Kinematics of Machines
TE2030E
Class code: TE2030E - 157243
Instructor: Minh Bau Luong, Ph.D
[Link]@[Link]
Chapter 8
Velocity and Acceleration Graphs
and Graphical Differentiation
8.1 Introduction
8.2 Velocity and Acceleration Graphs
8.3 Polar Velocity Graphs
8.4 Angular-Velocity and Acceleration Graphs
8.5 Graphical Differentiation
Recap the Velocity and Acceleration Analysis VB = VA + VB/A
A pictorial representation of the vector equation relating the velocity of
two points on a rigid body undergoing general plane motion.
Pictorial representation of VB = VA + VB/A for a sliding rod. The relative velocity VB/A ⊥ AB
Recap the Velocity and Acceleration Analysis aB = aA + aB/A
Four possible vector polygons for the acceleration of for a sliding rod.
Recap the Velocity and Acceleration Analysis aB = aA + aB/A
Four possible vector polygons for the acceleration of for a sliding rod.
Recap the instance center concept
Locating the instantaneous center of rotation C
(a) when you know the directions of the velocities
of 2 points
(b) when the velocities of two points ⊥ AB.
C VC = I1,3C*ω
Instantaneous center of rotation
C for the sliding rod AB.
8.1 Introduction
Example of analytical solutions of velocity
or acceleration: V, A, given x
Graphical solutions?
Finite difference methods
[Link]
[Link]
How to plot velocity and acceleration graphs of a slider-crank mechanism?
Displacement
xi
Displacement
xi at 𝜃i
Chapter 8. VELOCITY AND ACCELERATION GRAPHS
AND GRAPHICAL DIFFERENTIATION
8.1 Introduction
The velocity or acceleration of a given link varies during a whole cycle of
operation, we need to know where the velocity or acceleration is a maximum.
The velocities and accelerations can be found for a number of phases of the
mechanism, and the values plotted so that curves can be drawn.
The results are known as velocity and acceleration graphs.
Displacement – time data for a moving point in a mechanism are available (known)
and find the velocity and acceleration at various instants.
This can be done by graphical differentiation.
8.2 Velocity and Acceleration Graphs - Slider-crank mechanism
Velocities VC plotted at the actual positions of
the piston in space at the specified times.
VC
8.2 Velocity and Acceleration Graphs - Slider-crank mechanism
Dividing the crank circle into 12 equally spaced positions.
For each position of B, the
Positive ordinates: velocity of the
corresponding position of piston during its stroke from right to left
piston C can be located by
determining the intersection
point of the arc (which has
center coincident with B and
radius as BC) with the line of
piston travel. symmetry
Negative ordinates: velocity
during the stroke from left to right.
If 2 is known, VB can be calculated
and drawn with convenient scale.
Velocities VC plotted at the actual positions of
VC can be found by parallel line method. the piston in space at the specified times.
For crank positions 0 through 6, VC is drawn as positive ordinates perpendicular to the
line of piston travel; and for 6 through 12, VC is drawn negative.
A smooth curve drawn through the endpoints forms the velocity-space graph, which is
symmetrical about the line of piston travel.
Acceleration-space graph
Acceleration of piston C can be found by relative acceleration method.
The accelerations of C are laid off as ordinates from the horizontal line of piston travel
with any convenient scale.
Accelerations of the piston in a direction from C toward O2 are plotted as positive
ordinates, and accelerations in a direction from C away from O2 are plotted negative.
AC
AC
The dashed line shows how the acceleration-space
graph appears if the piston has simple harmonic motion.
A velocity-time graph and acceleration-time graph
The length of the diagram is the time required for one revolution of the crank.
Any convenient scale may be used along the time axis.
Since the crank rotates at constant speed, the time intervals corresponding to the equal
spacing on the crank circle are also equal.
The ordinates found in previous slide are laid off at the 12 points along the time axis.
The velocity and acceleration of the piston is compared with a simple harmonic motion
(SHM – – dash lines) to show if it resembles.
