Experiment-6
Study of Velocity Diagrams of the Following.
(a) Relative Velocity Diagrams of Four bar kinematic chains
(b) Relative Velocity Diagrams of Slider crank mechanism
(c) Analytical Method of Velocity and Acceleration of Slider Crank Mechanism.
(d) Velocity Analysis by Instantaneous Centre Method.
Relative Velocity Diagrams of Four bar kinematic chains
Relative Velocity Diagrams of Slider crank mechanism
Analytical Method of Velocity and Acceleration of Slider Crank Mechanism
Analytical Method for Velocity and Acceleration
of the Piston
Consider the motion of a crank and connecting rod of a
reciprocating steam engine as shown in Fig. 15.7. Let OC be
the crank and PC the connecting rod.
Consider the motion of a crank and connecting rod of a
reciprocating steam engine as shown in Fig. 15.7.
Let OC be the crank and PC the connecting rod.
Let the crank rotates with angular velocity of ω rad/s and the crank turns
through an angle θ from the inner dead centre (briefly written as I.D.C).
Let x be the displacement of a
reciprocating body P from I.D.C. after
time t seconds, during which the crank
has turned through an angle θ .
Velocity of the piston
Acceleration of the piston
Since the acceleration is the rate of change of velocity, therefore
acceleration of the piston P,
Example-1:
In a slider crank mechanism, the length of the
crank and connecting rod are 150 mm and
600 mm respectively. The crank position is
60° from inner dead centre. The crank shaft
speed is 450 r.p.m. (clockwise). Using
analytical method, determine: 1. Velocity
and acceleration of the slider, and 2. Angular
velocity and angular acceleration of the
connecting rod.
Solution. Given : r = 150 mm = 0.15 m ; l = 600 mm = 0.6 m ; θ = 60 ; N = 400
r.p.m or ω = π 450/60 = 47.13 rad/s
1. Velocity and acceleration of the slider
We know that ratio of the length of connecting rod and crank,
n = l / r = 0.6 / 0.15 = 4
Velocity Analysis by Instantaneous Centre Method.
Problem -1: A slider crank mechanism has lengths of crank and connecting rod equal
to 200 mm and 200 mm respectively locate all the instantaneous centers of the
mechanism for the position of the crank when it has turned through 30o from IOC.
Also find velocity of slider and angular velocity of connecting rod if crank rotates at
40 rad/sec. I 13
Solution-1:
Step 1: Draw configuration diagram to a suitable scale.
Step 2: Determine the number of links
I2 4
in the mechanism and find number of
A
instantaneous centers. 2
3
200 I2 3 800
B
N= n (n-1)/2 = 4 x 3/2 =6 I1 2 30 o
4
O 1 I1 2
1
I14 to ¥ I14 to ¥
Step 3: Identify instantaneous centers .
(i)Suit it is a 4-bar link the resulting figure will be a square.
(II)Locate fixed and permanent instantaneous centers. To
locate neither fixed nor permanent instantaneous centers
use Kennedy’s three centers theorem.
Step 4: Velocity of different points.
Va = w2 AI12 = 40 x 0.2 = 8 m/s
also Va = w2 x A13
w3 = Va / AI13
Vb = w3 x BI13 = Velocity of slider.
Problem 4: A four bar mechanisms has links AB = 300 mm, BC = CD =
360 mm and AD= 600 mm. Angle ˂ BAD = 60o . Crank AB rotates in Cw
direction at a speed of 100 rpm. Locate all the instantaneous centers and
determine the angular velocity of link BC.
Solution:2
Step 1: Draw the configuration diagram to a suitable scale.
Step 2: Find the number of Instantaneous centers, N = n(n-1)/2 = 4 x 3/2=6
Step 3: Identify the IC’s by circular method or book keeping method.
Step 4: Locate all the visible IC’s and locate other IC’s by
Kennedy’s theorem.
Vb = w2 x BI12 = 2π x 100 / 60 x 0.3 m/s
Also Vb = w3 x BI13
w3 = (Vb / BI13) rad/sec
CONCLUSIONS:
