Unit 4

KINEMATIC ANALYSIS OF
MECHANISMS: ANALYTICAL
METHODS
 CONTENTS

• Introduction

• Analytical method for Displacement, Velocity and Acceleration analysis

of slider crank Mechanism.

• Position analysis of links with vector and complex algebra methods

• Loop closure equation

• Chase solution

• Velocity and acceleration analysis of four bar and slider crank

mechanisms using vector and
complex algebra methods.

• Hooke’s joint, Double Hooke’s joint.

 APPROXIMATE ANALYTICAL METHOD
l  Length of Connecting Rod , CP
r  Radius of Crank, OC
l
n  Obliquity Ratio 
r
  Angle of Crank with Line of Stroke, OP 
  Angle of Connecting Rod with Line of Stroke, OP 
• Find: Crank Position (ϴ) using
 sin 2  
Displacement of Piston x  r (1  cos )  
 2n 
• Find Velocity of Piston using (Vp)
Velocity of Piston  sin 2   sin 2 
vP  .r sin    P
v   .r sin   
 2 n  sin  
2 2  2 n 
• Find Acceleration of piston (Ap)
 cos 2 
Acceleration of Piston a P   2 .r cos 
n 
Uniform speed of
 crank
Non-Uniform speed of
crank
• Find angular velocity of connecting rod (ωp)
Angular velocity of C.R . cos . cos
CP  
n 2  sin 2  n

• Find Angular acceleration of Connecting rod (αp)

Angular acceleration of C.R.   2 . sin (n 2  1)
 CP 
(n 2  sin 2  )3 / 2
 NUMERICAL

• IN an IC engine the rod of rotation is 2000 rpm. The

connecting rod is 270 mm long and crank radius is 60
mm. Determine at 30 % of outstroke.
i. Linear velocity of piston
ii. Angular position of crank
iii. Linear acceleration of piston
iv. Angular acceleration of connecting rod
v. Angular velocity of connecting rod
vi. Crank angle for maximum piston velocity
 COMPLEX ALGEBRA METHOD
» This method is preferred when high level
accuracy is desired or the analysis is to be
repeated for a large number of configurations.
• Complex algebra method is also called as complex variable
method.
• Complex numbers are not vectors but that can be used to
represent vector
• In Polar form of fig, vector OR of magnitude r and direction
θ is written as,
OR  R  r
• In Complex form the same can be
represented as
R  rei
 COMPLEX ALGEBRA METHOD
» Where, r = magnitude of vector R
θ = Direction of vector R w. r. t. Real axis
i  1
• The location of any point in fig (b) is specified by its
corresponding real and imaginary coordinates
R  R  iR
x y

(a) (b)
 COMPLEX ALGEBRA METHOD

• Employing complex rectangular notation for vector R

R  R  R cos  iR sin

 R (cos  i sin  )

• Euler’s Equation from trigonometry

ei  cos  i sin 
i
Hence,
R  Re

i (  )
i
ie  e 2
and
 DEFINITION OF COMPLEX
NUMBER:
• A complex number is a number of the form a + bi,
where a and b are real number and i is an imaginary unit
satisfying i  1
Properties of Complex number:
• Equity: Two complex numbers are equal if and only if their
real parts and their imaginary parts are respectively equal.
• Addition: To add two complex numbers, add the real parts
to one another and the imaginary parts to one another.
 VELOCITY ANALYSIS OF A LINK BY
COMPLEX ALGEBRA

• In complex form vector OC of

magnitude R is written as,
OC  Rei ------ (i)
Where, R is magnitude and θ is position of
vector
On Differentiate Eq (i) w. r. t. Time, we
get velocity d i
Velocity, VC  (Re )
dt
 i d 
 R e (i ) 
 dt 
  i  d 
 R e .i 
 dt 
 
 r. e i

 i (  ) 
• V C  r.. e 2
 
---(ii)
• Where, r.ω = Magnitude of velocity

and i (  ) = Direction of velocity of link OC which is

2
e
900 ahead from original position of OC
 ACCELERATION ANALYSIS OF A
LINK BY COMPLEX ALGEBRA
• On Differentiating equation (ii) w. r. t. Time, we get
acceleration of link,
ac .  r. (e i (  / 2 ) )
d
dt
 i (  / 2 ) d i (  / 2 ) d 
ac  r..e .i e
 dt dt 

ac  r. 2 .ei (  )  r. .ei (  / 2)

ac  ac  ac
r t
Velocity and acceleration of a link in complex variable
form
 LOOP CLOSURE EQUATION
• The sum of the relative position vectors for the links
forming a close loop in the mechanism take by order is always
zero.
• As the links in the mechanism are rigid, hence even after
changing the loop position the magnitude of position vector
do not change w. r. t. Time.
• The four general cases are discussed
 Loop closure equation for four bar chain

