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Show the free body diagram of the given four-bar linkage as shown in Figure (1).
i j
k
Let , , and be the unit vectors.
RG O
R BA R BO R DO R G A
Calculate the position difference vectors
,
,
,
, and
on the fourbar linkage in the vector form from Figure (1).
R AO2 0.3m 170
4
0.295i 0.052j m
R BA 1.5 m 29.57
1.304i 0.740j m
R BO4 0.8 m 82.17
0.109i 0.793j m
R G3 A 0.65 m 45.56
0.455i 0.464j m
R AO2
s
, and
is
, the position
Here, the position difference vector between point
R BA
B
A
difference vector between points
, and
is
, the position difference vector
O4 R BO4
B
D
between points , and
is
, the position difference vector between points , and
R DO4
O4
G3
A R G3 A
is
, the position difference vector between points
, and is
, and the
R
G4
O4
G4O4
position difference vector between points
, and
is
.
Use the following steps to draw the velocity polygon for the given four-bar linkage.
Use the scale factor 1:1 to draw the velocity polygon.(3.6 cm for 3.6 m/s)
O4
Mark a point
on a blank sheet as a reference point.
O4 A
VA
Construct the line
perpendicular to the link 2 from the known value of
.
A
From the terminus of point
construct a line in a direction perpendicular to link
AB
.
O4
O4 B
O4 B
From the point
draw a line
in a direction perpendicular to link
to
B
AB
intersect the line
at .
O4 B
AB
Measure the lines
, and
, and calculate the angular velocities of the links
3, and 4 .
B
A
Draw two arcs with centers at points , and , and radius as known velocities of
AC
BC
C
the links
, and
. These two arcs intersect at the point .
O4
B
Draw two arcs with centers at points , and
, and radius as known velocities
O4 D
BD
D
of the links
and
. These two arcs intersect at the point .
AG3
BG3
A
B
Construct lines
, and
from the points
and
respectively in a
AG3
BG3
direction perpendicular to the position vectors
and
. These two lines
G3
intersect at point
.
O4G4
BG4
O4
B
from the points
, and
respectively in a
O4G4
BG4
direction perpendicular to the position vectors
, and
. These two lines
G4
intersect at point
Construct lines
, and
Show the velocity polygon for the given four-bar linkage as shown in Figure (2).
Use the following steps to draw the acceleration polygon for the given four-bar linkage.
Show the acceleration polygon for the given four-bar linkage as shown in Figure (3).
VO2
O2
is
, and the
2 R AO2
VAO2
VAO2
Substitute 0 for
, and
VA 2 R AO2
for
2
Here, the angular velocity of the link 2 is
O2 R AO2
the points A, and
is
.
k rad s
0.295i 0.052j m
Substitute 12
for
VA 2 R AO2
, and
for
R AO2
O4
Express the velocity difference equation relating the points B, and
VB VO4 VBO4
.
(2)
VO4
O4
Here, the velocity of the point
O4 VBO4
and
is
.
is
VO4
4 R BO4
VA 3 R BA
VBA
for
,
for
, 0 for
, and
for
Substitute
VBO4
.
0.625i 3.545j m/s 3 R BA 0 4 R BO4
3 k rad s
Substitute
0.109i 0.793j m
3 4 k rad s
4 1.304i 0.740j m
R BA
for
,
for
,
for
, and
R BO4
for
.
4 R BO
BA
3
Solve Equations (3), and (4) for
Equation (4) with 0.740.
0.9653 1.0344 0.815
, and
(5)
(6)
4
Add Equations (5), and (6) to find
0.9534 3.438
3.607 k rad/s
k rad s
Substitute 3.607
4
for
VO4 4 R BO4
VBO4
4
k rad s
0.109i 0.793j m
Substitute 0 for
,
for
, 3.607
for
, and
for
R BO4
VB
in Equation (2) to find
.
VB 0 VBO4
4 R BO4
2.859i 0.393i m s
2.886 m s 172.17o
2.886 m s 172.17o
Hence, the velocity of the point B is
O2
Express the acceleration difference equation relating the points A, and
A A AO2 A AO2
(7)
AO2
AA
O2
Here, the acceleration of the point A is
, the acceleration of the point
is
, and
A
O2
AO2
the acceleration difference vector of points A, and
is
.
A AO2
Express
A nAO2
O2
42.543i 7.502j m s 2
k rad s
43.200 m s 2 10o
43.200 m s2 10o
A BA
Express the total acceleration of
A B A A A nBA AtBA
A B A A 32 R BA 3 R BA
(8)
A nBA
Here, the normal acceleration difference vector of the points A, and B is
, the
t
A BA
tangential acceleration difference vector of the points A, and B is
, and the angular
3
acceleration of the link 3 is .
