One thing you learn in science is that

there is no perfect answer, no perfect

measure.
A. O. Beckman

Topic: Velocity Analysis

Fourbar Linkage

Chapters Objectives

Up on completion of this chapter, the

student will be able to
Determine velocities of links and points on the
fourbar mechanism by using graphical and
analytical approaches.

6.1 Velocity

6.1 Velocity

Velocity of point P

6.1 Velocity

Velocity Difference / Relative Velocity

6.1 Velocity

Methods for Velocity Analysis

6.2 Graphical Velocity Analysis

6.2 Graphical Velocity Analysis

Given 2, find 3, 4, VA, VB and VC

6.2 Graphical Velocity Analysis

Given 2, find 3, 4, VA, VB and VC

6.2 Graphical Velocity Analysis

Given 2, find 3, 4, VA, VB and VC

6.2 Graphical Velocity Analysis

Given 2, find 3, 4, VA, VB and VC

The instantaneous center method of analyzing the

motion in a mechanism is based upon the concept
that any displacement of a body having motion in
one plane, can be considered as a pure rotational
motion of a rigid link as whole about some center,
known as instantaneous center or virtual center of
motion

 Instantaneous center is a point in common

between two members where the velocities are
equal, both in direction and magnitude.

The number of instantaneous centers in

a considered kinematic chain is equal to number of
combinations of two links: If N is the number of
instantaneous centers and n is the number of links.

When the two links are connected by a pin joint,

the instantaneous center lies on the center of the
pin.
When the two links have a pure rolling contact, the
instantaneous point lies on their point of contact.
When the two points have a sliding contact, the
instantaneous center lies on the common normal at
the point of contact (the members must have the
same component of velocity in the direction normal
to the sliding surface)

 Arnold Kennedy theorem of three centers:

Statement:
If three bodies have motion relative to each
other, their instantaneous centers should lie in
a straight line.

6.3 Instant Centers of Velocity

6.3 Instant Centers of Velocity

Finding lCs on a Fourbar Linkage

6.3 Instant Centers of Velocity

Finding lCs on a Fourbar Linkage

10

6.4 Velocity Analysis with ICs

6.4 Velocity Analysis with ICs

Velocity Analysis using I1,3

11

6.4 Velocity Analysis with ICs

Velocity Analysis using I1,3

6.4 Velocity Analysis with ICs

Velocity Analysis using I2,4

12

6.4 Velocity Analysis with ICs

Velocity Analysis using I2,4

6.4 Velocity Analysis with ICs

Why Study Instant Centers?

13

6.4 Velocity Analysis with ICs

Why Study Instant Centers?

6.4 Velocity Analysis with ICs

Instant Center of a Sliding Joint

14

6.4 Velocity Analysis with ICs

Finding ICs of a Slider-Crank

6.4 Velocity Analysis with ICs

Finding ICs of a Cam Follower

15

6.4 Velocity Analysis with ICs

Angular Velocity Ratio, mv

6.4 Velocity Analysis with ICs

Angular Velocity Ratio in terms of link lengths and

angles v and

16

6.4 Velocity Analysis with ICs

Angular Velocity Ratio in terms of link lengths and

angles v and

6.4 Velocity Analysis with ICs

Mechanical Advantage, mA

17

6.4 Velocity Analysis with ICs

Mechanical Advantage, mA

6.5 Analytical Velocity Analysis of Fourbar Linkage

Velocity Analysis of Pin-Jointed Fourbar Linkage using

Vector Loop Method

18

6.5 Analytical Velocity Analysis of Fourbar Linkage

Velocity Analysis of Fourbar Linkage using Vector Loop

Method

6.5 Analytical Velocity Analysis of Fourbar Linkage

Velocity Analysis of Fourbar Linkage using Vector Loop

Method

19

6.5 Analytical Velocity Analysis of Fourbar Linkage

Velocity Analysis of Fourbar Linkage using Vector Loop

Method

6.5 Analytical Velocity Analysis of Fourbar Linkage

Velocity Analysis of Fourbar Linkage using Vector Loop

Method

20

6.5 Analytical Velocity Analysis of Fourbar Linkage

Numerical Example

6.5 Analytical Velocity Analysis of Fourbar Linkage

Numerical Example

Position Analysis

21

6.6 Analytical Velocity Analysis of Slider-Crank

Velocity Analysis of Offset Slider-Crank Linkage using

Vector Loop Method

6.6 Analytical Velocity Analysis of Slider-Crank

Velocity Analysis of Offset Slider-Crank Linkage using

Vector Loop Method

22

6.6 Analytical Velocity Analysis of Slider-Crank

Velocity Analysis of Offset Slider-Crank Linkage using

Vector Loop Method

6.6 Analytical Velocity Analysis of Slider-Crank

Velocity Analysis of Offset Slider-Crank Linkage using

Vector Loop Method

23

6.7 Analytical Velocity Analysis of Inverted Slider-Crank

Velocity Analysis of Inverted Slider-Crank Linkage using

Vector Loop Method

6.7 Analytical Velocity Analysis of Inverted Slider-Crank

Velocity Analysis of Inverted Slider-Crank Linkage using

Vector Loop Method

24

6.7 Analytical Velocity Analysis of Inverted Slider-Crank

Velocity Analysis of Inverted Slider-Crank Linkage using

Vector Loop Method

6.7 Analytical Velocity Analysis of Inverted Slider-Crank

Velocity Analysis of Inverted Slider-Crank Linkage using

Vector Loop Method

25

6.8 Velocity of Any Point on a Link

6.8 Velocity of Any Point on a Link

Velocity of Point S

26

6.8 Velocity of Any Point on a Link

Velocity of Point P

6.8 Velocity of Any Point on a Link

Velocity of Point P

27

6.8 Velocity of Any Point on a Link

Velocity of Pint P relative to Point O2

6.9 Velocity of Slip

28

6.9 Velocity of Slip

6.10 Velocity of Slip Using Graphical Method

29

6.10 Velocity of Slip Using Graphical Method

30