 Loop closure equation for slider crank chain

 Loop closure equation for offset slider crank chain

 Loop closure equation crank and slotted lever mechanism

 LOOP CLOSURE EQUATION FOR FOUR
BAR MECHANISM

Relative position
vectors

AB  B  A
From fig Absolute position OA  A
vectors A, B, C & D are given as BC  C  B
OB  B
CD  D  C
OC  C
DA  A  D
OD  D
LOOP CLOSURE EQUATION FOR FOUR BAR CHAIN

• Adding all relative positions vectors as under

AB  BC  CD  DA  B  A  C  B  D  C  A  D  0

AB  BC  CD  DA  0

• The above equation represents Loop closure

equation
LOOP CLOSURE EQUATION FOR
SLIDER CRANK CHAIN
 LOOP CLOSURE EQUATION FOR
SLIDER CRANK CHAIN
From fig Absolute position Relative position vectors
vectors A, B, C & D are given as
AB  B  A
OA  A BC  C  B
CA  A  C
OB  B
Adding all relative positions vectors as under
OC  C
AB  BC  CA  B  A  C  B  A  C
AB  BC  CA  0
The above equation represents Loop closure
equation
LOOP CLOSURE EQUATION FOR
OFFSET SLIDER CRANK
MECHANISM
 LOOP CLOSURE EQUATION FOR
SLIDER CRANK CHAIN
From fig Absolute position Relative position vectors
vectors A, B, C & D are given as
AB  B  A
OA  A BC  C  B
CD  A  C
OB  B
DA  A  D
OC  C
Adding all relative positions vectors as under
OD  D
AB  BC  CA  B  A  C  B  A  C
AB  BC  CA  0
The above equation represents Loop closure
equation
 NUMERICAL
• In slider crank mechanism, the crank radius is 100
mm and length of connecting rod is 500mm. The
crank is rotating in counter-clockwise direction at an
angular velocity of 15 rad/sec and the angular
acceleration of piston and angular acceleration
connecting rod when the crank is at 600 from IDC.
 STEPS
• For Loop Closure Equation
R4  R2  R3
r.ei 2  l.ei3  x
• Find, θ3
• Angular velocity of connecting rod
Vp  (r.2 .sin2  l.3 sin3 )  i(r.2 cos2  l.3 cos3 )

• Find, ω3
• Acceleration of piston
 VECTOR ALGEBRA METHOD
• Vectors are used to represent the magnitude and
position of kinematic links
• Let the loop closure equation for a slider crank
mechanism is
C  A B
• The above equation in vector form is written as
  
C C  A A B B

• Properties of Vector
 Dot product of two perpendicular vector is zero
 Cross product of two parallel vectors is zero
 Chace Solution-I

• Chace soutions are closed form solutions of two and

three dimensional vector equations.
• Case 1: magnitude and direction of C are unknown
 Chace Solution-II

• Magnitude of A and B are unknown

eliminating B by taking dot product with
every term with (B cross K).
 Chace Solution-III

• Magnitude of A and direction B are unknown

(eliminating A)
 VELOCITY ANALYSIS USING VECTOR METHOD

• Let R the magnitude of the vector of a link


R  RR
• Differentiate w. r. t. Time to get velocity
d  dR d 
( R)  R R R
dt dt dt


d    
• Where, R  R   (k  R)
dt
d    
V  ( R)  R R • R (k  R) --------------------(i)
dt
 ACCELERATION ANALYSIS OF
LINK USING VECTOR METHOD
• Differentiate Equation (i), to get acceleration
 d d    

a  (V )   R R  R (k  R )
dt dt  
• For non uniform motion of link
 
a   R 2 ( R )
• For non-uniform motion of link
   
a  R ( k  R )  R ( R )
2

• The first part of equation is tangential component of

acceleration whereas second part is centripetal
component of acceleration
 NUMERICAL

• In IC engine mechanism, crank is 40 mm long

and length of connecting rod is 160 mm. The
crank angle is 400 with the TDC position. Find
the angle made by connecting rod with the
line of stroke and the distance between the
crank and piston using chace solution.
 STEPS
• To form Loop closure equation
  
R1. R1  R2 . R 2  R3 . R3

• Angular position of connecting rod (θ3

• Distance between crank and piston
 HOOK JOINT

• Used to connect two non parallel intersecting shaft

• It is used when angular misalignment between shaft
is up to 400
• The main disadvantage of single hook joint, velocity
ratio is not constant.
UNIVERSAL JOINT
Hook’s Joint Analysis
 MAXIMUM AND MINIMUM
SPEED OF DRIVEN SHAFT
• Angular velocity ratio

• or
MAXIMUM AND MINIMUM SPEED OF DRIVEN
SHAFT
 CONDITION FOR EQUAL SPEED

• Angular velocity of driving and driven shaft is

equal

ANGULAR ACCELERATION OF THE DRIVEN SHAFT

MAXIMUM FLUCTUATION OF
SPPED
Polar diagram of angular
velocities
DOUBLE HOOK JOINT
NUMERICALS
 STEPS
• Torque required at driving shaft
• Value of α for the total fluctuation speed to be
24 rpm
THANK YOU