Express the acceleration difference equation relating the points B, and O4.
A B AO4 A BO4
A O4
O4
is
A BO4
Express the total acceleration of
AO4
and substitute 0 for
.
n
t
A B A BO4 A BO4
A B 42 R BO4 4 R BO4
(9)
A nBO4
O4
Here, the normal acceleration difference vector of the points B, and
is
, the
t
A BO4
O4
tangential acceleration difference vector of the points B, and
is
, and the angular
4
acceleration of the link 4 is
.
From equations (8), and (9)
A A 32 R BA 3 R BA 42 R BO4 4 R BO4
A A 3.020 k rad s
3 1.304i 0.740j m
for
,
for
,
for
2
2
4 k rad s
4
4
3.607 k rad s
for
,
for
, and
42.543i 7.502j m s2
Substitute
R BA 3 k rad s
3
,
for
,
R BO4
0.109i 0.793 j m
for
.
42.543i 7.502j m s2
0.109i 0.793j m
3.607 k rad s
2
0.740 i 1.304 j m s2
3
3
0.793
0.740 i 1.304 j m s
32.069i 3.940j m s 2
1.419i 10.311j m s
0.793 i 0.109 j m s
2
i 0.109 j m s 2
4
3
Solve equations (10), and (11) for , and
Equation (11) with 0.740.
0.965 3 1.034 4 41.818
(12)
(13)
4
Add Equations (12), and (13) to find
0.953 4 38.902
40.820k rad/s 2
40.820k rad s2
Substitute
for
in Equation (10) to find
0.740 3 32.069 32.370
0.740 3 0.301
0.406k rad s2
3
0.406k rad s2
Express the acceleration difference equation relating the points G3, and A.
AG3 A A A G3 A
A G3
G3
is
AG3 A
Express the total acceleration of
A G3 A A A Gn 3 A AGt 3 A
A G3 A A 32 R G3 A 3 R G3 A
AGn 3 A
G3
Here, the normal acceleration difference vector of the points
, and A is
A tG3 A
G3
tangential acceleration difference vector of the points
, and A is
42.543i 7.502j m s2
, the
A A 3.020 k rad s
3 0.406k rad s2
3
for
,
for
,
for
,
Substitute
R G3 A
0.455i 0.464j m
and
for
.
42.543i 7.502j m s 2 3.020 k rad s 2 0.455i 0.464j m
A G3
2
2
42.543i 7.502j m s 4.149i 4.231j m s 0.188i 0.185j m s 2
38.582i 11.918j m s 2
40.381m s 2 17.16o
40.381m s2 17.16o
Hence, the acceleration of the point is
G4
Express the acceleration difference equation relating the points
AG4 A O4 AG4O4
, and
A O4
O4
Here, the acceleration of the point
O4
A G4
G4
is
is
, and
A G4O4
Express the total acceleration of
AO4
and substitute 0 for
.
n
AG4 AO4 AG4O4 AGt 4O4
A G4 42 R G4O4 4 R G4O4
G4
is
, the
2
R G4O4
4 0.072i 0.444j m
40.820k rad s
for
,
for
, and
for
Substitute
4
.
A G4 42R G4O4 4 R G4O4
0.072i 0.444j m
40.820k rad s 0.072i 0.444j m
A Gn 4O4
O4
3.607 k rad s
19.060i 2.841j m s2
19.270 m s 2 8.48o
19.270 m s 2 8.48o
Hence, the acceleration of the point G4 is
Find the DAlembert inertia forces, torques, and offsets for link 2, link 3, and link4 of the
four-bar linkage.
Express the DAlembert inertia force.
fi mi A Gi
fi
th
th
(14)
mi
link is
, and the
th
f2
A G2
m2
Substitute 0
for
, and 5.2 kg for
f 2 5.2 kg 0
0
Hence, the inertia force acting on link 2 is
t2
Substitute 2 for i in Equation (15) to find
t2 I G2 2
kg m 2
2
Substitute 0 for , and 4.2
t 2 4.2 0
I G2
for
0
Hence, the inertia torque acting on link 2 is 0.
h2
i in Equation (16) to find
Substitute 2 for
h2 t2 f 2
t2
Substitute 0 for
h2 0 f 2
0
Hence, the offset of the inertia from the mass center of link 2 is 0 m.
f3
A G3
m3
Substitute
for
, and 65.8 kg for
f3 65.8 kg 38.582i 11.918j m s 2
2538.696i 784.204j N
2657.057 N 162.83
2657.057 N 162.83o
Hence, the inertia force acting on link 3 is
t3
kg m 2
2
k rad s
Substitute -0.406
for , and 4.2
2
t 3 4.2 kg m 0.406k rad s2
I G3
for
1.701k N m
1.701k N m
Hence, the inertia torque acting on link 3 is
h3
t3
f3
Substitute
for , and 2657.057 N for
h3 1.701N m 2657.057 N
0.001m
Hence, the offset of the inertia force from the center of mass of link 3 is 0.001 m.
