MECANISMUL 311

MECANISMUL 311

DATE INITIALE:
3

l AB := 100 10

l DE := 220 10
:= 30

l AC := 280 10

grade

l a := 470 10

l BD := 470 10

unghiul fcut de elementul 1 (conductor) cu axa Ox

POZITII
Punctul A

xA := 0

yA := 0

Punctul B

xB := l AB cos

180

xB = 0.0866
Punctul C

Punctul D

xC := l AC
xC = 0.28

m
m

180

yB := l AB sin
yB = 0.05
yC := yA

m
m

yC = 0

180

yD = yB + l BD sin

180

xD = xB + l BD cos

unde:

MECANISMUL 311

yC yB 180

xC xB

:= atan

grade

= 14.4956

180

xD := xB + l BD cos

xD = 0.5416

grade

180

yD := yB + l BD sin
yD = 0.0676

Determinm coordonatele centrului cuplei E (xE,yE) din sistemul de ecuatii:

xE := l a

(xE xD)

+ yE yD

l a = 0.47
2

2
l DE

)2 l DE2 = 0

yE 2 yD yE + yD + xD xE
af := 1

Notm:

bf := 2 yD
2

)2 l DE2

cf := yD + xD xE
2

bf + bf 4 af cf

yE1 :=

yE2 :=

2 af

yE1 = 0.1404

xE = 0.47

Este valabil perechea:

LDE :=

Verificare:

bf bf 4 af cf
2 af

yE2 = 0.2757

yE := yE1

( xE xD)2 + ( yE yD)2

yE = 0.1404

LDE = 0.22

NUMRUL CICLURILOR INDEPENDENTE

N=

C n
k

N := 2

Ck := 7

numrul cuplelor de clas k (cinci)

nm := 5

numrul elementelor mobile

MECANISMUL 311

CICLUL 1

VITEZE
n

=1
n

i , i 1 = 0

=1

vi , i 1 +

OAi i , i 1 = 0

=1

10 + 21 + 03 = 0

[S1]

v32 + AB 21 + AC 03 = 0

Sistemul are necunoscutele 21, v32 si 03.

n1 := 200

= 14.4956

grade

rot/min

turatia elementului conductor

Unghiul fcut de elementul 2 cu axa Ox

(10 + 21 + 03) k = 0

i
i
j
k
j
k

i + v sin
j +
v32 cos
+

x
y

y
0

x
y

y
0
=0

32
B
A B
A
C
A C
A
180
180

0
21
0
03
0
0

MECANISMUL 311

10 :=

n1

10 = 20.944

rad/sec

30

rad/sec

10 + 21 + 03 = 0

21 + 03 = 10

+ 21 ( yB yA) + 03 ( yC yA) = 0
180

v32 cos

+ 21 ( yB yA) + 03 ( yC yA) = 0
180

21 ( xB xA) 03 ( xC xA) = 0
180

v32 sin

v32 cos

21 ( xB xA) 03 ( xC xA) = 0
180

v32 sin
Notm:

