Question

The link lengths and constant distances for the mechanism of Fig.2 are given by r = 3.4 cm, r2 = 6.0 cm, r3 = 3.25 cm, r4 = 3.72 cm, and c = 4.2 cm. Link BCD has an angle CBD = 34° and the side DC is vertical at the instant shown. At this instant, the mechanism position is given by q = 151°, q1 = 299.2°, and q2 = 6.2 cm. Link 1 is a uniform member of mass m1 = 0.1 kg. Link 2, with the center of mass at D, has a mass of m2 = 0.2 kg and a mass moment of inertia about D of I2z = 0.1 kg.cm. The slider link 3 has a mass of m3 = 0.2 kg. A kinematic analysis has provided the following information for the motion of the linkage: q = 10 rad/s CCW (constant), q1 = -11.3 rad/s, q2 = -200 rad/s, and q3 = 68.1 cm/s to the left and q4 = 1750 cm/s to the left. Ignoring the effects of friction and gravity, determine for this instant: (a) the D'Alembert force set corresponding to each of the three links, (b) the necessary driving torque T on link 1, and (c) the forces at the pins A, B, and C.

          The link lengths and constant distances for the mechanism of Fig.2 are given by r = 3.4 cm, r2 = 6.0 cm, r3 = 3.25 cm, r4 = 3.72 cm, and c = 4.2 cm. Link BCD has an angle CBD = 34° and the side DC is vertical at the instant shown. At this instant, the mechanism position is given by q = 151°, q1 = 299.2°, and q2 = 6.2 cm. Link 1 is a uniform member of mass m1 = 0.1 kg. Link 2, with the center of mass at D, has a mass of m2 = 0.2 kg and a mass moment of inertia about D of I2z = 0.1 kg.cm. The slider link 3 has a mass of m3 = 0.2 kg. A kinematic analysis has provided the following information for the motion of the linkage: q = 10 rad/s CCW (constant), q1 = -11.3 rad/s, q2 = -200 rad/s, and q3 = 68.1 cm/s to the left and q4 = 1750 cm/s to the left. Ignoring the effects of friction and gravity, determine for this instant: (a) the D'Alembert force set corresponding to each of the three links, (b) the necessary driving torque T on link 1, and (c) the forces at the pins A, B, and C.

Added by Wency Donald P.

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