BIRMINGHAM CITY UNIVERSITY

COMPUTING ENGINEERING AND BUILT ENVIRONMENT

Slider-crank Mechanism – Cutting Machine

Vector Algebra Analysis

A steel slider-crank mechanism is as shown in Figure 1.

The data is as follows :

OA = 80 mm, AB = 400 mm, AG = 135 mm, Input speed to OA = 120 rpm

a) Construct a position diagram detailing all x and y coordinates,

[5 marks]
b) Determine the position vector equations,
[5 marks]
c) Determine the velocity vector equations,
[5 marks]
d) Determine the acceleration vector equations,
[5 marks]

giving details of any assumptions made.

For the system at the position and speed given : -

e) construct a velocity diagram and,

[20 marks]
f) construct an acceleration diagram
[25 marks]
 B

o
25 (325, 220)
A
(75, 0)

75 mm
G
O 𝜃1

55o

120 rpm 𝑟1
𝑟2
𝜃2   ^  ^
(45.9, -65.5) Velocity of OP  OP  r r  r  
 
A
____    ^    ^
Acceleration of OP  OP  [ r  r  ] r 2
 [ 2 r   r  ]
 

Figure 1
Position Vector Equation
⃑⃑⃑⃑⃑ ⃑⃑⃑⃑⃑ ⃑⃑⃑⃑⃑

⃑⃑⃑⃑⃑⃑ ⃑⃑⃑⃑⃑
⃑⃑⃑⃑⃑ 𝑟⏞𝑟 𝑟⏞𝑟

Velocity Vector Equation

⃑⃑⃑⃑⃑̇ ⃑⃑⃑⃑⃑̇ ⃑⃑⃑⃑⃑̇

⃑⃑⃑⃑⃑⃑̇ ⃑⃑⃑⃑⃑̇
⃑⃑⃑⃑⃑̇ ⏞
𝑟̇ 𝑟 𝑟 𝜃̇ 𝜃 ⏞ 𝑟 ̇ 𝑟 𝑟 𝜃̇ 𝜃

But 𝑟 ̇ 𝑟̇
Thus

⃑⃑⃑⃑⃑⃑̇ ⃑⃑⃑⃑⃑̇
⃑⃑⃑⃑⃑̇ ⏞
𝑟 𝜃̇ 𝜃 ⏞ 𝑟 𝜃̇ 𝜃

Acceleration Vector Equation

⃑⃑⃑⃑⃑̈ ⃑⃑⃑⃑⃑̈ ⃑⃑⃑⃑⃑̈

⃑⃑⃑⃑⃑⃑̈ ⃑⃑⃑⃑⃑̈
⃑⃑⃑⃑⃑̈ ⏞
(𝑟̈ 𝑟 𝜃̇ )𝑟 ( 𝑟̇ 𝜃 ̇ 𝑟 𝜃 ̈ )𝜃 ⏞
(𝑟̈ 𝑟 𝜃̇ )𝑟 ( 𝑟̇ 𝜃 ̇ 𝑟 𝜃 ̈ )𝜃

But 𝑟 ̇ 𝑟̇ 𝑟̈ 𝑟̈ 𝜃̈ thus

⃑⃑⃑⃑⃑⃑̈ ⃑⃑⃑⃑⃑̈
⃑⃑⃑⃑⃑̈ ⏞
( 𝑟 𝜃̇ )𝑟 ⏞ ( 𝑟 𝜃̇ )𝑟 ( 𝑟 𝜃 ̈ )𝜃
Velocity Diagram
⃑⃑⃑⃑⃑̇ 𝑟 𝑟 𝑟

Velocity diagram - 1 mm ≡ 0.01 m/s

⃑⃑⃑⃑⃑ 𝑟 𝜃̇ 𝜃 ( )( )𝜃 𝜃

O
(1.04 m/s)
⃑⃑⃑⃑⃑̇

31o
B

G 𝑟1 𝜃1̇ 𝜃1

𝑟2 𝜃2̇ 𝜃2 (1.01 m/s)

(0.19 m/s) A

⃑⃑⃑⃑⃑̇ = 108 m/s idas

⃑⃑⃑⃑⃑ 𝑟 𝜃̇ 𝜃

𝑟
𝜃̇

From Rule of Proportionality get :

( ) ( )

Rule of proportionality gives ⃑⃑⃑⃑⃑̇

ACCEL DIAGRAM

𝑟 𝜃̇ 𝑟 ( )( ) 𝑟 𝑟

𝑟 𝜃̇ 𝑟 ( )( ) 𝑟 𝑟
Scale : Acceleration diagram – 1 mm ≡ 0.1 m/s2

Expand
𝑟2 𝜃2̈ 𝜃2

2
(0.009925 m/s ) G (6.6 m/s2)

A 2
𝑟2 𝜃̇22 𝑟2 (13.2 m/s )

𝑟1 𝜃̇12 𝑟1
𝑟1 𝜃̇12 𝑟1

B
𝑟2 𝜃2̈ 𝜃2
O (0.3 m/s2)
⃑⃑⃑⃑⃑̈

A’B = 13.2 m/s2

𝜃̈ ( )

⃑⃑⃑⃑⃑̈ = 0.3 m/s2 idas

( ) ( )

⃑⃑⃑⃑⃑̈ ≡ 6.6 m/s2 idas