1. Mechanisms Design MECN 4110
Professor: Dr. Omar E. Meza Castillo
Department of Mechanical Engineering
Inter American University of Puerto Rico
Bayamon Campus

2. Tentative Lectures Schedule
Topic
Lecture
Introduction of Mechanism and Kinematics
1, 2 and 3
Position Analysis 4
Velocity Analysis 5

3. Topic: Velocity Analysis
One thing you learn in science is that there is no perfect answer, no perfect measure.
A. O. Beckman
Topic: Velocity Analysis
Fourbar Linkage

4. Up on completion of this chapter, the student will be able to
Chapters Objectives
Up on completion of this chapter, the student will be able to
Determine velocities of links and points on the fourbar mechanism by using graphical and analytical approaches.

5. 6.1 Velocity

6. 6.1 Velocity
Velocity of point P

7. 6.1 Velocity
Velocity Difference / Relative Velocity

8. 6.1 Velocity
Methods for Velocity Analysis

9. 6.2 Graphical Velocity Analysis

10. 6.2 Graphical Velocity Analysis
Given ω2, find ω3, ω4, VA, VB and VC

11. 6.2 Graphical Velocity Analysis
Given ω2, find ω3, ω4, VA, VB and VC

12. 6.2 Graphical Velocity Analysis
Given ω2, find ω3, ω4, VA, VB and VC

13. 6.2 Graphical Velocity Analysis
Given ω2, find ω3, ω4, VA, VB and VC

14. 6.3 Instant Centers of Velocity

15. 6.3 Instant Centers of Velocity
Finding lCs on a Fourbar Linkage

16. 6.3 Instant Centers of Velocity
Finding lCs on a Fourbar Linkage

17. 6.4 Velocity Analysis with ICs

18. 6.4 Velocity Analysis with ICs
Velocity Analysis using I1,3

19. 6.4 Velocity Analysis with ICs
Velocity Analysis using I1,3

20. 6.4 Velocity Analysis with ICs
Velocity Analysis using I2,4

21. 6.4 Velocity Analysis with ICs
Velocity Analysis using I2,4

22. 6.4 Velocity Analysis with ICs
Why Study Instant Centers?

23. 6.4 Velocity Analysis with ICs
Why Study Instant Centers?

24. 6.4 Velocity Analysis with ICs
Instant Center of a Sliding Joint

25. 6.4 Velocity Analysis with ICs
Finding ICs of a Slider-Crank

26. 6.4 Velocity Analysis with ICs
Finding ICs of a Cam Follower

27. 6.4 Velocity Analysis with ICs
Angular Velocity Ratio, mv

28. 6.4 Velocity Analysis with ICs
Angular Velocity Ratio in terms of link lengths and angles v and μ

29. 6.4 Velocity Analysis with ICs
Angular Velocity Ratio in terms of link lengths and angles v and μ

30. 6.4 Velocity Analysis with ICs
Mechanical Advantage, mA

31. 6.4 Velocity Analysis with ICs
Mechanical Advantage, mA

32. 6.5 Analytical Velocity Analysis of Fourbar Linkage
Velocity Analysis of Pin-Jointed Fourbar Linkage using Vector Loop Method

33. 6.5 Analytical Velocity Analysis of Fourbar Linkage
Velocity Analysis of Fourbar Linkage using Vector Loop Method

34. 6.5 Analytical Velocity Analysis of Fourbar Linkage
Velocity Analysis of Fourbar Linkage using Vector Loop Method

35. 6.5 Analytical Velocity Analysis of Fourbar Linkage
Velocity Analysis of Fourbar Linkage using Vector Loop Method

36. 6.5 Analytical Velocity Analysis of Fourbar Linkage
Velocity Analysis of Fourbar Linkage using Vector Loop Method

37. 6.5 Analytical Velocity Analysis of Fourbar Linkage
Numerical Example

38. 6.5 Analytical Velocity Analysis of Fourbar Linkage
Numerical Example
Position Analysis

39. 6.5 Analytical Velocity Analysis of Fourbar Linkage
Plot of Output Velocity versus Input Variable

40. 6.6 Analytical Velocity Analysis of Slider-Crank
Velocity Analysis of Offset Slider-Crank Linkage using Vector Loop Method

41. 6.6 Analytical Velocity Analysis of Slider-Crank
Velocity Analysis of Offset Slider-Crank Linkage using Vector Loop Method

42. 6.6 Analytical Velocity Analysis of Slider-Crank
Velocity Analysis of Offset Slider-Crank Linkage using Vector Loop Method

43. 6.6 Analytical Velocity Analysis of Slider-Crank
Velocity Analysis of Offset Slider-Crank Linkage using Vector Loop Method

44. 6.7 Analytical Velocity Analysis of Inverted Slider-Crank
Velocity Analysis of Inverted Slider-Crank Linkage using Vector Loop Method

45. 6.7 Analytical Velocity Analysis of Inverted Slider-Crank
Velocity Analysis of Inverted Slider-Crank Linkage using Vector Loop Method

46. 6.7 Analytical Velocity Analysis of Inverted Slider-Crank
Velocity Analysis of Inverted Slider-Crank Linkage using Vector Loop Method

47. 6.7 Analytical Velocity Analysis of Inverted Slider-Crank
Velocity Analysis of Inverted Slider-Crank Linkage using Vector Loop Method

48. 6.8 Velocity of Any Point on a Link

49. 6.8 Velocity of Any Point on a Link
Velocity of Point S

50. 6.8 Velocity of Any Point on a Link
Velocity of Point P

51. 6.8 Velocity of Any Point on a Link
Velocity of Point P

52. 6.8 Velocity of Any Point on a Link
Velocity of Pint P relative to Point O2

53. 6.9 Velocity of Slip

54. 6.9 Velocity of Slip

55. 6.10 Velocity of Slip Using Graphical Method

56. 6.10 Velocity of Slip Using Graphical Method

57. Homework5  http://facultad.bayamon.inter.edu/omeza
Omar E. Meza Castillo Ph.D.