0
1
1

cos yB yA
yC yA
A1 := 180

sin
( xB xA) ( xC xA)
180

v32

W1 = 21

03

10

B1 := 0
0

1
1
0

A1 = 0.9682
0.05
0
0.2503 0.0866 0.28

W - vectorul vitezelor necunoscute

W1 := A1

A1 W1 = B1

B1

0
1
1

v
32
10
cos yB yA

yC yA
0
21 := 180

0
03 sin
( xB xA) ( xC xA)
180

v32 = 1.4679

21 = 28.4228

m/s

Vitezele absolute:
1 = 20.944

vB = vA + 1 AB

1 := 10

rad/sec

rad/sec

v32 1.4679

28.4228

21

03 7.4788
03 = 7.4788

rad/sec

2 := 1 + 21
2 = 7.4788

rad/sec
rad/sec

vA = 0

i
j
k

vB = 0
0
1 = 1 ( yB yA) i + 1 ( xB xA) j

xB xA yB yA 0

vBx := 1 yB yA

vBy := 1 xB xA

vBx = 1.0472

m/s

vBy = 1.8138

m/s

3 := 2
3 = 7.4788

rad/sec
rad/sec
rad/sec

MECANISMUL 311

vB = vBx i + vBy j

vB := vBx + vBy

m/s

vB = 2.0944

vD = vB + 2 BD

i
j
k

vD = 1 ( yB yA) i + 1 ( xB xA) j + 0
0
2

xD xB yD yB 0

m/s

2 = 7.4788

vD = 1 yB yA 2 yD yB i + 1 xB xA + 2 xD xB j

vDx := 1 yB yA 2 yD yB

m/s

vDy := 1 xB xA + 2 xD xB

vD = vDx i + vDy j

vDx = 1.927

m/s

vDy = 1.5894

m/s

m/s

vD := vDx + vDy

m/s

vD = 2.4979

m/s

COORDONATELE SI VITEZELE CENTRELOR DE MAS

xg1 :=

Elementul 1

xA + xB

yg1 :=

2
xg1 = 0.0433

xg2 =

Elementul 2

xB + xD

xg2 :=

xB + xD

xg2 = 0.3141

yg1 = 0.025

yB + yD

yg2 :=

unde:

2
yB + yD
2

yg2 = 0.0088

yg2 =

yA + yB

Elementul 3
xg3 := xC

yg3 := yC
xg3 = 0.28

yg3 = 0

MECANISMUL 311

vg1 = vA + 1 AG1

vA = 0

i
j
k

vg1 = 0
0
1 = 1 ( yg1 yA) i + 1 ( xg1 xA) j

xg1 xA yg1 yA 0
vg1x := 1 yg1 yA

m/s

m/s

vg1y := 1 xg1 xA

vg1 = vg1x i + vg1y j

vg1 := vg1x + vg1y

vg1x = 0.5236

m/s

vg1y = 0.9069

m/s

m/s

vg1 = 1.0472

m/s

i
j
k

vg2 = vB + 2 BG2 = vBx i + vBy j + 0

0
2 = vBx 2 ( yg2 yB) i + vBy + 2 ( xg2 xB) j

xg2 xB yg2 yB 0

vg2 = vg2x i + vg2y j

vg2x := vBx 2 yg2 yB

vg2y := vBy + 2 xg2 xB

vg2 := vg2x + vg2y

vg3 = vC

vg3 = vg3x i + vg3y j

m/s

vg2x = 1.4871

m/s

vg2y = 0.1122

m/s

vg2 = 1.4913

m/s

vC = 0

vg3x := 0
2

vg3y := 0
2

vg3 := vg3x + vg3y

m/s

ACCELERATII

vg3 = 0

m/s

MECANISMUL 311

i , i 1 = 0

=1

(a )
r

10

i , i 1

=1

(a )

(a )
c

i , i 1

i , i 1

=1

= 2 i vi , i 1

OAi i , i 1 +

=1

( ) 2

i Ai Ai 1 = 0

=1

acceleratia Coriolis

10 + 21 + 03 = 0

10 = 0

2
2
a32 + a32c + AB 21 + AC 03 1 AB 2 BC = 0

i
j

0
0
a32c = 2 3 v32 = 2

v32 cos 180 v32 sin 180

3
=

i + 2 v cos j

3 32
180
180

= 2 3 v32 sin

a32c = a32cx i + a32cy j

180

a32cx := 2 3 v32 sin

a32cx = 5.4956

21 + 03 = 0

180

a32cy := 2 3 v32 cos

a32cy = 21.2569

i + a sin j 2 v sin i + 2 v cos j +

32
3 32
3 32
180
180
180
180

a32 cos

i
i
j
k
j
k

2
2
+ xB xA yB yA 0 + xC xA yC yA 0 1 ( xB xA) i 1 ( yB yA) j

0
21
0
03
0
0

2
2
3 xC xB i 3 yC yB j = 0

21 + 03 = 0

2 v sin + y y + y y 2 x x 2 x x = 0

3 32
21 ( B
A)
03 ( C
A)
1 ( B
A)
3 ( C
B)
180
180

a32 cos

MECANISMUL 311

11

2
2
+ 2 3 v32 cos
21 ( xB xA) 03 ( xC xA) 1 ( yB yA) 3 ( yC yB) = 0
180
180

a32 sin

21 + 03 = 0

2
2
+ 21 ( yB yA) + 03 ( yC yA) = 2 3 v32 sin
+ 1 ( xB xA) + 3 ( xC xB)
180
180

a32 cos

2
2
21 ( xB xA) 03 ( xC xA) = 2 3 v32 cos
+ 1 ( yB yA) + 3 ( yC yB)
180
180

a32 sin

+ 2 x x + 2 x x

1 ( B
A)
3 ( C
B)
180

c1 := 2 3 v32 sin

Notm:

