KINEMATIC ANALYSIS ANALYTICAL METHOD ROAD MAP

1. Identify the type of mechanism being analysed: a) 4-bar pin jointed mechanism b) 4-bar mechanisms using a sliding or rolling connection Overall Aim: to determine the magnitude and direction of the velocity and acceleration (linear and angular) of the links in a constrained mechanism

2. Define the location of the fixed and moving coordinate systems correctly placing the moving coordinate system is the important issue: This depends on mechanism type: a. 4-bar pin jointed mechanism: origin at the end of the driven link, axis attached to the coupler (usually link 3) b. Sliding/rolling mechanisms: origin at the coincident point where the sliding motion transfer occurs (for rolling, this is at the centre of the roller). The moving axis is attached to the link containing the guide (on axis usually tangent to the path) Decide (and state) which axis systems defines the i,j unit vector directions

An exception to the sliding case occurs when the guide is part of the fixed link. In this case treat the mechanism as 4 bar pin joint (i.e. type a. as discussed in box to the left), with the fourth link being an imaginary link going from the radius of curvature of the guide to the slider or roller.

Note: always refers to the angular velocity of the link the moving axis system is attached to. A good arrangement of the moving axis will result in either V=0 (type a.) or R = 0 (type b.)

3. Write out the velocity equation, and set up the magnitude and direction table. Tick off the known and unknown terms, and identify relevant magnitudes and directions (, //) if there are only 2 unknowns, the equation can be solved

4. Determine the expressions for each of the vectors in terms of i and j components. For unknown terms, express the vector in terms of a magnitude times a unit vector in the defined direction.

5. Combine the terms to complete the velocity equation. Collect i and j components separately, and solve for the unknown terms.

Note: always refers to the angular acceleration of the link the moving axis system is attached to. A good arrangement of the moving axis will result in either A=0 and V=0 (type a.) or R = 0 (type b.) Remember that both normal and tangential components of acceleration are likely to exist, and can be used to reduce the number of unknowns

6. Write out the acceleration equation, and set up the magnitude and direction table. Tick off the known and unknown terms, and identify relevant magnitudes and directions (, //) if there are only 2 unknowns, the equation can be solved

7. Determine the expressions for each of the vectors in terms of i and j components. For unknown terms, express the vector in terms of a magnitude times a unit vector in the defined direction.

8. Combine the terms to complete the acceleration equation. Collect i and j components separately, and solve for the unknown terms.

9. For more complex mechanisms that build on the motion of this primary mechanism, place a new moving axis system at the connection point, and aligned with the transfer link, then repeat steps 1 to 8.