f4
Substitute 4 for i in Equation (14) to find
f 4 m4 AG4
19.060i 2.841j m s2
AG4
m4
Substitute
for
, and 21.8 kg for
f4 21.8 kg 19.060i 2.841j m s 2
415.508i 61.934j N
=420.098 N 171.52o
420.098 N 171.52o
kg m 2
I G4
2
k rad s
Substitute 2.51
for
, and -40.820
2
t 4 2.51kg m 40.820k rad s2
for
102.458k N m
102.458k N m
Hence, the inertia torque acting on link 4 is
h4
for i in Equation (16) to find
Substitute 4
h4 t4 f 4
t4
N m
f4
Substitute 102.458
for , and 420.098 N for
h4 102.458 N m 420.098 N
0.244 m
Hence, the offset of the inertia force from the center of mass for link 4 is 0.244 m.
O4
From Figure (6), take moment about point
MO 0
FD
Here, the external force acting on the point D is
F34t
force acting on link 4 due to link 3 is
.
0.072i 0.444j m
415.508i 61.934j N
R G4O4
f4
102.458k N m
Substitute
for
,
for ,
R BO4 0.284i 0.282j m
t 4 3876.912i 8055.628j N
FD 0.109i 0.793j m
for ,
for ,
for
,
t
R DO4
F34
F34t
0.991i 0.136j
for
, and only direction
for
to find the magnitude of
.
0.072i 0.444j m 415.508i 61.934j N
180.026k N m
102.458k N m 3381.087
k N m
k m F
0.800
t
34
3098.603
0.800
3873.254N
F34t
3838.395i 526.763j N
F43t
From Figure (5) the transverse component of force acting on link 3 due to link 4 is
.
F43t
F34t
From Figures (5), and (6) forces
, and
are equal in magnitude but opposite in
direction.
F43t F34t
3838.395i 526.763j N
3838.395i 526.763j N
Hence, the transverse component force acting on link 3 due to link 4 is
3838.395i 526.763j N
.
From Figure (4), take moment about point A.
MA 0
R G3 A f3 t 3 R BA F43t R BA F43r 0
F43r
Here, the radial component of force acting on link 3 due to link 4 is
0.455i 0.464j m
R G3 A 2538.696i 784.204j N
f3 1.701k N m
Substitute
for
,
for ,
for
r
t 3 1.304i 0.740j m
F43
R BA
0.136i 0.991j
,
for
, direction vector
for
, and
t
F
3838.395i 526.763j N
43
for
.
1.304i 0.740j m 3838.395i 526.763j N
1534.768k N m 1.701k N m
3527.311
k N m
k m F
1.192
r
43
1990.842
0.838
1670.170 N
F43r
227.143i 1655.138j N
F43
From Figures (5), and (6), forces
direction.
F43 F43r F43t
F34
, and
=3611.252i 1128.375j N
3783.434 N 17.35o
F34 F43
3611.252i 1128.375j N
= 3611.252i 1128.375j N
=3783.434 N162.65o
3783.434 N162.65o
Hence, the force acting on link 4 due to link 3 is
3783.434 N 17.35
F14
Here, the force acting on link 4 due to link 1 is
3611.252i 1128.375j N
Substitute
415.508i 61.934j N
3876.912i 8055.628j N
F34
for
149.848i 9245.937j N +F
14
FD
for
f4
for
, and
3611.252i 1128.375j N
2538.696i 784.204j N
F43
Substitute
for
, and
3611.252i 1128.375j N 2538.696i 784.204j N F23 0
for
1072.556i 344.171j N F
f3
23
1126.424 N162.20o
Hence, the force acting on link 3 due to link 2 is
F32
From Figure (4) the force acting on link 2 due to link 3 is . From Figures (4), and (5)
F32
F23
forces
, and
are equal in magnitude but opposite in direction.
F32 F23
1072.556i 344.171j N
1072.556i 344.171j N
1126.424 N 17.80o
1126.424 N 17.80o
Hence, the force acting on link 2 due to link 3 is
F12
Here, the force acting on link 2 due to link 1 is
1072.556i 344.171j N
F32
Substitute
for .
O2
M12
Here, the external torque required to drive link 2 is
0.295i 0.052j m
R AO2
1072.556i 344.171j N
Substitute
for
, and
for
0.295i 0.052j m 1072.556i 344.171j N M12 0
F32
.
45.758k N m M12 0
M12 45.758k N m
Hence, the external torque required to drive link 2 at the given velocity is
45.758k N m
, and it acts in the counter clockwise direction.