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MOM_Lect_7_Instantaneous_Center(2)

The document discusses the concept of the instantaneous center in mechanics, which is a point where two bodies in relative motion have equal velocities. It explains how to determine the instantaneous centers for various mechanisms, including four-bar linkages and direct contact mechanisms, using methods such as Kennedy's Theorem. Additionally, it outlines the steps for conducting velocity analysis using the instantaneous center method in mechanical systems.

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5 views

MOM_Lect_7_Instantaneous_Center(2)

The document discusses the concept of the instantaneous center in mechanics, which is a point where two bodies in relative motion have equal velocities. It explains how to determine the instantaneous centers for various mechanisms, including four-bar linkages and direct contact mechanisms, using methods such as Kennedy's Theorem. Additionally, it outlines the steps for conducting velocity analysis using the instantaneous center method in mechanical systems.

Uploaded by

ggs103377
Copyright
© © All Rights Reserved
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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ME2401E Mechanics of Machines

Monsoon Semester 2024-25

Lecture-7 Velocity Analysis using


Instantaneous Center
Instantaneous center

Consider two bodies having relative plane motion


• Instantaneous Centre:
• It is a point a point common to both the bodies having identical
velocity at the instant.
• It is a point in one body about which the other body has a pure rotation
at the instant.
Instantaneous center..
The body 2 is having a planar motion relative body 1.
Which is the instantaneous center I12 ?
Instantaneous Centre of Velocity/Rotation
Instantaneous Center (IC)
• IC is a point in common between two members where the
velocities are equal, both in direction and magnitude

Connected by Pin/hinge joint


Pure Rolling Contact
Instantaneous Center (IC)

Sliding contact between link

Sliding contact on
Sliding contact on curved surface having
curved surface constant radius of
Sliding contact on curvature
straight surface
Number of instantaneous
centres for n bodies
Kennedy’s
Theorem
If three rigid bodies are in relative motion (in a plane) with
respect to one another, the three relative instantaneous
centers of velocity are collinear.
Instantaneous centers for a
mechanism

 Four-bar linkage

 Shaper mechanism(slotted-link mechanism)


Obtaining the instantaneous
centers for a mechanism:
Four-bar linkage
Given the angular velocity of link 2 ω2, find
velocity of joints B and C and angular
velocity of link 4 ω4
1. Take appropriate length
scale. Draw the mechanism
at the given configuration in
chosen length scale

2. Obtain all the 6


Instantaneous Centres

3. VB = ω2 X I23-I12
I23-I12: distance between I23 &
I12
or length of link 2, l2

ω2 is known, measure distance


4. Point B is common to links 2 and 3.
Motion of link 3 relative to link 1 - link 3 is

VB = ω3 X I23-I13 , find ω3
rotating about I13 with angular velocity ω3

5. Velocity of C or I34
VC = ω3 X I34-I13 , find Vc

6. Point C is common to links 3 and 4.


Motion of link 4 relative to link 1 - link 4 is

=ω 4 Xlink
I144-I ω4 point in
rotating about I14 with angular velocity ω4
Alternate method: Velocity of instantaneous centre I24 is the same V 34 I24,asfind
extended bodies link 2 and link 4). Link 2 and I24 rotates with ω2 about A. Also, link 4 and I24 rotates with ω4 about D.
inClink 2 and (Imagine a common

Thus, velocity of I24

V24 = ω2 X I12-I24 = ω4 X I14-I24 , find ω4


Instantaneous Centre of Four Bar Linkage
Instantaneous center for a direct contact
mechanism
Instantaneous center for a direct contact
mechanism..
Instantaneous centers of a Cam and flat-face
follower
Velocity Analysis by Instantaneous Centre
Method
Given ω2 obtain V3
Extra
1. Intersection point of normal to direction of VA and
VB is the IC, rod AB rotates as constant angular
velocity
2. Given VB, find angular velocity of the ladder.
3. From angular velocity, find velocity of VA and VG
Locus of instantaneous center: Centrode
Velocity Analysis by Instantaneous Centre Method
Figure shows a five-link mechanism in which the follower 5 is driven by the
cam 3, which is the coupler link of the 4R linkage. If the input link 2 rotates
with an angular velocity w = 10 rad/s (CW), determine the angular velocity of
the output link 5.
Velocity Analysis by Instantaneous Centre
Method
Velocity Analysis
 Since motion is transferred to link 5 by link 3 through a higher pair contact
at P, the relative instantaneous center 35 lies on the common normal to the
contacting surfaces at P.
 Once 13 is known, location of 35 on the common normal can be determined
 Finally, the instantaneous center represented by the diagonal 25, is found
out and its distances from O2 and O5 are measured to be 17 cm and 34 cm,
respectively.
 Hence = (17/34) x10 rad/s (CW) =5 rad/s ( CW).
Velocity Analysis by Instantaneous Centre Method

Given ω2 obtain the


velocity of link 4

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