TUTORIAL 6: ANALYTICAL VELOCITY ANALYSIS OCTOBER 26, 2009

PROBLEM 1: Problem 3.27 (p139)

Solution:

"1 _ 7ltv:) _ ,

Wy ':. ? ()J .:; ~- 7

lA)6 ::?

. l;'igure 1)3~27 RA o~ = RDc = 1.5 in, RBA = 10.5 in, R0402 = 6 in, RB04 = 5 jn,

/R 06 0 2 = 7 in, Reo6 = 8 in. vJR, -= ?-Zf"'% ~

(I) Rflo,- ~ st0-1.- ..;- ~311 ~S ~ ~ 1- R G(}~ e4 ~ fl.{J. o./1, 'D rr Vq(.) ~I 2­

(2.) 'RAO"LS~YI§-<- + RgA ~~ E3j .-)- 'i<(}lAB ~ ; Y\ 6r{ - 0

Cft) y/-r(? d-- -1-;~ ~ \We I e vJ~,eJ-lbt..,-.b

~_ -fii.!)@~ W'- S;" @-1.. - fl0A e"'; .165 - ~"r.,~, r f!Jv ·:o 0 ~{i) (') /~-'" e; ~ w ~'Dt'J ') r7 ~ - 0!iF ~ 'gMt- 02- <'i)s(3\-L 1- 1'\31l-~~' ,-t- <9413

I

Y ­

_ f<f3~ S \ n E93 _ %11'13 S~y1f}11 fA)3 .-1- f< f) CJ;z W:2 S ,~ n ~'-

_TerYY'B

TUTORIAL 6: ANALYTICAL VELOCITY ANALYSIS OCTOBER 26, 2009

'r; 1}v'/3 oILl() r '-- -----" ~ dF --(~AJo, W ., (0,8>2- t (2.iJtt- "V,·dj 3-+ f2c tJ tV.> [dl(qi1J.i...) 1" ~L ~ CbS 6-5

+1<D{D ~ us{&6 t1f-c) +VD~ s; n (tJ, tTl,) '" 0

+ ~S(6t; '11;;)

t S ; Y{~~lV.1.)RJr CJJ ,65 1- %D ar{8,;-1:%.)

Ws ::: ~q , 673 J n&!( --;> CW

'7 0 , 1~ 6-6 " nIs -'7 f2,OoD is s hertoo:"Y , ~;> ~ow CV\"~ 0 (

2

--

TUTORIAL 6: ANALYTICAL VELOCITY ANALYSIS OCTOBER 26, 2009

(8)

d())

-d~: -7

d ( z) -db; ~

- RlBA 5~Y1 ~~ .:/

LU ~ 6 . ;;Z r?-1- ~ I Y ,l{ r~d/J --I> C.D vJ 3

w 'i ~ 0 ~ f: 7<- :: \l.1 -4 N:Jlf -!> C.c' 1J\J<

TUTORIAL 6: ANALYTICAL VELOCITY ANALYSIS OCTOBER 26, 2009

<--tV) ~/X jr~ ~.

- Roc s~ nos- -~D SfYl(6~ t ~)

(

&f= - o . t:)YS

/

RqD :Z: - 0 , D165 )Yr~

4

TUTORIAL 6: ANALYTICAL VELOCITY ANALYSIS OCTOBER 26, 2009

PROBLEM 2: Problem 3.8 (p136)

y 1~~1 - -.--­ .

'\

-.- -­ ' VB

Figu)'("! P3.8 RA [/ = 400 mm. (3." VB .~ '-(0 m-A ell

Solution:

'W\le ,+\0, So on e ~

OR \R8!J j~-+ ;;/>11 .- R5 )

(1-)i Ii'S/,l ~< ~11 + Rf! ~\e>tt '" Re (2)l Rgf) 5. Y\ egA '1- Rf) 'SJ)8,q ::- 0

(~(, JUtybeC(}UJ)1? . t.,U,2.. =-0

o ~Oe;)YI(., I­

do) /" Y"d'tcJ-G!-) --p

dj - R138 03 5, v? C]g + ~ Q;J~ ~ - Rfl VY, VI ~ft =- VB ~ (}o-,;:-c:sr o

cA{9.~ ---, ---7:>

dt ~fI UJ3 ctJs OBI! + ~ $bn~ +RA ~ &,4 =: 0

-­- - ' ­

I . v,1 ~- 4ft '" 91 rn 15 ~o

i w, = 16. 6(!>~" R<A.1 c·c w. 5

--

i'

TUTORIAL 6: ANALYTICAL VELOCITY ANALYSIS OCTOBER 26, 2009

ell; ) ,

c/J,} I (

------:> -(J> RfJ U~1Jt; - RfY; S ) 1'1 B-3 A ~;9 'iii" L c1~

ati) ( 0 ~ f<p

J

~~Yl~ 1- RJ!) C@S b&fJ 6811-. -­dRi J-V\ maMx fYYVL :

' Ce?~ a~- Rg tt b~ ne rs ft I

Kr;,

o

0 .....- --~ m(;'

----

VA ~()_ Lff: c( q

) , 27- '-(7- =­~ c,c, L.Ureefsw:s :- cv2>A- =.+ 56 , [0)..0; - -o,q/S) o~

(Y'1&fs~

6