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Kinematics and
Dynamics of Machines
Dr. Jagadeep Thota
Chapter 4:
Instant Centers
Instant Center
Every pair of links, even if they are not directly
connected to each other, have an instant center.
Then, what is an instant center for a pair of links?
Two coincident points (two points, each corresponding to a
link, lying on top of each other)
These points will have the same velocity
Magnitude
Direction
VP2
P
Link 2
VP3
The instant center P
Link 3
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Link 5
Link 4
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Center of
curvature of
link 1
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For a
rectilinear
path, the
instant center
is located at
infinity,
perpendicular
Becomes a
prismatic
joint
MAE 364: Instant Centers
?
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(Pure) Rolling
[Zero velocity
point]
Instant center located at
joint
MAE 364: Instant Centers
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n(n 1)
N
2
MAE 364: Instant Centers
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Kennedys Theorem
Used to find the secondary instant centers.
Kennedys Theorem: For bodies 1, 2, and 3, the instant
centers 12, 13, and 23 are collinear.
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The third
unknown
instant
center 23
will lie on
this line
1
2
12
24
25
23
45
35
34
13
MAE 364: Instant Centers
15
23?
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12
24
25
23
45
35
34
15
13
MAE 364: Instant Centers
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Conclusion
Exam 1 (10/07/2014)
1 question: Mass moment of inertia (Ch 17)
1 question: Balancing of masses (Ch 19)
# questions: Degrees of freedom (Ch 1)
Between 3-5 DF problems.
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