DESIGN OF MACHINERY SOLUTION MANUAL 7-3a-1 ES PROBLEM 7.38 ‘Statement: The link lengths, coupler point location, and the values of 8, 02, and a forthe same fourbar linkages as used for position and velocity analysis in Chapters 4 and 6 are redefined in Table P7-1, which i the same as Table P6-1. The general linkage configuration and terminology are shown in Figure P7-1. For row a, draw the linkage to scale and graphically find the accelerations of points A and B. Then, calculate cy and a, and the acceleration of point P. Given: Link lengths: Link 1 d= 6.n Link a= 2uin Link} b:=7in Link d= 9uin Coupler poi: Rpg:= 6-in 53 = 30deg Link 2 position, velocity, and acceleration: == 30-deg = 10-84 = ee sed Solution: SeeFigure P7-1 and Mathcad file PO703a. 1. In order to solve forthe accelerations at points 4 and B, we will need 0;, 03, and 4, From the graphical postion solution below, 03 = 88.837-deg 04 := 117 286-deg Using equation (6.18), \ | sees . \ Sera os A, D9, 2. The graphical solution for accelerations uses equation 7. (Ag+ ABD = (AE + AGI + (Anal * Ap) 3. For point B, this becomes: (Ag+ Ag) ALS ALD + gg’ + Ag) where 2 Apn'= 04 Abn = 143.403 insee? O4Bn'= 84+ 180-deg Abn = 297286 deg Adn = 200.000 in-sec™ * 44m = 210.000 deg ‘Aau= 0.000 i-see™? Abin = 251.239 inseo™? O4BAn'= 03 + 180-deg 4 BAn = 268.837 degDESIGN OF MACHINERY SOLUTION MANUAL 7-32-2 4. Choose a convenient acceleration scale and draw the vectors with known magnitude and direction. From the origin, draw A,” at an angle of @, + 180 deg and A." at an angle of 82+ 180 deg. From the tip of A’, draw Ay atan angle of 8; + 180 deg. Now thatthe vectors with known magnitudes are drawn, from the tips of A." and ‘Any? draw construction lines in the directions of Ay! and Ag, respectively. The intersection of these two lines are the tips of Agi, Ap,!, and Ay. 5, From the graphical solution above, Acceleration seale factor AB = 5.009:hq 6, Calculate a, and ayusing equation 7.6. ABat o AB e Apar= 182.6insec™* AB = 480.0 nsec”? 2 AB= 500.9 insec™” stan angle of -136.08 deg 3 = 26.086rad-sec"? CCW 2 14 = 53.333 rad-sec” = CCW From the graphical solution we sce that both of the tangential acceleration vectors for links 3 and 4 point to the left, so both ofthe angular accelerations are postive. 7. For point P, equation 7.4 becomes: 2 Rpeos APAn: Opran i= 03 + 83 + 180deg Apat= Rpaa3 Apm(AC +A 29+ (Ag+ Ang?) where APAn = 215.348 insec™ O4PAn = 298.837 deg Apat = 156.514 insec™*DESIGN OF MACHINERY O4pae= 03 + 83 + Wedeg apt = 208.837 deg 8. Repeat proceedure of step 4 forthe equation in step 7. oto MSs lew ‘Aczlerton Scale 9. From the graphical solution above, ‘Acceleration scale factor 186-ky ‘SOLUTION MANUAL 7-3-3 at an angle of -119.6 deg