Coriolis Acceleration Coriolis acc.occurs or not? 2 2 3 3 Vector graphical analysis method © Given linkage configuration &2.Find 3 and 4 We know VA and direction of Ve and VBA (perpendicular to AB) Draw vector triangle.V=or. 03 VBa Direction 3 Va Direction VR=@;(AB) Va=0,(O,B) 02 04 6
6 1 B 2 B 3 1 3 2 B 1 2 3 B 1 2 3 1 B 2 3 B 1 2 3 B 1 2 3 B 1 2 3 Coriolis Acceleration Coriolis acc. occurs or not? Vector graphical analysis method 12 Given linkage configuration & 2. Find 3 and 4 We know VA and direction of VB and VBA (perpendicular to AB) Draw vector triangle. V=r. VBA VB VBA Direction VBA VB VB Direction VA 3 4 4 BA B V AB V OB EX1-Velocity
EX1-Velocity Vector graphical analysis method 入 After finding @3 and 4,find Vc ©Vc=Va+VcA Recall that o3 was in the opposite direction as 2 Double Scale 03 02 0 Vector graphical analysis method Vc=VA+VCA =VB+VCB Mag:？√？√？ A B Dire:?√⊥CA√⊥CB a Aabc is called Velocity image of the link ABC 7
7 EX1-Velocity 13 After finding 3 and 4, find VC VC=VA+VCA Recall that 3 was in the opposite direction as 2 VCA VC VA Double Scale VCA VC Vector graphical analysis method a p A C B Vector graphical analysis method EX2 b c VC＝VA+VCA＝VB+VCB Mag： ? √ ? √ ? Dire： ? √ ⊥CA √ ⊥CB abc is called Velocity image of the link ABC
Vector graphical analysis method Characteristics of Velocity polygon: 1)Velocity of p equals zero.Velocities from p are absolute velocity. A 2)Edges of velocity image triangle are B velocity differences. 3)Velocity image triangle is similar to the link a ABC.Each point of the link has an image in Velocity image triangle. p Vector graphical analysis method EX3-Acc 7入 Knowns:and direction of ae aB=aa+前BA+aA Mag:?√o2aa? A Dire:√√B→A⊥BA Select a scale ua m/s2/mm, p' Draw p'a'from p',let a=uap'a' then:ae=μapb' b aBA=uab”b' direction:b”-→b' b” a agA=μab'a'Dire: a'-b' 8
8 a p A C B Vector graphical analysis method b c Characteristics of Velocity polygon: 1) Velocity of p equals zero. Velocities from p are absolute velocity. 2) Edges of velocity image triangle are velocity differences. 3) Velocity image triangle is similar to the link ABC. Each point of the link has an image in Velocity image triangle. Vector graphical analysis method EX3-Acc b’ B A C then：aB＝μap’ b’ Select a scaleμa m/s2/mm， Draw p’a’ from p’ , let aA＝μap’ a’ b” Knowns： ωand direction of aB aB＝aA + an BA+ at BA at BA＝μab”b’ direction: b” → b’ aBA＝μab’ a’ Dire: a’ →b’ Mag： Dire： ? ⊥BA ? √ √ √ B→A ω2lAB aA aB a’ p’