2
2
+ 1 ( yB yA) + 3 ( yC yB)
180

c2 := 2 3 v32 cos
c1 = 54.301

c2 = 40.3927

0
1
1

cos yB yA
yC yA
A2 := 180

sin
( xB xA) ( xC xA)
180

a32

W2 = 21

03

1
1
0

A2 = 0.9682
0.05
0
0.2503 0.0866 0.28

0
B2 := c1
c2

W2 vectorul
acceleratiilor
necunoscute

0
B2 = 54.301
40.3927

A2 W2 = B2
W2 := A2

B2

0
1
1

a32
0

cos
yB yA
yD yA

c1
21 := 180

03 sin ( xB xA) ( xD xA) c2
180

a32 = 42.462

m/s

Acceleratiile absolute

10 := 0
10 = 0

1 := 0

1 = 0 + 10

2 = 112.1249

a32 42.462

21 = 112.1249
112.1249
03

21 = 112.1249

rad/sec2

3 = 112.1249

2
2
2
aB = aA + 1 AB 1 AB = 1 xB xA i 1 yB yA j = aBx i + aBy j

03 = 112.1249

rad/sec2

turatia elementului 1 este constant.
1 = 0

rad/sec2
2 = 1 + 21
2 := 1 + 21

3 := 2

rad/sec2

rad/sec2

rad/sec2
unde:

MECANISMUL 311

aBx := 1 xB xA

m/s2

aBx = 37.9881

m/s2

aB := aBx + aBy

12

aBy := 1 yB yA

m/s2

aBy = 21.9325

m/s2

aB = 43.8649

m/s2

m/s2

a23cx := a32cx
a23cy := a32cy

2
aD = aB + 2 BD 2 BD

i
j
k

aD = aB + 0
0
2

xD xB yD yB 0

2
2
2 xD xB i 2 yD yB j

aD = aDx i + aDy j

a23 := a32

aDx := 2 yD yB 2 xD xB + aBx

aDx = 50.249

aDy := 2 xD xB 2 yD yB + aBy

aD := aDx + aDy

aDy = 35.6688

aD = 61.6216

m/s2

m/s2

m/s2

m/s2

Acceleratiile centrelor de mas

2
2
2
ag1 = aA + 1 AG1 1 AG1 = 1 xg1 xA i 1 yg1 yA j = ag1x i + ag1y j

unde:

ag1x := 1 xg1 xA

m/s2

ag1y := 1 yg1 yA

m/s2

ag1x = 18.9941

m/s2

ag1y = 10.9662

m/s2

m/s2

ag1 = 21.9325

m/s2

ag1 := ag1x + ag1y

MECANISMUL 311

13

2
ag2 = aB + 2 BG2 2 BG2

i
j
k

2
2
ag2 = aBx i + aBy j + 0
0
2 2 ( xg2 xB) i 2 ( yg2 yB) j =

xg2 xB yg2 yB 0

ag2x := aBx 2 yg2 yB 2 xg2 xB

ag2y := aBy + 2 xg2 xB 2 yg2 yB

ag2x = 44.1185

ag2y = 6.8682

ag2 := ag2x + ag2y

ag3 = aC

ag2 = 44.6499

m/s2

m/s2

aC = 0

ag3x := 0

ag3y := 0

ag3x = 0

ag3y = 0
2

ag3 := ag3x + ag3y

m/s2

ag3 = 0

m/s2

CICLUL 2
Viteze

30 + 42 + 54 = 0

v50 + v23 + AC 30 + AD 42 + AE 54 = 0

30 + 42 + 54 k = 0

30 := 03

v23 := v32

i
i
j
k
j
k

i + v sin j +
v50 j + v23 cos
xC xA yC yA 0 + xD xA yD yA 0 +

23
180
180

0
03
0
42
0
0

MECANISMUL 311

i
j
k

+ xE xA yE yA 0 = 0

0
54
0

42 + 54 = 03

180

42 yD yA + 54 yE yA = 03 yC yA v23 cos

180

42 xD xA 54 xE xA + v50 = 03 xC xA v23 sin

Notm:

