DESIGN OF MACHINERY SOLUTION MANUAL 7-6a-1

PROBLEM 7-6a
Statement: The link lengths and the values of u
2
, e
2
, and o
2
for the some non inverted offset fourbar
slider-crank linkages are defined in Table P7-2. The general linkage configuration and terminology
are shown in Figure P7-2. For row a, draw the linkage to scale and find the accelerations of the pin
joints A and B the acceleration of slip at the sliding joint using an analytical method.
Given: Link lengths:
Link 2 a 1.4 in := Link 3 b 4 in :=
Offset: c 1 in :=
Link 2 position, velocity, and acceleration: u
2
45 deg := e
2
10
rad
sec
:= o
2
0
rad
sec
2
:=
Solution: See Figure P7-2 and Mathcad file P0706a.
1. Draw the linkage to scale and label it.
4.990
d =
0.144
45.000
2
O2
3.010
3(CROSSED) B'
2
d =
A
Y
179.856
1.000
X
3 (OPEN)
1
B
2. Determine u
3
and d using equations 4.16 and 4.17.
Open:
u
32
asin
a sin u
2 ( ) c
b

\
|
|
.
t + := u
32
180.144 deg =
d
2
a cos u
2 ( ) b cos u
32 ( ) := d
2
4.990 in =
Crossed:
u
31
asin
a sin u
2 ( ) c
b
|

\
|
|
.
:= u
31
0.144 deg =
d
1
a cos u
2 ( ) b cos u
31 ( ) := d
1
3.010 in =
3. Determine the angular velocity of link 3 using equation 6.22a.
Open e
32
a
b
cos u
2 ( )
cos u
32 ( )
e
2
:= e
32
2.475
rad
sec
=
Crossed e
31
a
b
cos u
2 ( )
cos u
31 ( )
e
2
:= e
31
2.475
rad
sec
=
4. Using the Euler identity to expand equation 7.15b for A
A
, determine its magnitude, and direction.
DESIGN OF MACHINERY SOLUTION MANUAL 7-6a-2
A
A
a o
2
sin u
2 ( ) j cos u
2 ( ) + ( ) a e
2
2
cos u
2 ( ) j sin u
2 ( ) + ( ) :=
A
A
98.995 98.995j
in
sec
2
= A
A
A
A
:= u
AA
arg A
A ( ) :=
The acceleration of pin A is A
A
140.0
in
sec
2
= at u
AA
135.0 deg =
5. Determine the angular acceleration of link 3 using equation 7.16d.
Open o
32
a o
2
cos u
2 ( ) a e
2
2
sin u
2 ( ) b e
32
2
sin u
32 ( ) +
b cos u
32 ( )
:=
o
32
24.764
rad
sec
2
=
Crossed o
31
a o
2
cos u
2 ( ) a e
2
2
sin u
2 ( ) b e
31
2
sin u
31 ( ) +
b cos u
31 ( )
:=
o
31
24.764
rad
sec
2
=
6. Use equation 7.16e for the acceleration of pinB.
Open:
A
B2
a o
2
sin u
2 ( ) a e
2
2
cos u
2 ( ) b o
32
sin u
32 ( ) + b e
32
2
cos u
32 ( ) + :=
A
B2
123.7
in
sec
2
= A negative sign means that A
B
is to the left
Crossed:
A
B1
a o
2
sin u
2 ( ) a e
2
2
cos u
2 ( ) b o
31
sin u
31 ( ) + b e
31
2
cos u
31 ( ) + :=
A
B1
74.2
in
sec
2
= A negative sign means that A
B
is to the left