University of Waterloo
Department of Mechanical & Mechatronics Engineering
ME 321 Project Part One
Prepared For:
Dr. Kamyar Ghavam
Prepared By:
Juan Zapata (20605031)
3A Mechanical Engineering
University of Waterloo
200 University Ave. West.
Waterloo, Ontario, N2L 3G1
June 14, 2024
Table of Contents
PROBLEM DEFINITION ............................................................................................................4
1.0 Kinematic Analysis Using Polygon Method..........................................................................5
2.0 Kinematic Analysis Using Analytical Method ......................................................................9
2
List of Figures
Figure 1: The Shaper Mechanism Problem Drawing................................................................. 4
Figure 2: The Shaper Mechanism Problem Drawing at 𝜃! = 135∘ ........................................... 5
3
Problem Definition
The objective of this report is to analytically solve the dynamic behavior of the sharper
mechanism shown in Figure 1.
Figure 1: The Shaper Mechanism Problem Drawing
An electric motor which rotates with constant angular velocity of 𝜃̇2 = 135 𝑟𝑝𝑚 𝐶𝐶𝑊 is attached
to the input link 2 at point O2 and exserts a moment M12 to the link. The mechanism is in the
horizontal plane and all the links are uniform with their mass centres at their mid-points. Links
are made of aluminum with density of 2.7 gr/cm3 and diameter of 0.5 cm. Consider the slider
blocks have a mass of 5 gr, but negligible dimensions. The following dimensions are given:
r#!$ = 5.0 cm r$% = 16.0 cm, r#&'& = 8.0 cm
Section 1.0 delves into the kinematic analysis of the mechanism using the polygon method
solution to obtain linear/angular velocities and accelerations of links 3 to 6 at a specific input
angle θ2. Also, the Coriolis acceleration of link 5 with respect to link 3 at this specific input
angle was obtained. Section 2.0 delves into the kinematic analysis of the mechanism using the
analytical method to obtain linear/angular velocities and accelerations of links 3 to 6 at a specific
input angle θ2. Also, the Coriolis acceleration of link 5 with respect to link 3 at this specific
input angle was obtained.
4
1.0 Kinematic Analysis Using Polygon Method
Based on my last name "Zapata":
• First Letter (Z) = 26
• Last Letter (A) = 1
θ! = 5 × (FL + LL) = 5 × (26 + 1) = 5 × 27 = 135∘
Mechanism at θ! = 135∘ :
Figure 2: The Shaper Mechanism Problem Drawing at 𝜃! = 135∘
Determine the Velocity of Point A (VA):
60
θ̇! = 135rpm × = 14.137rad/s
2π
5
V$ = r#!$ ⋅ θ̇! = 5cm × 14.137rad/s = 70.685cm/s
6
7
8
2.0 Kinematic Analysis Using Analytical Method
9
10
11
12
13
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