1
1
0

yE yA
A3 := 0 yD yA
1 ( x x ) ( x x )
D
A
E
A

03

03 ( yC yA) v23 cos

B3 :=
180

03 ( xC xA) v23 sin

180

14

MECANISMUL 311

v50

W3 = 42

54
v50

42 :=

54

A3 W3 = B3

1
1

yE yA
0 yD yA
1 x x x x
( D A) ( E A)

v50 = 0.9257

15

W3 := A3

rezult:

03

( y y ) v cos
A
23
03 C
180

03 ( xC xA) v23 sin

180

42 = 1.7854

m/s

B3

v50 0.9257

42 = 1.7854
9.2642

54

54 = 9.2642

rad/s

rad/s

Vitezele absolute
4 := 2 + 42

rad/s

5 := 4 + 54

4 = 9.2642

rad/s

vE = vD + 4 DE

rad/s

5 = 0

vD = 3 yD yC i + 3 xD xC j

unde:

i
j

vE = vDx i + vDy j + 0
0

xE xD yE yD

rad/s

vDy = 1.5894

vE = vDx 4 yE yD i + vDy + 4 xE xD j

vEx := vDx 4 yE yD

vEy := vDy + 4 xE xD

vE = vEx i + vEy j

vE := vEx + vEy

vEx = 0

m/s

vEy = 0.9257

m/s

vE = 0.9257

m/s

m/s

Coordonate + viteze centre de mas

Elementul 4

xg4 :=

xD + xE
2

xg4 = 0.5058
Elementul 5

xg5 := xE

yg4 :=

yg4 = 0.0364

yg5 := yE

m
xg5 = 0.47

yD + yE

m
yg5 = 0.1404

MECANISMUL 311

vg4 = vD + 4 DG4

vg4 = vDx i + vDy j +

vD = vDx i + vDy j

unde:

16

vDx = 1.927

0
0
4

xg4 xD yg4 yD 0

vDy = 1.5894

vg4 = vDx 4 yg4 yD i + vDy + 4 xg4 xD j

vg4x = 0.9635

m/s

vg4y = 1.2575

m/s

vg4x := vDx 4 yg4 yD

vg4y := vDy + 4 xg4 xD

vg4 = vg4x i + vg4y j

vg4 := vg4x + vg4y

vg5 = vg5x i + vg5y j

vg5x := vEx

m/s

m/s

vg5y := vEy

vg5x = 0
vg5 := vg5x + vg5y

vg4 = 1.5842

m/s

vg5y = 0.9257
vg5 = 0.9257

m/s

Acceleratii

30 + 42 + 54 = 0

2
2
a50 + a23 + a23c + AC 30 + AD 42 + AE 54 3 BD 4 DE = 0
30 := 03

( 30 + 42 + 54) k = 0

a23 = a32

a23c = a32c

a23c = a23cx i + a23cy j

42 + 54 = 03

a32cx = 5.4956
a23cx = 5.4956

a23 := a32

a32cy = 21.2569
a23cy = 21.2569

MECANISMUL 311

17

i
i
j
k
j
k

i + a sin
j +
a50 j + a23 cos
+

x
y

y
0

x
y

y
0
+

23
C
A C
A
D
A D
A
180
180

0
03
0
42
0
0

i
j
k

xE xA yE yA 0 + a23cx i + a23cy j

0
54
0

2
2
2
2
3 xD xB i 3 yD yB j 4 xE xD i 4 yE yD j = 0

42 + 54 = 03

a
23cx
180

42 yD yA + 54 yE yA = 03 yC yA + 3 xD xB + 4 xE xD a23 cos

a x x
23cy 03 ( C A)
180

42 xD xA 54 xE xA + a50 = 3 yD yB + 4 yE yD a23 sin

a50

W4 = 42

50

1
1
0

yE yA
A4 := 0 yD yA
1 ( x x ) ( x x )
D
A
E
A

03

03 ( yC yA) + 32 ( xD xB) + 4 2 ( xE xD) a23 cos a23cx

B4 :=

180

32 ( yD yB) + 42 ( yE yD) a23 sin a23cy 03 ( xC xA)

