1- Objective

1- To calculate the velocity of crank slider and four bar linkage.

2- To divertive the velocity analysis of four bar linkage
3- To divertive the velocity analysis of crank slider.

2- Introduction
In this lab you will measure the velocity and its analysis for it. The results
exemplify a simple velocity relation for kinematic restricted motions, which you
will discover. . Other linkages and cam mechanisms may also be used for
linear-rotary motion conversion and some of these will be included in the lab.
As in position analysis, it is important in many cases to analyze the velocity of
moving links.

Before start with velocity analysis, let us review some of the basic concepts
we will need it in future. Let us assume a body rotating about certain axis. The
angular velocity () for this body is found by deriving the angular dimension
with respect to time, mathematically:Due to the fixed links lengths.
This slider-crank mechanism in the given configuration has a known angular
velocity of the crank, 2. We want to determine 3 and the velocity of the
slider block. In this example we assume 2 is CCW.

3- Equipment:

1- Four bar linkage

2- Crank slider

4- Theory:
- for four bar linkage:

r1 ei 1 + r2 ei 2 + r3 ei 3 + r4 ei 4 = 0
r1(cos 1 + isin 1) + r2(cos 2 + isin 2) + r3(cos 3 + isin 3) + r4(cos 4 + isin
4) = 0
Collecting real and imaginary parts yields:
Real: r1cos 1 + r2cos 2 + r3cos 3 + r4cos 4 = 0
Imag: r1sin 1 + r2sin 2 + r3sin 3 + r4sin 4 = 0
Velocity Analysis: Taking time derivative of the position vector r = rei in
general yields:

= . = ( . + ir)

where is known as the angular velocity of the link. Hence, taking time
derivative of the
vector loop equation results in:
r + ( 2 . + i . 2 2) 2 i e + ( 3 . + i . 3 3) 3 i e + ( 4 . + i . 4 4) 4 = 0
where . 1 = 0, and also . 2 = . 3 = . 4 = 0, since r1 is frame, and the lengths of
links 2, 3
and 4 are fixed. Collecting real and imaginary parts then yields:
real: r2 2sin 2 r3 3sin 3 r4 4sin 4 = 0
Imag: r2 2cos 2 + r3 3cos 3 + r4 4cos 4 = 0

- for crank slider:

r2 ei2 + r3 ei 3 r4 ei4 = 0
Since 4 = 0, then
r2 ei2 + r3 ei 3 r4 = 0
or
r2(cos 2 + isin 2) + r3(cos 3 + isin 3) r4 = 0
Collecting real and imaginary parts yields
Real: r2cos 2 + r3cos 3 r4 = 0
Imag: r2sin 2 + r3sin 3 = 0
Velocity Analysis: Taking time derivative of the vector loop equation results in:
( 2 . + i . 2 2) 2 + (3 . + i . 3 3) 3 4 . = 0
where 2 . = 3 . = 0, since the lengths of links 2 and 3 are fixed. Collecting real and
imaginary parts then yields
Real: r2 2sin 2 r3 3sin 3 r4 = 0
Imag: r2 2cos 2 + r3 3cos 3 = 0

5- calculation:

-For crank slider:

a =0.05 / b = 0.25
2
0
180

C
0.25
0.31

3,1
0
0

C
20
30

w3
0.2
-0.12

d
0
0.05

-For four bar linkage:

a=5.5 / b= 18 / c = 10 / d = 20

2
0
1.7

4
90
135

3,1
-198
-330

3,2
198
17665

4,1
-81
222

4,2
85
102

w3
-0.18
0.6

w4
0
0

6- conclusion:
The topic of this experiment is velocity analysis of planar mechanisms.
Through velocity analysis, we obtain the velocity characteristics of all the links
of a mechanism when the input velocity is specified. Two points must be
mentioned at this stage: one, to carry out velocity analysis must be completed
first.