1 position, velocity and acceleration analysis complex algebra method dr. a-alabduljabbar 3-4-2006
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Position, Velocity and Acceleration Analysis
Complex Algebra Method
Dr. A-Alabduljabbar
3-4-2006
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Introduction
Displacement: Consider the displacement of a point from
position P (represented by rp) to P' (represented by rp'), in the x-y coordinate system. The change in the position of the point, r, is found by:
r = rp’- rp (1)
Equation (1) is a vector equation which can be resolved into the two coordinates, and solved for the unknown displacement (magnitude and direction) provided that both magnitudes and directions of rp and rp' are defined.
rp
rp'
O
Drp
P
P'
y
x
3
Consider the motion of a point from position P to P' during a time period of t as shown in the figure. The change is position is give by r.
The velocity is defined as the change in position with respect to time, and we can define the average velocity
When the time change becomes very small, the limit is taken to get the real (instant) velocity:
Velocity
rp
rp'
O
Drp
P
P'
y
x
dt
d
tt
rrv
lim
0
tave
r
v
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Acceleration
Similarly, the acceleration is defined as the change in velocity with respect to time, and we can define the average acceleration
When the time period becomes very small, the limit is taken to get the instant acceleration :
vp
vp'
O
DvpP
P'
y
x
dt
d
tt
vva
lim
0
tave
v
a
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Methods for Solution Solution for the unknown quantities in a certain mechanism can be
obtained by different methods: Analytical Methods:
Trigonometry Analysis Considering the geometry: magnitudes and Angles of each vector
Vector Algebra Standard vector analysis: addition and subtraction of vectors
Complex Algebra Representation of vectors as complex numbers consisting of
magnitudes and angles.
Graphical methods: Using graphical tools.
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Complex Algebra Method The vector is represented as a
complex number which includes the magnitude and direction of the vector.
r = r ejq
= r cos q +j r sinq Where r: magnitude of r;
q: Direction of r (from +ve x-axis);
j: (-1)1/2;
and e: Base of the natural logarithm. To get velocity, differentiate the
position vector. To get acceleration, differentiate the
velocity vector.
r
q
r cosq
jr sinq
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Velocity
jjj ererredt
d
dt
d
)(r
v
Where:
w: is the angular velocity
)();( dt
dr
dt
dr
Acceleration
jjjj
jj
ejrererjer
ejrerdt
d
dt
d
22
)(
a
va
Where:
a: is the angular acceleration
2
2
2
2
;)(dt
d
dt
rdr
dt
dr
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An off-set crank slider mechanism
Find the displacement of the slider (link 4) in terms of the dimensions of the other links and their positions.
2
3
4
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Solution using Complex Algebra MethodAlgebraic methods have similar procedure for solution, as follows:
Procedure for Solution:1. Form one closed vector loop for the mechanism.2. Write vector equation representing the loop: Loop-Closure
Equation.3. Represent each vector with corresponding magnitudes and
angles on the graph.4. Determine known and unknown quantities, and also constant and
variable quantities.5. Solve the equation. 6. For velocity, differentiate the LCE once 7. For acceleration, differentiate the LCE twice
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An off-set crank slider mechanism
r1
q2
2
3
4
r2
r3
r4
Given links 2 and 3 dimensions, the input angle q2, angular speed w2 , and acceleration a2 ; determine the slider position, velocity and acceleration.
Solution
Draw the vector closure loop Write the LCE Represent each vector Determine known and unknown variables Solve LCE for displacement of slider For velocity and acceleration, differentiate
LCE as needed.
e
w2a2