Notes_03_01

Notes_03_01 - Notes_03_01 1 of 12 Geometric Kinematics for...

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Unformatted text preview: Notes_03_01 1 of 12 Geometric Kinematics for Four Bar POSITION ANALYSIS 2 2 1 2 2 2 1 2 cos r r 2 r r e - + = 2 2 1 2 2 2 1 cos r r 2 r r e - + = 2 2 r / sin e / sin = e / sin r sin 2 2 = - + = cos r r 2 r r e 4 3 2 4 2 3 2 ( 29 4 3 2 2 4 2 3 r r 2 / e r r cos- + = 3 r / sin e / sin = e / sin r sin 3 = = + + 180 4 - - = 180 4 + = 3 4 - = 4 3 VELOCITY ANALYSIS ( 29 2 2 1 2 2 2 1 2 cos r r 2 r r e dt / d - + = 2 2 2 1 sin r r 2 e e 2 = e / sin r r e 2 2 2 1 = ( 29 = sin e sin r dt / d 2 2 + = cos e sin e cos r 2 2 2 ( 29 - = cos e / sin e cos r 2 2 2 ( 29 - + = cos r r 2 r r e dt / d 4 3 2 4 2 3 2 D B 4 3 C r 4 r 3 3 4 e A D 1 C B 3 4 2 1 4 2 3 D A 2 B r 2 r 1 e r 1 = AD = 90 cm 2 = 65 r 2 = AB = 30 cm 2 = 10 rad/s CW r 3 = BC = 60 cm 2 = 2 rad/s 2 CCW r 4 = CD = 45 cm 2 = 0.5 rad/s 3 CW Notes_03_01 2 of 12 = sin r r 2 e e 2 4 3 = sin r r / e e 4 3 ( 29 = sin e sin r dt / d 3 + = cos e sin e cos r 3 ( 29 - = cos e / sin e cos r 3 ( 29 - - = 180 dt / d 4 - - = 4 ( 29 - = 4 3 dt / d - = 4 3 ACCELERATION ANALYSIS ( 29 2 2 2 1 sin r r e e dt / d = 2 2 2 2 1 2 2 2 1 2 cos r r sin r r e e e + = + ( 29 e / e cos r r sin r r e 2 2 2 2 2 1 2 2 2 1 - + = + = cos e sin e cos r 2 2 2 - + + = - sin e cos e cos e 2 sin e sin r cos r 2 2 2 2 2 2 2 2 ( 29 + - - - = cos e / sin e cos e 2 sin e sin r cos r 2 2 2 2 2 2 2 2 ( 29 = sin r r e e dt / d 4 3 + = + cos r r sin r r e e e 2 4 3 4 3 2 ( 29 - + = sin r r / cos r r e e e 4 3 2 4 3 2 ( 29 + = cos e sin e cos r dt / d 3 - + + = - sin e cos e cos e 2 sin e sin r cos r 2 2 3 3 ( 29 + - - - = cos e / sin e cos e 2 sin e sin r cos r 2 2 3 3 ( 29 - - = 4 dt / d - - = 4 ( 29 - = 4 3 dt / d - = 4 3 JERK ANALYSIS Notes_03_01 3 of 12 ( 29 2 2 2 2 1 2 2 2 1 2 cos r r sin r r e e e dt / d + = + 2 3 2 2 1 2 2 2 2 1 2 2 2 1 sin r r cos r r 3 sin r r e e e e 3 - + = + ( 29 e / e e 3 sin r r cos r r 3 sin r r e 2 3 2 2 1 2 2 2 2 1 2 2 2 1...
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Notes_03_01 - Notes_03_01 1 of 12 Geometric Kinematics for...

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