1 instant center - point in the plane about which a link can be thought to rotate relative to...
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Instant center - point in the plane about which a link can be thought to rotate relative to another link (this link can be the ground)
An instant center is either (a) a pin point or a (b) two points - - one for each body -- whose positions coincide and have same velocities.
Instant centers of velocity (Section 3.13)
Link 1 (ground)
2
Instant center: I12
2
1 (ground)
Instant center, I12
2
Finding instant centers
• By inspection (e.g. a pinned joint is an instant center)
• Using rules
• Aronhold-Kennedy rule
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Sliding body on curved surface
1
I12
Sliding body on flat surface
2
1I12 is at infinity
Rules for finding instant centers
I12 (point of contact)
Rollingwheel (noslip)
Slidingbodies
Commontangent (axis of slip)
2 3
I23
commonnormal
2
4
3
1
I13
Link is pivoting about the instant center of this link and the ground link
Link 3 rotates aboutinstant center I13
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For each pair of links we have an instant center. Number of centers of rotation is the number of all
possible combinations of pairs of objects from a pool of n objects,
number of links number of instant centers
3 3
4 6
5 10
2
1nn )(
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Aronhold-Kennedy rule
• Any three bodies have three instant centers that are colinear
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Instant centers of four-bar linkage
I13
2
3
4
1
I24
I12I14
I23
I34
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Velocity analysis using instant centers (Section 3.16)
AV
I13
2
3
4
1
I12I14
A
B
BV3
4
2
Problem:
Know 2
Find 3 and 4
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Velocity analysis using instant centers (continued)
Steps
1. Find VA, normal to O2A, magnitude= 2(O2A)
2. Find 3=length of VA/ (I13A)
3. Find VB, normal to O4B, magnitude= 3(I13B)
4. Find 4=length of VB/ (O4B)
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Velocity ratio (Section 3.17)
BOAO
4
2
2
4
cityinput veloocityoutput vel
ratiovelocity
A3
4
1
O2 O4
A
B
2
4
B