1 / 15

ME321 Kinematics and Dynamics of Machines

Explore position, velocity, acceleration, and force analysis using vector equations. Learn graphical, vector component, and complex number solutions for acceleration analysis in planar problems. Understand Coriolis acceleration and angular acceleration concepts.

bchadwick
Download Presentation

ME321 Kinematics and Dynamics of Machines

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. ME321 Kinematics and Dynamics of Machines Steve Lambert Mechanical Engineering, U of Waterloo

  2. Kinematics and Dynamics • Position Analysis • Velocity Analysis • Acceleration Analysis • Force Analysis We will concentrate on four-bar linkages

  3. Acceleration Analysis • Use vector loop equations • Vector equations can be expressed in general form, or specialized for planar problems • Graphical Solutions • Vector Component Solutions • Complex Number Solutions (in text)

  4. Vector Equations

  5. Vector Equations for Velocity Differentiate Position Vector with respect to Time

  6. Vector Equation for Acceleration Differentiate velocity equation: To obtain acceleration relation:

  7. Acceleration Equations Where: - Acceleration of origin - Acceleration in local frame - Coriolis acceleration - Angular acceleration - Centripetal acceleration

  8. Planar Velocity Equations • Assume: • Motion is restricted to the XY plane • Local frame is aligned with and fixed to link • Therefore: •  becomes the angular velocity of the link, and • local velocity becomes the change in length of the link

  9. Planar Velocity Equations Becomes:

  10. Planar Acceleration Equations

  11. Application to Four-Bar Linkages

  12. Graphical Solution

  13. Vector Component Solution But: and Giving:

  14. Coriolis Acceleration

  15. Coriolis Direction

More Related