Lecture_9

# Lecture_9 - three instant centers, namely and . If we have...

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Kinematics and Dynamics Kinematics and Dynamics of Machines of Machines ENGR 3270U ENGR 3270U Lecture 9 Lecture 9 Yuping He University of Ontario Institute of Technology October 20, 2008

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1.2 Chapter 4 Instant Centers of Velocity 4.1 Definition IC is a point, common to two bodies in plane motion, which point has the same instantaneous velocity in each body. If we have n bodies and we take them two at a time, then the total number of instant centers is given by 4.2 Number of ICs 2 ) 1 ( )! 2 ( ! 2 ! 2 - = - = = n n n n C N n IC 4.3 Special Cases for Finding IC IC at a Revolute Joints
1.3 IC from the Direction of Two Velocities IC of a Curved Slider IC of a Prismatic Joint

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1.4 IC of of a Rolling Contact Pair IC of of rolling body without sliding IC of of a general Cam-Pair Contact
1.5 4.4 Kennedy’s Theorem Any three bodies in plane motion will have exactly three instant centers, and they will lie on the same straight line . Assuming there are three rigid bodies A, B, and C, we have

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Unformatted text preview: three instant centers, namely and . If we have a line connecting two instant centers , then the instant center should also lie on the line. , , AC AB I I BC I , , AC AB I I BC I 1.6 Examples : 1.7 4.5 Circle Diagram for Finding Instant Centers Procedure : 1) Draw the mechanism to be analyzed. 2) Draw an arbitrary circle and place tick marks representing all the links around the perimeter of the circle. 3) Determine as many ICs as possible, and draw a straight line between the corresponding links on the circle. 4) If a line can be drawn between two points on the circle such that the line is the only unknown side of two triangles, the instant center represented by that line lies at the intersection of the two lines drawn through the instant center pairs that are identified by the two known sides of each triangle. 1.8...
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## This note was uploaded on 12/09/2010 for the course MECH ENG mech300 taught by Professor Dinc during the Spring '10 term at UOIT.

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Lecture_9 - three instant centers, namely and . If we have...

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