This preview has intentionally blurred sections. Sign up to view the full version.
View Full DocumentThis preview has intentionally blurred sections. Sign up to view the full version.
View Full Document
Unformatted text preview: Kinematics and Dynamics Kinematics and Dynamics of Machines of Machines ENGR 3270U ENGR 3270U Lecture 11 Lecture 11 Yuping He University of Ontario Institute of Technology October 27, 2008 1.2 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 1.3 5.2 Position, Velocity, and Acceleration Representations • Position Position Representation 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 θ θ θ θ θ θ ) sin (cos j i r r k k k k θ θ + = 1.41....
View
Full
Document
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.
 Spring '10
 dinc

Click to edit the document details