MEC 411 Lecture Notes - Lecture 4: Cartesian Coordinate System, Robert Griffin Iii

• School: Ryerson University
• Department: Mechanical Engineering
• Course: MEC 411
• Professor: Shudong Yu

Document Summary

Dynamic force analysis and shaking force for a planar rrrr mechanism. For the four bar mechanism shown below, determine analytically the input torque required to operate the mechanism throughout a cycle for prescribed load, the joint forces, and the shaking force components and magnitude. 2 4 3 1 1 2 3 4 g2 g3 g4 a b o4 o2 4 3 2 rg3 rg3" rg4" rg4 rg2" 3" 4"3" rg2 r1 r2 r3 r4 4,3,2,1, jrjjmgjigjrgj "gjr"gj 4,3,2 j222,, 41t. Moment of a planar force acting at p, about point o, is defined as where is position vector from o to p in the cartesian coordinate system with three base vectors. 2 3 4 g2 g3 g4 a b o2 a b o4 t21 t41 f21x f23x f41x f43x f32x f34x f21y f23y f32y f34y f43y f41y 0yxzyxfffeee zyxyxzyxxfyfyxfffrmeeee 00 r zyxeee r p o x fx fy y. Relating forces and motion for each of the three moving links.