ABSTRACT
In a kinematic analysis, positions, displacements, velocities, and accelerations of mechanism links are determined either qualitatively or quantitatively. In a quantitative kinematic analysis, equations that fully describe the motion of the mechanism links are used. Qualitative methods include constructing and measuring mechanism schematics and polygons to determine the positions, velocities, and accelerations of mechanism links. As intended by the authors, the kinematic analysis methods presented in this textbook are all quantitative. Kinematic equations for the planar fourbar, slider-crank, geared five-bar, Watt II, and Stephenson III mechanisms are formulated in this chapter. Displacement equations are formulated by taking the sum of the closed vector loop(s) in each mechanism (as introduced in Section 2.2.2) [1]. Taking the first and second derivatives of the vector-loop displacement equations introduces mechanism link velocity and acceleration variables, respectively, and, ultimately, produces mechanism velocity and acceleration equations, respectively.