180

A4 W4 = B4

a50

42 :=

54

W4 = A4

1
1
0

yE yA
0 yD yA
1 ( x x ) ( x x )
D
A
E
A

112.1249
B4 = 54.9176
10.7819

B4

03

03 ( yC yA) + 32 ( xD xB) + 42 ( xE xD) a23 cos a23cx

180

32 ( yD yB) + 4 2 ( yE yD) a23 sin a23cy 03 ( xC xA)

180

MECANISMUL 311

a50 66.2517

42 = 339.6785
227.5536

54

18

a50 = 66.2517

m/s2

42 = 339.6785

rad/sec2

54 = 227.5536

rad/sec2

Acceleratiile absolute

4 = 2 + 42

4 := 2 + 42

rad/sec2

4 = 227.5536

5 = 4 + 54

5 := 4 + 54

rad/sec2

5 = 5.6843 10

2
aE = aD + 4 DE 4 DE

rad/sec2
14

rad/sec2

unde:

i
j
k

2
2
aE = aDx i + aDy j + 0
0
4 4 ( xE xD) i 4 ( yE yD) j

xE xD yE yD 0

aDx = 50.249

2
2
aE = aDx 4 yE yD 4 xE xD i + aDy + 4 xE xD 4 yE yD j

aEy := aDy + 4 xE xD 4 yE yD

aEx := aDx 4 yE yD 4 xE xD
aEx = 0
2

aE := aEx + aEy

m/s2

aEy = 34.1186

m/s2

aE = 34.1186

aDy = 35.6688

m/s2

m/s2

Acceleratiile centrelor de mas

2
ag4 = aD + 4 DG4 4 DG4

i
j
k

2
2
ag4 = aDx i + aDy j + 0
0
4 4 ( xg4 xD) i 4 ( yg4 yD) j

xg4 xD yg4 yD 0

2
2
ag4 = aDx 4 yg4 yD 4 xg4 xD i + aDy + 4 xg4 xD 4 yg4 yD j

ag4x := aDx 4 yg4 yD 4 xg4 xD

ag4x = 23.5081

m/s2

ag4y := aDy + 4 xg4 xD 4 yg4 yD

ag4y = 34.8937

m/s2

MECANISMUL 311

ag4 := ag4x + ag4y

ag5 = aE

m/s2

ag4 = 42.0738

ag5 = ag5x i + ag5y j

ag5x = 0
2

m/s2

ag5x := aEx
ag5y = 34.1186

m/s2

ag5 := ag5x + ag5y

19

m/s2

ag5y := aEy
m/s2

ag5 = 34.1186

m/s2

CINETOSTATICA MECANISMULUI
Calculul maselor si momentelor de inertie masice ale elementelor mecanismului
Elementul 1

Se cunoaste:
l 1 := l AB

- lungimea elementului 1 l1 [m];

- sectiunea transversal a elementului 1 bl1xhl1 [m];
l 1 = 0.1

bl1 := 0.04

hl1 := bl1 0.4

este masa specific a otelului [N/m3]

:= 78500

hl1 = 0.016
N/m3

Se determin:
Se determin volumul elementului 1 v1 [m3]
2

v1 := l 1 bl1 hl1 +

bl1
4

hl1

m3

v1 = 8.4106 10

m3

Determinm lungimea echivalent a elementului 1 l1ech [m] cu relatia:

l 1ech :=

v1
bl1 hl1

m
l 1ech = 0.1314

G1 = 6.6023

[N]

Greutatea elementului 1 G1 [N]

