Introduction Instant Centers of Velocities

Instant Centers of Velocities for a Six-bar Mechanism

Part 1: Finding Instant Centers

In this presentation we find the

instant centers for a six-bar
mechanism. As shown this six-
bar is made of two four-bar
mechanisms that share one
moving link and the ground.

O6

O2
O4

P. Nikravesh, AME, U of A
Book keeping Instant Centers of Velocities

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Book keeping
6 3
We note that this system has
three pin joints connected to
the ground and four pin joints
5 4
can move.
We first number the bodies 1,
…, 6 where 1 is the ground.
(6)
The numbering order is totally (5)
(3)
up to us. ►
There are 6 (6 − 1) ∕ 2 = 15
instant centers. (4)
(2) O6
For book keeping, we
construct a circle with six link O2
numbers on its circumference. ► O4
(1)

P. Nikravesh, AME, U of A
First four-bar Instant Centers of Velocities

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First four-bar
We first consider the four-bar mechanism on the left 6 3
highlighted in red. There are six IC’s for this four-bar. We
locate them following the procedure we have reviewed in
a previous presentation: ►
5 4

I3,4 (5) (6)

(3)

I2,3
(4)
(2)
I2,4

I1,2 I4,1
(1)

I1,3

P. Nikravesh, AME, U of A
Second four-bar Instant Centers of Velocities

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Second four-bar
Next we consider the four-bar mechanism on the 6 3
right highlighted in red. There are six IC’s for this
four-bar. However, one of the six IC’s is already
found since the two four bars share links 1 and 4.
5 4
We locate the other five IC’s: ► I5,6

I3,4 (5) (6)

(3)
I1,5
I2,3
(4) I4,5
I6,1
(2)
I2,4
I4,6
I1,2 I4,1
(1)

I1,3

P. Nikravesh, AME, U of A
Eleven instant centers Instant Centers of Velocities

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Eleven instant centers
So far we have found eleven out of fifteen IC’s. In 6 3
the next few slides we locate the remaining four
IC’s one at a time.

I5,6 5 4

I3,4 (5) (6)

(3)
I1,5
I2,3
(4) I4,5
I6,1
(2)
I2,4
I4,6
I1,2 I4,1
(1)

I1,3

P. Nikravesh, AME, U of A
IC number 12 Instant Centers of Velocities

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IC number 12
Next we locate I2,6. The line associated with this 6 3
center on the circle can assist us in deciding what
other centers to use. ►
This line makes a triangle with the centers I1,6 and I5,6 5 4
I1,2. ►
We construct a line between I1,6
I3,4 (5) (6)
and I1,2. ► (3)
The line for I2,6 on the circle I1,5
I2,3
also makes a triangle (4) I4,5
I6,1
with the centers I2,4 (2)
I2,4
I2,6 I4,6
and I4,6. ►
I1,2 I4,1
We construct a line between I2,4
(1)
and I4,6. ►
The intersect is I2,6. ►
I1,3

P. Nikravesh, AME, U of A
IC number 13 Instant Centers of Velocities

1 2
IC number 13
Next we locate I2,5. ► 6 3
This line makes a triangle with I1,5 and I1,2. ►
We construct a line between I1,5
I5,6 5 4
and I1,2. ►
The line for I2,5 on the circle
I3,4 (5) (6)
also makes a triangle with (3)
I2,4 and I4,5. ► I1,5
I2,3 I2,5
We construct a line (4) I4,5
I6,1
between I2,4 (2)
I2,4
I2,6 I4,6
and I4,5. ►
I1,2 I4,1
The intersect is I2,5. ►
(1)
Note that we could have used the line going
through I2,6 and I5,6.
I1,3

P. Nikravesh, AME, U of A
IC number 14 Instant Centers of Velocities

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IC number 14
Next we locate I3,5. ► 6 3
This line makes a triangle with the centers I3,4 and
I4,5. ►
I5,6 5 4
We construct a line between I3,4
and I4,5. ►
The line for I3,5 on the circle I3,4 (5) (6)
(3)
also makes a triangle I1,5
I2,5 I4,5
with I1,3 and I1,5. ► I2,3
(4) I3,5 I6,1
We construct a line (2)
I2,4
between I1,3 and I1,5. ► I2,6 I4,6

The intersect is I3,5. ► I1,2 I4,1

Note that there are other choices to find this (1)
center.
I1,3

P. Nikravesh, AME, U of A
IC number 15 Instant Centers of Velocities

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IC number 15
Next we locate I3,6. ► 6 3
This line makes a triangle with I3,4 and I4,6. ►
We construct a line between I3,4
I5,6 5 4
and I4,6. ►
The line for I3,6 on the circle
I3,4 (5) (6)
also makes a triangle (3)
with I1,3 and I1,6. I1,5
► I4,5
I2,3 I2,5
We construct a line (4) I3,5 I6,1
between I1,3 (2)
I2,4 I4,6
I2,6 I3,6
and I1,6. ►
I1,2 I4,1
The intersect is I3,6. ►
(1)
Note that there are other choices to find this
center.
I1,3

P. Nikravesh, AME, U of A
All the IC’s Instant Centers of Velocities

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All the IC’s
Now we have all the fifteen instant 6 3
centers. In the next presentation we
use these centers to find any
velocity of interest.
I5,6 5 4

I3,4 (5) (6)

(3)
I1,5
I2,5 I4,5
I2,3
(4) I3,5 I6,1
(2)
I2,4 I4,6
I2,6 I3,6
I1,2 I4,1
(1)

I1,3

P. Nikravesh, AME, U of A