Coriolis Acceleration Coriolis acc.occurs or not? 丸平 B
Coriolis Acceleration Coriolis acc. occurs or not? 3 2 B 1 2 B 1 2 1 B 2 3 1 B 3 2 B 1 3 3 3 B 1 B 2 3 1 2 3 B 1 2 B 1 2 1 B 1 3 3 3 1
人乙Vector graphical analysis method EX1-Velocity Given'linkage configuration &2.Find 3 and4 © We know Va and direction of VB and VBA (perpendicular to AB) Draw vector triangle.V=or. 03 BA VBA Direction B B 3 4 VB Ve Direction 64 VBa=@(AB) 02 'g=04(OB) 02
Vector graphical analysis method EX1-Velocity Given linkage configuration & ω 2. Find ω 3 and ω 4 We know VA and direction of V B and VBA ( p p er pendicula r to AB ) Draw vector triangle. V= ωr. VBA VBA Direction V B VBA V VA B VB Direction V AB BA = ω3 ( ) 12 ( ) V OB B = ω4 4 ( )
_入乙Vector graphical analysis method Ex1-ylgy After finding o3 and 4,find Vc ©Vc=Va+VcA g Recall that oa was in the opposite direction as @2 Double Scale VA B 3 4 4 02
EX1-Velocity Vector graphical analysis method After finding ω3 and ω4, find VC VC=VA+VCA Recall that Recall ω3 was in the opposite direction as ω2 that ω3 was in the opposite direction as ω2 Double Scale V VA Double Scale VC VCA VC VCA 13
染 Vector graphical analysis method VC=VA+VCA =VB+VCB Mag:?√？ √？ Dire:？√⊥CA√⊥CB Aabc is called Velocity image of the link ABC
Vector graphical analysis method EX2 V V V V V C A V C C ＝ VA + VCA ＝ V B + VCB Mag ： ? √ ? √ ? B Mag ： ? √ ? √ ? Dire ： ? √ ⊥CA √ ⊥CB a Δabc is called Velocit y ima ge of the link ABC p c b