G1 := v1
Se determin masa elementului 1 cu relatia:
m1 :=

g := 9.81

m/s2

G1
g

m1 = 0.673

kg

MECANISMUL 311

20

Se determin momentul de inertie masic al elementului 1 Jg1 cu relatia:

Jg1 :=

m1
12

l 1ech

Jg1 = 968.5976 10

kg*m2

Elementul 2
Se cunoaste:
- lungimea elementului 2 l2 [m];
- sectiunea transversal a elementului 2 bl2xhl2 [m];
l 2 = 0.47

bl2 := 0.04

l 2 := l BD

hl2 := bl2 0.4

hl2 = 0.016

este masa specific a otelului [N/m3]

:= 78500

N/m3

Se determin:
Se determin volumul elementului 2 v2 [m3]
2

v2 := l 2 bl2 hl2 +

bl2
4

hl2

m3

v2 = 3.2091 10

m3

Determinm lungimea echivalent a elementului 2 l2ech [m] cu relatia:

v2

l 2ech :=

bl2 hl2

l 2ech = 0.5014

Greutatea elementului 2 G2 [N]

G2 := v2

G2 = 25.1911

Se determin masa elementului 2 cu relatia:

m2 :=

g := 9.81

[N]
m/s2

G2
m2 = 2.5679

kg

Se determin momentul de inertie masic al elementului 2 Jg2 cu relatia:

Jg2 :=

m2
12

l 2ech

Elementul 3

Jg2 = 0.0538

kg*m2

Culisa

Dimensiunile culisei sunt:

lungimea culisei lc [m], sectiunea exteriorului culisei bc x hc [m] si sectiunea interiorului culisei bi x hi [m]

MECANISMUL 311

b := 0.04

h := 0.4 b

b2 := b

b1 := b + 2 h

21

h = 0.016

h2 := h

lc := 3 b

h1 := 3 h
vc = vc1 vc2

Determinm volumul culisei vc [m3]

vc1 := lc b1 h1

unde vc1 reprezint volumul plinului iar vg2 volumul golului

vc2 := lc b2 h2

vc1 = 414.72 10

vc2 = 76.8 10

vc := vc1 vc2

vc = 337.92 10

este masa specific a otelului [N/m3]

:= 78500
Gc = vc

Se determin greutatea culisei Gc cu relatia:

Gc := vc

unde:

Gc = 26.5267

Se determin masa culisei cu relatia:

mc :=

Gc
mc = 2.704

kg

Se determin momentul de inertie masic al culisei 3 Jg3 cu relatia:

Jg3 :=

mc
12

lc

m3 := mc

kg

G3 := Gc

Jg3 = 3.2449 10

kg*m2

Elementul 4
Se cunoaste:
- lungimea elementului 4 l4 [m];
- sectiunea transversal a elementului 4 bl4xhl4 [m];
l 4 = 0.22

bl4 := 0.04

este masa specific a otelului [N/m3]

l 4 := l DE
hl4 := bl4 0.4

m
:= 78500

hl4 = 0.016
N/m3

Se determin:
Se determin volumul elementului 4 v4 [m3]
2

v4 := l 4 bl4 hl4 +

bl4
4

hl4

m3

v4 = 1.6091 10

m3

MECANISMUL 311

22

Determinm lungimea echivalent a elementului 4 l4ech [m] cu relatia:

unde:
v4

l 4ech :=

bl4 hl4

l 4ech = 0.2514

Greutatea elementului 4 G4 [N]

G4 := v4

G4 = 12.6311

Se determin masa elementului 4 cu relatia:

m4 :=

g := 9.81

[N]
m/s2

G4
m4 = 1.2876

kg

Se determin momentul de inertie masic al elementului 4 Jg4 cu relatia:

Jg4 :=

m4
12

l 4ech

Elementul 5

Jg4 = 6.7823 10

kg*m2

Culisa

Dimensiunile culisei sunt:

lungimea culisei lc [m], sectiunea exteriorului culisei bc x hc [m] si sectiunea interiorului culisei bi x hi [m]

b := 0.04

h := 0.4 b

b2 := b

b1 := b + 2 h

h = 0.016

h2 := h

h1 := 3 h
vc = vc1 vc2

Determinm volumul culisei vc [m3]

vc1 := lc b1 h1

unde vc1 reprezint volumul plinului iar vg2 volumul golului

vc2 := lc b2 h2
vc := vc1 vc2

lc := 3 b

vc1 = 414.72 10

vc2 = 76.8 10

vc = 337.92 10

este masa specific a otelului [N/m3]

