This preview shows pages 1–5. Sign up to view the full content.
Kinematics and Dynamics
of Machines
ENGR 3270U
Lecture 11
Yuping He
University of Ontario Institute of Technology
October 27, 2008
This preview has intentionally blurred sections. Sign up to view the full version.
View Full Document 1.1
Chapter 5 Analytical Linkage Analysis
5.1 Introduction
Approaches for planar linkage kinematic analysis:
•
Graphical Approach:
1) being simple and quick to find solutions
2) offering ways to check and debug computer codes
3) getting insight into the problems
•
Analytical Approach:
1) getting accurate solutions
2) being efficient to find a complete solution
3) offering base for numerical solutions
4) existing tendency to replace graphical techniques
1.2
5.2 Position, Velocity, and Acceleration Representations
•
Position Representation
3
2
1
r
r
r
r
Q
)
sin
(cos
)
sin
(cos
)
sin
(cos
3
3
3
3
2
2
2
2
1
1
1
1
j
i
r
r
j
i
r
r
j
i
r
r
)
sin
(cos
j
i
r
r
k
k
k
k
This preview has intentionally blurred sections. Sign up to view the full version.
View Full Document 1.3
•
Velocity Representation
3
2
1
r
r
r
r
v
Q
Q
)
sin
(cos
j
i
r
r
k
k
k
k
dt
This is the end of the preview. Sign up
to
access the rest of the document.
This note was uploaded on 10/18/2010 for the course MATH 2860 taught by Professor Dhavidhe during the Spring '10 term at UOIT.
 Spring '10
 dhavidhe

Click to edit the document details