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Lecture_07

# Lecture_07 - Kinematics and Dynamics of Machines of ENGR...

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Kinematics and Dynamics Kinematics and Dynamics of Machines of Machines ENGR 3270U ENGR 3270U Lecture 7 Lecture 7 Yuping He University of Ontario Institute of Technology October 6, 2008

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1.2 Chapter 3 Linkages with Rolling and Sliding Contacts 3.1 Introduction Position Analysis Position Analysis A B A B r r r / + = Velocity Analysis Velocity Analysis A B A B r v v / × + = ϖ Acceleration Analysis Acceleration Analysis ) ( / / A B A B A B r r a a × × + × + = ϖ ϖ α x y Relative Motion Relative Motion Analysis using Analysis using Fixed Axes. Fixed Axes. Relative Motion Relative Motion Analysis using Analysis using Rotating Axes. Rotating Axes.
1.3 3.2 General Velocity and Acceleration Equations Position Analysis Position Analysis A B A B r r r / + = j y i x r B B A B + = / Velocity Analysis Velocity Analysis dt r d v v A B A B / / + = ) ( ) ( ) ( / / dt j d y dt i d x j dt dy i dt dx dt j d y j dt dy dt i d x i dt dx j y i x dt d dt r d B B B B B B B B

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