 3 = 0

r1 sin Θ1 + r2 sin Θ 2 + r3 sin Θ 3 = 0

Example: 4 bar mechanism

Vector loop equation :



Rewriting the eqn :

Since θ1 = 0

Similarly,
Complex Numbers as vectors
Advantages over graphical method

If we choose to use the graphical approach to analysis,
we will have to do an independent graphical solution for
each of the positions of interest.

None of the information obtained graphically for the
first position will be applicable to the second position
or to any others.

The analytical solution is derived for a particular
mechanism, it can be quickly solved for all positions.(by
coding)

Reference:

Robert.L.Norton, DESIGN OF
MACHINERY: An Introduction to the
Synthesis and Analysis of Mechanisms and
Machines, McGraw Hill Inc, 1999,Second
edition.

Oleg Vinogradov, FUNDAMENTALS of
KINEMATICS and DYNAMICS of
MACHINES and MECHANISMS, CRC-
Press, 2000,First Edition.