:= 78500
Gc = vc

Se determin greutatea culisei Gc cu relatia:

Gc := vc

Gc = 26.5267

Se determin masa culisei cu relatia:

mc :=

Gc
g

mc = 2.704

Se determin momentul de inertie masic al culisei 5 Jg5 cu relatia:

unde:

MECANISMUL 311

Jg5 :=

mc
12

lc

m5 := mc

G5 := Gc

23

kg

Jg5 = 3.2449 10

kg*m2
6

vg1x = 0.5236

vg1y = 0.9069

1 = 20.944

m1 = 0.673

Jg1 = 968.5976 10

vg2x = 1.4871

vg2y = 0.1122

2 = 7.4788

m2 = 2.5679

Jg2 = 53.8014 10

vg3x = 0

vg3y = 0

3 = 7.4788

m3 = 2.704

Jg3 = 3.2449 10

vg4x = 0.9635

vg4y = 1.2575

4 = 9.2642

m4 = 1.2876

Jg4 = 6.7823 10

vg5x = 0

vg5y = 0.9257

5 = 0

m5 = 2.704

Jg5 = 3.2449 10

3
3

Fortele si momentelor de inertie ale elementelor mecanismului

Elementul 1 (elementul conductor)
Calculm fortele si momentele de inertie cu relatia:

P1ix

P1 = P1iy
M
1i

m1 0 0

M1 = 0 m1 0
0 0 J
g1

nlocuim mrimile cunoscute si rezult:

P1 = M1 A1

unde:

ag1x

A1 = ag1y

1

MECANISMUL 311

m1 0 0

M1 := 0 m1 0

0 0 Jg1
ag1x

A := ag1y

1
P1ix

P1 := P1iy
M
1i

24

0
0.673 0

M1 = 0
0.673
0
0

0
0.001

P1ix

P1iy :=
M
1i

18.9941
A = 10.9662

12.7834
P1 = 7.3805
0

m1 0 0 ag1x

0 m1 0 ag1y

0 0 Jg1 1
P1ix = 12.7834
P1iy = 7.3805
M1i = 0

P2 = M2 A2

Diada 1

Pi2x

Pi2y
M
i2
P2 =
Pi3x

Pi3y

Mi3

m2

0
0

M2 =
0

m2 0

0 Jg2 0

0 m3 0

0 m3

Jg3
0

unde:

ag2x

ag2y

2
A2 =
ag3x

ag3y

3

MECANISMUL 311

m2

0
M2 :=
0

m2 0

0 Jg2 0

0 m3 0

0 m3

ag2x

ag2y

2
A2 :=
ag3x

ag3y

3

Jg3
0

25

44.1185

6.8682
112.1249
A2 =

112.1249

0
0
0
0
0
2.5679

2.5679
0
0
0
0
0
0
0
0.0538
0
0
0
M2 =

0
0
2.704
0
0
0
0
0
0
0
2.704
0

0
0
0
0
0.0032
0

Pi2x

Pi2y
M
i2 :=
Pi3x

Pi3y

Mi3

m2

0
0

Pi2x

Pi2y
M
i2
P2 :=
Pi3x

Pi3y

Mi3
Diada 2

m2 0

0 Jg2 0

0 m3 0

0 m3

ag2x

0 ag2y

0
2
0 ag3x

0 ag3y

Jg3 3
0

Pi2x
113.2922
Pi2y 17.6368
M
i2 = 6.0325
Pi3x
0

0
Pi3y
0.3638
Mi3
Pi2x = 113.2922

113.2922

17.6368
6.0325
P2 =

0.3638

Pi2y = 17.6368
Mi2 = 6.0325
Pi3x = 0
Pi3y = 0
Mi3 = 0.3638
P3 = M3 A3

unde:

