Professional Documents
Culture Documents
Chapter 5
and 6 + 7 = 0
2
With
scalar knowns: r1 , 1 = , r2 , r3 , r4 , r5 , r6 , r8 , , .
and
scalar unknowns: 2 , 3 , 4 , 5 , 6 , r7 , 7 , 8 .
With seven equations in eight unknowns there is 1 degree-of-freedom. Take 2 as Si .
The figure below defines the locations of the mass centers. vectors r9 , r10 , r11 , r12 and angles 2
and 4 are known.
The inertias, m2 , Ig2 , m3 , Ig3 , m4 , Ig4 and m5 , Ig5 are known.
Assume that steps 1-4 in Example ?? are completed. You should complete Steps 5 and 6 here
and derive a system of equations in matrix form which could be solved for the magnitude of the
driving torque, T2 and all the bearing forces. The following figures are for your free body diagrams.
For link 2 sum moments about point A.
For link 3 sum moments about point B.
77
F
T5
C
3
E
X
2
T2
A
r1
1
r4
r3
r5
r6
r2
r7
r8
fig501
78
r12
G5
C
r3 G3
r5
r4
r10
B
r2
2
G4
r11
G2
D
r9
A
fig501a
79
C
E
G4
F
5
D
C
G3
G5
3
B
E
B
G2
D
fig501b
80
Problem 5.4
The machine below is a scissor jack. It is commonly used to lift an automobile in order to change
is a known weight of the automobile. F is the driving force. This force is usually
a flat tire. W
developed through a screw which is turned by the operator of the jack.
This is a two loop mechanism. The right side shows two appropriate vector loops.
r5
r3
r2
r4
r6
r7
X
r1
fig205d
This means that it is reasonable to neglect inertia eects. Likewise, the weights of the links are
significantly less than weight W and they can also be neglected.
Suppose that steps 1-4 in example ?? have been completed. Complete steps 5 and 6 to derive
all equations necessary in order to compute F and the bearing forces in terms of the prescribed W ,
link lengths and state of motion. Present all systems of equations in matrix form.
The following figure is for your free body diagrams. For your moment equations please sum moments
as stated:
for link 2 sum moments about the point B,
for link 3 sum moments about the point C and
for link 4 sum moments about the point A.
3
C
fig205e
4
2
A
Figure 5.11: Free body diagrams
88
Problem 5.7
applied to link 2 is unknown. The
The load P applied to link 4 is known. The driving torque Q
figure shows locations of mass centers. Inertia properties of all links are known.
G4
r7
3
G3
r4
1
3
r5
r1
G2
2
r6
Y
r3
A
X
r2
fig505
G4
C
3
G2
fig505a
95
G3
Problem 5.10
The machine below moves slowly. The load F3 is known and is an order of magnitude larger than
the weight of any link. An appropriate vector loop is shown on the following page. The vector loop
equation, r1 + r2 r3 =
0 has 2 scalar components and
scalar knowns: 1 , 2 , r3 and
scalar unknowns: r1 , r2 and 3 ,
so it has one degree of freedom. Suppose the angular position, velocity and acceleration of link 2
are known and steps 1-4 in example ?? have been completed. Complete steps 5 and 6 in Example
?? and derive and system of equations in matrix form which could be used to compute T2 .
In your free body diagrams, model the force between 1 and 3 as a force with unknown line of
action, like in example ??, where the force between 1 and 4, F14 , has an unknown line of action
determined by the magnitude of r9 .
Do you notice anything odd when you do this? Please discuss.
1
3
F3
r4
2
fig524
+
1
101
T2
r2
r3
r1
Y
fig524a
+
X
102
3
F3
Y
B
+
r4
r1
fig524b
+ A
T2
Figure 5.26: Free body diagrams
103