226-Lect 5 - 1 Week 5 Week 5(1 Velocity analysis-analytical...

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Unformatted text preview: 1 Week 5 Week 5 (1) Velocity analysis-analytical method (review) (2) Acceleration analysis - analytical method (Unit Vector Method ) (ch7, Norton; ch8, M &R) Week 5 Fixed and moving reference frame Applied to mechanisms, we have a fixed reference frame, and a moving reference frame that is attached to one of the links R P = R O + R V P = V o + V + ω × R XYZ : fixed coordinate xys: moving coordinate 2 Week 5 The velocity equation V P = V o + V + ω × R … Equation 8.16 (M&R) V P = velocity of point P in the XYZ-system V O = velocity of origin of xyz-system relative to XYZ- system V = velocity of point P relative to xyz-system ω = angular velocity of xyz-system relative to XYZ- system R = distance from origin of xyz-system to point P Week 5 Locating the Moving Axis There are 3 classes of mechanisms to consider: 1. 4 bar pin jointed mechanisms 2. Sliding motion transfer 3. Rolling motion transfer 3 Week 5 Moving Axis - 4 bar, pin jointed Place the origin on the pin connecting the driving link to the intermediate or motion transfer link (normally designated as link 3) Align the xy axis system with link 3 {outcome: V is zero} Week 5 Moving Axis - 4 bar, pin jointed Y X x y P V P = Vo + ω × R O ω × R = ω k × R i = - ω R j 4 Week 5 Moving Axis - sliding connection outcome: R is zero, path of V is known (along the x axis) y x X Y P V P = Vo + V V = V i Week 5 Moving Axis - rolling connection outcome: R is zero, path of V is known NB xy axis moves with cam. “P” is on link 4, and appears to move along the y axis....
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226-Lect 5 - 1 Week 5 Week 5(1 Velocity analysis-analytical...

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