FORCE ANALYSIS OF MECHANISMS

Methods of Linkage Force Analysis Superposition Method (sequential solution of links/subsystems equations). Two approaches can be used o Graphical layout o Hand calculation Matrix Method: computer solution (simultaneous solution of system of equations) The steps of solving a mechanism under static loading is reviewed first, then D'Alembert principle and inertia forces are introduced, which converts the dynamic problem into kinetostatic problem, where the superposition method and the graphical approach can be utilized. Newton's Equations: Statics: = 0 = 0

In planar mechanism the vector force equation is equivalent to two scalar equations in the x and y directions, and the moment equation is just a single equation in the zdirection

STATIC FORCE ANALYSIS SUPERPOSITION - GRAPHICAL METHOD Static Force Systems In the graphical approach it is useful to recognize the following static force system to determine the directions (line of action but not the sense) of the internal forces.
1. Two Force Member: a rigid body acted upon by two forces is in static equilibrium only if the two forces are collinear, equal in magnitude, and opposite in direction.

2. Three Force Member: a rigid body acted upon by three forces is in static equilibrium only if the three forces are concurrent at some point and their sum is zero.

3. A rigid body acted upon by a couple is in static equilibrium only if acted upon by another coplanar couple, which is equal in magnitude, and opposite in direction.

Internal Forces at cut joints: Revolute

A revolute joining link-1 and link-2 has two constraints (internal force vector) that prevent the relative translation motion between the two links and has a DOF in the rotation direction.

Prismatic
A prismatic joining link-1 and link-2 has two constraints (internal force and moment) that prevent the relative translation motion in the tangent direction and the relative rotation. The prismatic has a DOF in the tangent direction.

Higher Pairs
A higher pair joint such as between meshing gears, can and follower, or pin and slot has one constraint (internal force) in the normal direction and two DOF in the tangent and rotational directions.

Graphical Static Force Analysis (Using Force Polygon Method) Following are the Steps for graphically solving static force problem in mechanisms 1. Graphical position analysis: draw the space diagram (mechanism configuration) at the required position using a suitable scale. 2. On the space diagram draw the external forces/moments acting on the mechanism in their corresponding locations. 3. Draw the free body diagram for each subsystem: a. Introduce cuts at joints or links' sections, draw an exploded drawing of the mechanism (break the mechanism into a suitable number of subsystems-links/group of links), b. Draw the external forces on the links and internal constraining forces at the introduced cuts. 4. Identify the type of static force system for each subsystem and apply the conditions of equilibrium to get information about the unknown internal forces. 5. Analyze links sequentially by drawing the force polygon for each subsystem/link a. Start with the link which can be analyzed immediately (subject to known external force) b. Use the results from the previous step to construct remaining force polygons by examining forces transmitted between subsystems. Youtube Videos

a) Four bar mechanism: http://www.youtube.com/watch?v=x2zzkIu8uAo b) Slider crank: http://www.youtube.com/watch?v=AVyfRqqyUR0 c) Complex mechanism: http://www.youtube.com/watch?v=s08Mde4aflE

Example: Four bar mechanism (same as video-a above) Required to determine the magnitude and direction of M12 in equilibrium with the external force P

1. The space diagram (mechanism configuration) is drawn at the required position using a suitable scale. 2. On the space diagram the external force is drawn acting on link-4 in its position.

3. Introduce cuts, identify the internal forces at the cuts, and draw the free body diagram for each subsystem. a. Introduce cuts at joints or links' sections, draw an exploded drawing of the mechanism (break the mechanism into a suitable number of subsystemslinks/group of links), b. Draw the external forces on the links and internal constraining forces at the introduced cuts.

Note the notation of the internal forces. For example F23 is the force from link-2 on link3. Also note the Newton third law is used. For example F23 is equal to F32 and opposite in direction. At this stage neither the directions nor magnitudes of the internal forces are known.

4. Identify the type of static force system for each subsystem and apply the conditions of equilibrium to get information about the directions of the unknown internal forces.

As link-3 is two force member hence the directions of F23 and F43 are known. Hence the directions of F32 and F34 are known. As link 4 is three force member with the direction of the external force P and F34 known, the direction of F14 is defined. As link-2 is subject to moment M12, hence for static equilibrium F12 is parallel to F32 to form a couple which is equal in magnitude and opposite in direction to M12.

5. Analyze links sequentially by drawing the force polygon for each subsystem/link a. Start with the link which can be analyzed immediately (subject to known external force)

As the external force P is known in magnitude and direction we start drawing the force polygon of link-4. Starting with the external force P which is known in magnitude and sense (arrow direction), the force P is first drawn to scale. Then the intersection of the two lines which are parallel to F14 and F34 are drawn at the ends of P define the polygon (triangle in this case). The senses of F14 and F34 (their arrows directions) are drawn such that the polygon closes to satisfy = 0, or in this case: P+F14+F34 = 0 As shown in the figure the force polygon may be drawn in two ways, however the result, i.e., the magnitude and sense of direction of F34 and F14 are the same.

b. Use the results from the previous step to construct remaining force polygons by examining forces transmitted between subsystems.

With F34 is known from the force polygon of link-4, hence F43, F23, F32, and F12 are all known in magnitude and sense of action. F32, and F12 form a couple which is equal and opposite to M12. Hence M12 = F12 X d, where d is the normal distance between F32, and F12. The distance d is measured from the space diagram and space scale is utilized.

Note 1: All the five steps of graphical force analysis are done on the same page as shown below.

Note 2: One can save time by careful draw the directions of the internal forces and the force polygons directly on the space diagram without an exploded drawing and FBD

Problems

In solving the problems do the following: Print the problem page and consider the space diagram is drawn according to the scale given in the problem. Hence steps 1 and 2 are completed. On the printed page directly solve the problem starting from step 3. You will need your drawing tools. Ether use: A drawing board, hence fix the printed page on the board and start solving the problem. or Just use triangles (45x45 and 30x60) to draw parallel lines. Of course in both cases you will need panicle, eraser, scaled straight edge, etc.

1. Determine the shaft torque Ts at O2 in static equilibrium with the shown external force (S.S. 1:5)

2. Determine the shaft torque Ts at O2 in static equilibrium with the shown external force (S.S. 1:5)

3. Determine the shaft torque Ts at O2 in static equilibrium with the shown external force (S.S. 1:5)

4. Determine the shaft torque Ts at O2 in static equilibrium with the shown external force (S.S. 1:5)