𝐀𝟏𝐂
𝐕𝐂𝟏
Velocity-space graph of an oscillating arm quick-return mechanism
Velocity-space graph of an oscillating arm quick-return mechanism
Velocity-space graph of an oscillating arm quick-return mechanism
Crankpin circle is divided into 12 equal parts.
For each positions of B the corresponding positions of D is located and numbered.
D' and D" are extreme positions of slider D when crank 2 is perpendicular to arm 4.
Hence B ' and B" are the points where link 4 is tangent to the crankpin
If 2 is known, VB2 can be calculated and
drawn with convenient scale.
Then VB4 , VC and VD can
be found.
As the crank rotates
through angle 1, the slider
moves from D' to D" and
the velocity of D is plotted
as positive ordinates.
When the crank rotates
through angle 2, the slider
makes a quick-return stroke
from D" to D', and the velocity
of D is plotted as negative
ordinates.
/ is the ratio of the time of the slow 15
1 2
stroke to the quick stroke.
8.3 Polar Velocity Graphs of a slider-crank mechanism
The length of vector VB velocity is scaled equal to the radius of the crankpin circle, then
radial lines from O2 out to the circle represent the velocity of the crankpin for each crank
position. The circle is then a polar velocity graph for the crankpin.
From O2 the linear velocities for point C are laid off radially in the direction of the
corresponding position of the crank, then the polar velocity graph for the piston is obtained.
The piston velocity for any phase can be found by drawing the crank in its corresponding
position, and then measuring the length of this radial line from O2 to the curve.
An oscillating arm four-bar linkage.
The linear velocity of point B is laid off radially from the crank circle O2B using any
convenient scale. The circle is a polar velocity graph for the point B.
The velocity of point C is obtained by the parallel-line method.
The path of C is a circular arc.
For motion of arm 4 to the left, VC is plotted in the direction outward from the path, and
for motion to the right, VC is plotted inward .
8.4 Angular-Velocity and Acceleration Graphs
Considering the Geneva mechanism which is illustrated diagrammatically as below:
Let P2 and P3 be points on 2 and 3 which are coincident at the instant.
Points 0,1, 2,…, 8 represent successive positions of P 2
Velocity polygons
Acceleration polygons
𝑉
3 = 𝑂 𝑃3
𝑃3 3
8.5 Graphical Differentiation
Method for obtaining velocity and acceleration curves consists of constructing a
displacement-time curve (often called the displacement diagram) and then by
graphical differentiation developing the velocity and acceleration curves.
This can be done by using rules:
- Velocity is the derivative of displacement with respect to time, dx/dt and is
proportional to the slope of the tangent to the displacement-time curve for any instant
- Similarly, acceleration is the derivative of velocity with respect to time dV/dt and is
proportional to the slope of the tangent to the velocity-time curve for any instant
tA, tB…: tangents at A, B… Slope of tA: s/t = VA
In the example: VA = 2.8/2 = 1.4 m/s
This velocity VA is laid off as the ordinate for
point A’ on velocity curve.
Repeating the procedure for points B, C, and
D on the displacement curve to obtain the
t corresponding points B’, C’, and D’ along the
velocity curve.
Another method:
Point P (called the pole) on the time axis on the
left of the origin.
From P, drawing t’A parallel to tA locates point
L. QL represents to scale the velocity at A.
Do the same for t’B, t’C and t’D, these ordinates
represent the velocities at the corresponding
t points.
Points A’, B’, C’ and D’ are then located by
projecting these ordinates over to the vertical
lines through the corresponding points on the
displacement curve.
A smooth curve drawn through the points of intersection is the velocity curve.
The accuracy of graphical differentiation depends on the care taken in drawing the tangents and the
number of increments used for the abscissa. Increased accuracy results as the number of increments
is increased and their magnitudes are made smaller.
Slider-crank mechanism.
The displacement, velocity, and acceleration curves for the slider are to be drawn.
The oscillating arm four-bar linkage
Crank 2 rotates with a constant speed. The displacement, velocity, and acceleration
curves for link 4 are to be constructed.