自由度1なる平面リンク機構の二次加速度解法

抄録

W.J.Carter reported the method by which the second accelerations or the change of accelerations in a lever crank mechanism could be solved. His method necessitates the construction of a drawing by means of relative velocity method and the calculation of the third time derivatives of angular motions of crank, and different formulas must be applied considering whether the rotopole for crank and lever is outside the fixed centers or between them. His method, moreover, has defects, namely, errors are likely to occur, and some of the lines in the drawing frequently come outside the paper. Authors derive the general formula of the second acceleration of the driven lever of the plane four-bar linkage mechanism, and propose the graphical method by which the second accelerations in the plane four-bar linkage mechanism can be solved rapidly, simply and accurately. Also it is found that their method can be applied to solve the velocity, acceleration, and second acceleration of any link when those terms of one of the links of multi-bar linkage, especially, sixbar linkage mechanism are given.