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Assuming the initial vector loop equation has been solved using methods from chapter 4, we can take the derivative with respect to time to get & & & ae j 2 j 2 + be j 3 j 3 ce j 4 j 4 = 0 Taking the derivative with respect to time to again results in & ae j 2 j 2
( )
( )
( )
(2)
( )
2
( )
( )
2
( )
( )
& ce j 4 j&4 = 0
( )
(3)
(4)
r r a BN a Btt = 0 r a r a r a = j 2 ae j 2 = j 3 ae j 3 = j 4 ae
j 4
( )
a a a
= 3 ae j
2
= 4 ae
2
ur goal is to find the unknown velocities based on the known parameters, i.e. to find =
(a, b, , d , 2 , 3 , , 2 , 3 , , 2 ) 4 = g ( , b, c, , , 3 , 4 , , 3 , 4 , )
(7
where the angular acceleration of the input link is given, and the position and velocity med. Arranging (4) so that the known values are on one side, and the unknowns are on the other and dividing by j, we have 3be
j 4
ae j 2 ae
j 3
ce j
(8
ce j 4 =
[A]
be j A= 3 be Thus
= [B ] 4
3
ce j 4 ce j
Z . Z
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Page 2 of 3 3 4
[ ]1 [B]
(12)
Note that the A matrix is the same as in the velocity analysis, only the B matrix changes.
The vector loop equation for a fourbar slider-crank linkage is ae j 2 be j 3 ce j 4 de 1 = 0 Taking the derivative with respect to time, we have & ae j 2 ( j 2 ) be j 3 ( j 3 ) d = 0 Taking the derivative with respect to time again, we have & 2 ae j 2 + j 2 ae j 2 + 3 be j3 j 3be j 3 d& = 0
2 2
(13)
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This also can be written as r r r r r a AN + a Att + a BAN + a BAtt a B = 0 where r 2 a AN = 2 ae j 2 r 2 a BAN = 3 ae j 3 r & a B = d& r a AT = j 2 ae j 2 r a BAT = j 3 ae j 3 (16)
(17)
& The unknown variables in this equation are 3 and d& . Gathering the known values all on one side, we have
2 2 & j 3be j 3 + d& = 2 ae j 2 + j 2 ae j 2 + 3 be j 3 = Z
(18)
Taking the conjugate to get the second equation leads to & be j 3 ( j 3 ) + d& = Z These two equations can be written in matrix form of (19)
(20)
(21)
(22)
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The vector loop equation for a fourbar inverted slider crank linkage is ae j 2 be j 3 ce j 4 de 1 = 0 ( ) be j3 term, both b and 3 change so you have to differentiate by parts. Thus the derivative is & 2 ae j 2 j be j 3 3be j 3 j 4 ce j 4 j = 0 . Again, taking the derivative results in
2 2 2 && & 2 ae j 2 + 2 ae j 2 j b e j 3 2be j3 j + 3 be j 3 3be j 3 j + 4 ce j 4 4 ce j 4 j = 0 (25)
(24)
& & One of the be j 3 j terms comes from taking the derivative of be j3 and the other from 3 be j 3 . Recall that the relationship between 3 and 4 remains fixed at
2
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& Thus our unknown variables are 3=4 and b& , so we need to group our equation accordingly. This leads to
2 2 2 && & b e j 3 + j 3 be j3 + ce j 4 = 2 ae j 2 + 2 ae j 2 j 2be j 3 j + 3 be j 3 + 4 ce j 4 = Z . (28)
Taking the conjugate to get the second equation gives && b e j 3 j 3 be j3 + ce j 4 = Z . These two equations can be written in matrix form of && 3
(29)
[A] b = [B]
where e j 3 A = j 3 e Thus && b 1 = [A] [B ] . 3 j be j 3 + ce j 4 Z and B = . j 3 j 4 j be + ce Z
(30)
( (
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(32)