Question

VPE means Velocity of P as an Element of (whatever number is there)

Show that this mechanism corresponds to the

closed loop

0-1-3-2-0

. Identify the nature of each

joint

i-j

in this loop.

5.1. Two identical wheels 1 (of center A, ra- dius r) and 2 (of center B, radius r) roll without slipping on a flat support 0. A rod 3 of length L is pinned to the wheels at points C and D of their rim. Wheel 1 drives the whole system by rotating at angular velocity wi in the cew direction. At the instant shown, the points A. B and C are aligned horizontally. The points J, B and D are aligned vertically. The conne(ting rod 3 makes the angle φ with the horizontal so that r = L sin φ. 1 W1 C A a. Show that this mechanism corresponds to the closed loop 0-1-3-2-0. Identify the nature of each joint i-j in this loop. b. Write the kinematic loop equations at a point P of your choice. c. Now solve for w2/o, w3/1 and w2/3 as a func- tion of wi/O W1 and the geometric parameters.

Answer 1

the mehais oes a o-1--2 The Toint at T < roles are入olt,a on ttu bose at that point -TAK Cesty a point Contack andんnt.isa

etMcn« is Connected twk ⓒ 04 point Cont ang- an open Loop. oltー·ト1Canco na de.rki pe marunt

Since TWMk