Authors: Hilda Pacheco, Ajitabh Mand, Robert Neamtiu, Arvinder Singh
Computational Analysis Problem
May 31, 2018
Plane Kinematics of Rigid Bodies
Purpose:
The purpose of this project was to conduct a parametric study with a given problem of a
sliding crank mechanism. Utilizing MATLAB we were able to find more than one variable
in the given problem being: the maximum speed of a piston and corresponding value of
θ. We then plotted vA versus θ for one revolution of the crank in order to visualize the
solution.
Procedure:
Member OB:
1. Establish a fixed coordinate system.
2. Draw the FBD for member OB.
3. Indicate vB, ω, θ
and rB/O. Calculate vB by taking the cross product of ωOB and rB/O:
vB = ωOB
x rB/O
4. The vector solution will be utilized in second to part to obtain vA.
FBD of ABO:
1. Re-use the coordinate system established in part 1.
2. Draw the Kinetic diagram of the body ABO.
3. Indicate on it vA, ωBA, vBi, and vBj.
4. Apply the relative velocity equation:
vA = vB + ωBA x rA/B
5. Equate i and j components from the velocity equation to solve for ωBA and vA.
Analysis:
Because the crank has connecting linkages that allows for rotating motion in BO and
horizontal motion in AB, the crank is in plane motion. Therefore we can use its two
dimensional motion and relate it using relative velocity equations. The following
calculations will take into consideration diagram 1 and 2 as the free body diagrams
describing the motion of the crank.
The crank’s angular velocity is 1500 rev/min that moves point B, therefore moves point
A. To find the velocity at point A, we used the following angular velocity equation to first
find velocity at point B.
v B = v o + ω×rB/O (1)
We can convert -1500 rev/min to -50𝜋 rad/s for ω and we know that v o is zero because
point O is a fixed pointed. Therefore, we get
v b = (− 50π (rad/s)) k × rb/o (− cosθ i + sinθ j) (2)
The cross product yields the following
v B = 250π (in/s) * sin(θ) i + 250π(in/s) * cos(θ) j (3)
We’ll use the laws of sines to form a relationship with β and θ .
sinθ sinβ
14(in) = 5(in) (4)
Form an equation that has β being a dependent of θ .
β = sin−1 ( 5(in)sinθ
14(in) ) (5)
To find velocity at point A we can use the following relative equation
v A = v B + ω×rA/B (6)
The slider can only slide in the horizontal x-direction, therefore the velocity must also be
in the x-direction. We can substitute equation 3 for v B and input the values for rA/B .
This gives us the following
(7)
v A i = (250π (in/s) * sinθ i ) + (250π (in/s) * cosθ j) − ω BA k × (14in cosβ i + 14in sinβ j)
Doing the cross product yields
(8)
v A i = ( 250π (in/s) * sinθ ) i + (250π (in/s) * cosθ) j + ω BA * 14(in) * sinβ) i − (ω BA * 14(in) * cosβ) j
We know there is no velocity in the y-direction.Therefore, we can break equation 8 to
form the following two equations
v A = (250π (in/s) * sinθ) + ω BA * 14in * ( 5in14in
*sinθ )
(9)
0 = (250π * (in/s) * cosθ) − ω BA * 14in √1 − ( 5in*sinθ 2
14in
) (10)
Solve the system of equation for v A and ωBA . Which are
250π(in/s) * cosθ
ω AB = 5(in)*sinθ 2
(11)
14(in)
√
1−( 14(in) )
250π *(in/s)*cosθ
v A = (250π * (in/s) * sinθ) + ( 2
) * 14in * ( 5in14in
*sinθ ) (12)
14in* √
1−( 5in14in
*sinθ )
To accomplish all calculations within MATLAB (as specified), the equation can be
broken into following variable only form;
r·cosθ
V A = ω · r · sinθ · (1 + 2
) (13)
l
√ 1− r2 sin2 θ
l
Where;
ω = 50π rad
s r= 5
12 ft l= 14
12 ft
The following derivative, that can be used to find the rotational position at the max
velocity value, was obtained using WolframAlpha;
By setting the equation to zero and solving for theta we can find the position of greatest
velocity.
For the actual calculations, we differentiated the equation via MATLAB and used the
results to identify the max velocity.
Solution:
Graph 1: Matlab graphical results
The maximum velocity (vA) was computed as 69.55 ft/s at about 72 degrees (Θ) of
rotation.
MATLAB Code:
% The following script calculates the v_A values for a revolution of the
% given crank. Outputting a plot of v_A v. theta_deg. It also calculates
% the max velocity and plots it on the graph.
%Given values
rpm = 1500; %revolutions per minute
r = 5/12; %ft
l = 14/12; %ft
theta_deg = linspace(0, 360, 361); %theta values for a revolution in one degree
increments
%Calculated Values
ang_v = rpm*(1/60)*(2*pi); %angular velocity (ft/s)
theta_rad = theta_deg.*(pi/180); %theta values converted to radians
v_A =
r.*ang_v.*sin(theta_rad).*(1+((r.*cos(theta_rad))./(l.*sqrt(1-((r^2./l^2).*(sin(theta_rad)).^2
))))); %velocity values of A (ft/s)
%Finding maximum velocity
symvar v_A(theta_rad);
a_A = diff(v_A);
[~, idx] = min(abs(a_A - 0));
a_A_zero = a_A(idx);
max_v = v_A(idx);
max_theta = theta_deg(idx);
%Plot
plot (theta_deg,v_A);
hold on
plot (theta_deg(idx),v_A(idx),'r*');
text(theta_deg(idx),v_A(idx),' \leftarrow max Velocity = 69.6 ft/s @ 72 deg');
hold on
axis ([0,360,-80,80]);
%Labeling
title ('Velocity of A vs Degrees Rotation');
xlabel ('Degrees Rotation');
ylabel ('Velocity of A (ft/sec)');
legend('velocity at A', 'Location', 'southwest');
Appendix:
Figure 1 - Hand Computations Part 1
Figure 2 - Hand Computations Part 2
Figure 3 - Hand Computations Part 3
Personal Statements:
Hilda Pacheco
My contribution included working on the analysis section, purpose and formatting. I
mainly focused on the theory as to why relative velocity had to be used and what the
intention behind doing this project. I also helped with making the document neat and
organized. The analysis process involved using concepts learned in this class (relative
velocity) and knowing how to apply them in this context given examples in the book and
homework.
Ajitabh Mand
As a member of this team I organized the doc where everyone can start working. I
worked on the procedure for this project by outlining the process to solve the problem in
a similar way presented in the class. I also assisted in minor formatting with the analysis
section to ensure that the document is legible. Together as a team, we communicated
effectively to make sure the task was completed on time and everyone had a part to do.
Robert Neamtiu
My contribution to the team included problem analysis and assistance in hand
computations to produce the formulas required for the solution. The analysis and
thought process behind the solution stemmed from the usage of the relative velocity
equation and vector component calculations covered in chapter 5.4. In addition, I
created the MATLAB script to calculate the final results. Overall, I feel that the team
worked together effectively and equally contributed to the entirety of the project.
Arvinder Singh
My contribution to the group was assisting with solving the given problem and writing
the main portion of the analysis section. My thought process was driven from the
problems in homework 6 and example 6. Plus, from the lecture on angular velocity.
