1. A four–bar mechanism shown in Fig.
P–4(a) has the following dimensions :
O2O4 = 80 mm ; O 2B = 330 mm ; BC = 500 mm ; O 4C = 400 mm ; O2G2 =
200 mm ; BG 3 = 250 mm ; O 4G4 = 200 mm ; The masses of links are : m2
= 2.2 kg ; m3 = 2.5 kg ; m4 = 2.0 kg ; The moments of inertia of links
about their centers of gravity are : I 2 = 0.05 kg – m2 ; I3 = 0.07 kg – m2 ; I4 =
0.02 kg – m2 ; The crank O2B rotates at 100 rad/s. Neglecting the gravity
effects, determine forces in the joints, and the input torque.
Solution :
Since ω2 = 100 rad/s vb = 100 × 0.33 = 33 m/s ;
The forces acting on the various links are shown in Fig. P–4(b). The
velocity diagram, drawn to a scale of 1 cm = 10 m/s, is shown in Fig. P–4(c).
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From this velocity diagram we get vc = 25 m/s ; vcb = 26 m/s ;
vb 2 332 vcb 2 262
Now fbc = O 2 B = 0.33 = 3300 m/s2 ; fcbc = BC = (0.5) = 1352 m/s2 ;
vc 2 252
fcc = O 4C = (0.4) = 1562.5 m/s2
Now the acceleration diagram, drawn to a scale of 1 cm = 500 m/s 2, is
shown in Fig. P–4(d). From this diagram, we obtain
o2b = 6.6 cm ; o4c = 8.4 cm ; o2g3 = 7.4 cm ;
o 2 b×O 2G 2 6.6×200 o 4 c×O 4 G 4 8.4 200
o2g2 = O 2 B = 330 = 4 cm ; o4g4 = O 4 C = 400 = 4.2 cm ;
∴ Acceleration of G2 = fg2 = 4 × 500 = 2,000 m/s2 ;
Acceleration of G3 = fg3 = 7.4 × 500 = 3,700 m/s2 ;
Acceleration of G4 = fg4 = 4.2 × 500 = 2,100 m/s2 ;
fcbt = c''c = 0.5 × 500 = 250 m/s2 ; fct = c'c = 7.8 × 500 = 3,900 m/s2 ;
f t cb 250 f tc 3900
α3 = BC = 0.5 = 500 rad/s2 ; O C
α4 = 4 = 0.4 = 9750 rad/s2 ;
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F2 = m2.fg2 = 2.2 × 2,000 = 4,400 N ; Inertia force = f2 = – F2 ;
F3 = m3.fg3 = 2.5 × 3,700 = 9,250 N ; Inertia force = f3 = – F3 ;
T3 = I3.α3 = 0.07×500 = 35 N–m (ccw) ; Inertia torque = t3 = – T3 = 35 N-m (cw)
F4 = m4.fg4 = 2 × 2,100 = 4,200 N ; Inertia force = f4 = – F4 ;
T4 = I4.α4 = 0.02×9,750 =195 N–m (ccw) ; Inertia torque = t3 = –T3 =195 N-m (cw)
t3 35 t4 195
f
h3 = 3 = 4550 = 7.7 mm ; f
h4 = 4 = 4200 = 46 mm ;
The forces and perpendicular distances are shown in Fig. P–4(e) From this
figure a = 230 mm ; b = c = 150 mm ; d = 90 mm ; e = 490 mm ;
f4a 4200 230
t O C
F 43 = 4 = 400 = 2415 N ; Ft43 = – Ft34 = – 2415 N ;
Taking moments about B we get : f3.b + f t43.d – Fc43.e = 0
(4550 × 150) + (2415 × 90) = Ft43 × 490 ∴ Fc43 = 1836.4 N ;
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Now draw the force polygon for the link BC as shown in Fig.P–4 (f).
From this figure, we get : F23 = 6.500 N ; F32 = – F23 ; F12 = F32 ;
The resultant of f2 and F32 has been obtained in Fig. P–4 (f), and it is equal
to ( f2 ⤈ F32) = 8,600 N.
∴ T = – ( f2 ⤈ F32).c = – 8,600 × 0.13 = – 1,118 N – m (cw)
∴ The torque exerted by the crankshaft on the crank O2B = T2 = – T
=1,118 N–m (ccw)
Now draw the force polygon for the whole mechanism as shown in
Fig. P–4 (g). From this diagram, we find that : F14 = 5,600 N.
2. A slider – crank mechanism is shown in the Fig. P – 5(a). A gas force of
17.8 kN acts to the left through the piston pin C. The crank rotates ccw at
a uniform speed of 1,800 rpm. Determine the (i) forces F 14 and F12, and (ii)
torque T2 exerted by the crankshaft on the crank for the equilibrium of the
mechanism. Given that : O2B = 60 mm ; O 2G2 = 40 mm ; BC = 280 mm ;
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BG3 = 125 mm ; m2 = 2.25 kg ; m3 = 3.65 kg ; m4 = 2.75 kg ; I2 = 0.0055 kg –
m2 ; I3 = 0.041 kg – m2.
Solution : (Refer Fig.P – 5)
The configuration diagram of the mechanism is shown in Fig.P-5(a), and the
forces acting on the various links are shown in Fig.P-5(d).
2 N
Now N = 1800 rpm ∴ ω = 60 = 188.5 rad/s ; ∴ vb = O2B.ω = 11.3 m/s .
Draw the velocity diagram to a scale of 1 cm = 3 m/s as shown in
Fig.P-5(b). From this diagram vcb = bc = 5.8 m/s ; vc = o2c = 10.9 m/s ;
vb 2 vcb 2
∴ fbc = O 2 B = 2128.2 m/s2 ; fcbc = BC = 120.1 m/s2 ;
Now draw the acceleration diagram to a scale of 1 cm = 500 m/s 2 as
shown in Fig.P-5(c). From this diagram, we get :
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fcbt = c'c = 1856.3 m/s2 ; fcb = bc = 1858.6 m/s2 ; fc = o2c = 816.2 m/s2 ;
f t cb
α3 = BC = 6630 m/s2 ; o2g2 = 2.8 cm ; bg3 = 1.6595 cm ;
fg2 = 2.8 × 500 = 1400 m/s2 ; fg3 = o2g3 × 500 = 2.7935 × 500 = 1397 m/s2 ;
fg4 = fc = 816.2 m/s2 ; F2 = m2.fg2 = 2.25 × 1400 = 3150 N; f 2 = – F2 ;
F3 = m3.fg3 = 3.65 × 1397 = 5099 N; f 3 = – F3 ;
F4 = m4.fg4 = 2.75 × 816.2 = 2245 m/s2 ; f 4 = – F4 ;
I3 α 3 0.041 6630
f
h3 = 3 = 5099 = 0.0533 m = 53.3 mm ;
The forces acting on the links are shown in Fig.P-5(d). From this diagram
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we get : a = 305.2 mm ; b = 34.4 mm ; c = 21 mm ; d = 51.8 mm ; e = 49.4 mm
Now M = 0 gives
B (F14 × a) – (P × d) + ( f3 × b) + ( f4 × d) = 0
(17,800 51.8) (5099 34.4) (2245 51.8)
∴ F14 = 305.2 = 2065.3 N.
Now, draw the force diagram as shown in Fig. P-5(e). From this diagram
we get : F23 = 13,385.4 N ; F32 = – F23 ;
F12 = 13,505.2 N ;
∴ T = – F12 × e = – 13,505.2 × 0.0494 = – 667.2 N – m (ccw) ;
∴ Input torque on the crank O2B = T2 = – T = 667.2 N – m (cw) .
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