CHAPTER TWO
Linkage Analysis
part 4
Acceleration Analysis
By Lidiya Abebe
Overview
Acceleration is defined as the rate of change of velocity
with respect to time.
Velocity is a vector quantity and so is acceleration.
Acceleration can be angular (α) or linear (A).
It shows a link PA in pure rotation,
pivoted at point A in the xy plane.
We are interested in the acceleration of
point P when the link is subjected to an
angular velocity ω and an angular
acceleration α, which need not have the
same sense.
The link’s position is defined by the
position vector R, and the velocity of
point P is VPA.
Cont…
Notice that in general there are two components of
acceleration of a point on a rigid body rotating about a
ground pivot.
Cont…
Tangential Acceleration
Has a magnitude of Pα and in the direction tangent to path of p,
pointed in the sense of the angular acceleration
Parallel to the velocity vector
Its presence is due to rate of change of angular velocity.
Normal Acceleration
Has a magnitude of P and because of its opposite sign, a direction
opposite to that of the position vector PA
Always points towards the center of rotation
Perpendicular to the velocity vector
Graphical Acceleration Analysis
1. From any point o', draw vector o'a' parallel to the direction of absolute acceleration
at point A () , to some suitable scale.
has two components ( & )
2. Draw vector a'x parallel to the link AB (because radial component of the
acceleration of B with respect to A will pass through AB), such that vector a’x = =
/ AB
3. From point x, draw vector xb’ perpendicular to AB or vector a'x (because is
perpendicular to ) and through o‘ draw a line parallel to the path of B to represent
the absolute acceleration of B (). The vectors xb' and o' b' intersect at b'. Now the
values of and may be measured, to the scale.
4. By joining the points a' and b' we may determine the total acceleration of B with
respect to A (). The vector a' b' is known as acceleration image of the link AB.
Cont…
For 4-bar Linkage
For a known four-bar mechanism, in a given configuration and
known velocities, and a given angular acceleration of the
crank, α2 (say CCW), we can construct the acceleration
polygon and Determine α3 and α 4 .
Cont…
Now we are ready to draw the acceleration polygon.
1. First we select the origin and add AtA and AnA to obtain AA
2. AnBA is a added at A
3. We also know the axis of AtBA which would be added to AnBA
4. AnB is added to the origin
5. We also know the axis of AtB which would be added to AnB
6. The two lines intersect at B. We complete the acceleration polygon by drawing the missing
accelerations
Next we determine the angular accelerations.
α3 = AtBA ∕ RBA
α4 = AtB ∕ RBO4
Cont…
Step 1: Draw the configuration diagram
Step 2: Calculate
both tangential & radial / normal component of input link ( = * and = * )
and
only radial component of the remaining links (for example for link AB =
* AB)
Step 3: Draw acceleration diagram
Fixed points are taken as one point in the velocity & acceleration diagram
Use acceleration equation to draw the polygon.
Radial components are
Parallel & opposite to the corresponding position vector in configuration diagram and
perpendicular to the corresponding velocity vectors in velocity polygon
Tangential components are
perpendicular to the corresponding position vector in configuration diagram and
Parallel to the velocity vectors in velocity polygon
Step 4: Measure length of the vectors to get the corresponding
accelerations
Analytical Acceleration Analysis
Step 1: Draw the
configuration diagram &
write the vector loop
equation for the position
vector.
Step 2: Write its complex no. notation in polar form
Step 3: To get velocity equation differentiate the above
equation w.r.t time
Cont…
Step 4: To get acceleration equation differentiate the above
equation w.r.t time
Each term in the above equation contains 2 functions of time θ & ω.
Thus differentiating gives 2 expressions for acceleration.
Note that this equation is in fact the acceleration difference
equation
Cont…
Step 5: Substitute Euler Identity
Step 6: Separate Real & Imaginary Parts
Step 7: Solve for the unknown values ( & )
The procedure is the same as that of position & velocity
analysis
Algebraic solution for common mechanisms
Four-Bar mechanism
A general four-bar
mechanism is shown
It is uniquely defined with
dimensions L1, L2, L3 and
L4. With one degree of
freedom,
The motion of one link must
be specified to drive the
other links.
Most often the crank is
driver.
Therefore, knowing θ2, ω2,
and the position of all the
links, from position
analysis, the velocities of
the other links can be
determined.
Algebraic solution for common mechanisms
Slider-Crank mechanism
A general slider-crank mechanism
is shown and
It is uniquely defined with
Offset slider-crank mechanism
dimensions L1, L2, and L3. With
one degree of freedom,
The motion of one link must be
specified to drive the other links.
Most often the crank is driver.
Therefore, knowing θ2, ω2, and the
position of all the links, from
position analysis, the velocities of
the other links can be determined.
Example-1
The crank rotates CCW at a constant rate of 210 rpm. The
link lengths are given as: OB= 20cm, AB=100cm.
Determine:
a) Acceleration of the piston ()
b) Angular acceleration of the connecting rod ()
Ans
Example-2
The crank AB rotates CCW at 25 rpm and accelerating at
10rad/s^2. The link lengths are given as: AB=1.5m, BC=3m,
CD=2.5m and AD=4m. Determine:
a) Linear acceleration of point C
b) The angular acceleration of link BC
c) The angular acceleration of link CD
Ans
Coriolis Acceleration
In certain conditions, a third component of acceleration
is encountered. This additional component is known as
the Coriolis component of acceleration and is present in
cases where sliding contact occurs between two rotating links.
Mechanisms used in machines have been known to fail
due to the mistaken omission of this Coriolis component.
This Coriolis component of acceleration will always be
present when there is a velocity of slip associated with
any member which also has an angular velocity.
Specifically, the Coriolis component is encountered in
the relative acceleration of joints when all of the
following three conditions are simultaneously present:
1. The two points are coincident, but on different links;
2. The point on one link traces a path on the other link;
3. The link that contains the path rotates.
Cont…
Example: a rear hatch of a minivan and the related kinematic diagram
Notice that point B can be associated with link 2, 3, or 4. To
clarify the association to a link, point B is referred to as B2, B3,
and B4.
Since both pin and sliding joints are used to connect the two
rotating links, links 2 and 4, the velocities and accelerations of
the coincident points B2 and B4 are not the same
The points are coincident, but not on the same link (condition 1);
Point B2 slides along and traces a path on link 4 (condition 2); and
The link that contains the path, link 4, rotates (condition 3).
Coriolis component of
acceleration
Cont…
The magnitude of the Coriolis component
The angular velocity, ω, must be of the link that contains the path of the sliding
point.
The direction of the
Coriolis component is
perpendicular to the
relative velocity vector, .
The sense is obtained by
rotating the relative
velocity vector such that
the head of the vector is
oriented in the direction
of the angular velocity of
the path
Example-3
For the kinematic diagram shown, the angular velocity of link 2 is 20
rad/s counterclockwise, and it is accelerating at a rate of 5 rad/s^2.
Determine:
a) the angular velocity of link 4,
b) the sliding velocity of link 3 on link 4, and
c) the angular acceleration of link 4.