MECANISMUL 311

Pi4x

Pi4y
M
i4
P3 =
Pi5x

Pi5y

Mi5

m4

0
0

M3 =
0

m4 0

0 Jg4 0

0 m5 0

0 m5

Jg5

26

5 := 0

ag4x

ag4y

4
A3 =
ag5x

ag5y

5

MECANISMUL 311

m4

0
M3 :=
0

m4 0

0 Jg4 0

0 m5 0

0 m5

27

ag4x

ag4y

4
A3 :=
ag5x

ag5y

5

Jg5
0

23.5081

34.8937
227.5536
A3 =

34.1186

0
0
0
0
0
1.2876

1.2876
0
0
0
0
0
0
0
0.0068
0
0
0
M3 =

0
0
2.704
0
0
0
0
0
0
0
2.704
0

0
0
0
0
0.0032
0

Pi4x

Pi4y
M
i4 :=
Pi5x

Pi5y

Mi5

m4

0
0

m4 0

0 Jg4 0

0 m5 0

0 m5

Pi4x

Pi4y
M
i4
P3 :=
Pi5x

Pi5y

Mi5

ag4x

0 ag4y

0
4
0 ag5x

0 ag5y

Jg5 5

Pi4x
30.2685
Pi4y 44.9284
M
i4 = 1.5433
Pi5x
0

Pi5y 92.2584

0

Mi5

30.2685

44.9284
1.5433
P3 =

92.2584

Pi4x = 30.2685
Pi4y = 44.9284
Mi4 = 1.5433
Pi5x = 0
Pi5y = 92.2584
Mi5 = 0

Pi1 := P1ix + P1iy

Pi5 := Pi5x + Pi5y

Pi2 := Pi2x + Pi2y

P := Pi1 Pi2 Pi3 Pi4 Pi5

Pi3 := Pi3x + Pi3y

Forta tehnologic rezistent la elementul de executie este Q [N]

M :=

Pi4 := Pi4x + Pi4y

M1i

Mi2

Mi3

Mi4

Mi5

MECANISMUL 311

P = ( 14.761 114.6568 0 54.1732 92.2584 )

Qr := 2 max( P)

Qr = 229.3135

28

N
N

Cuplul rezistent la elementul de executie este Mr [N*m]

M = ( 0 6.0325 0.3638 1.5433 0 )
Mr := 2 max( M)

N*m

N
Mr = 12.065

N*m

CALCULUL REACTIUNILOR DIN CUPLE

DIADA RRT (DR-ER-ET)

MECANISMUL 311

Se cunosc:

29

G4 = 12.6311

Pi4x = 30.2685

Pi4y = 44.9284

Mi4 = 1.5433

G5 = 26.5267

Pi5x = 0

Pi5y = 92.2584

Mi5 = 0

Qr = 229.3135
Se cer: R24x, R24y , R54x, R54y, R05 si h.
Necunoscutele se determin din sistemul:

F ( 4 + 5) = 0
ix

Pi5x + Pi4x + R24x + R05 = 0

F ( 4 + 5) = 0
iy

Pi5y + Pi4y G4 G5 Qr + R24y = 0

R54x + Pi4x + R24x = 0

F ( 4) = 0
ix

R54y + Pi4y G4 + R24y = 0

F ( 4) = 0
iy

)(

Mi4 + Pi4y G4 xg4 xE + R24y xD xE Pi4x yg4 yE R24x yD yE = 0

M ( 4) = 0
E

R05 h = 0

M ( 5) = 0
E

Lum primele cinci ecuatii ale cror necunoscute sunt: R24x, R24y, R54x, R54y, R05
Pi5x + Pi4x + R24x + R05 = 0
Pi5y + Pi4y G4 G5 Qr + R24y = 0
R54x + Pi4x + R24x = 0
R54y + Pi4y G4 + R24y = 0

)(

Mi4 + Pi4y G4 xg4 xE + R24y xD xE Pi4x yg4 yE R24x yD yE = 0

R24x + R05 = Pi5x + Pi4x

R24y = Pi5y + Pi4y G4 G5 Qr

R24x + R54x = Pi4x

)
[SR1]

MECANISMUL 311

30

R24y + R54y = G4 Pi4y

)(

R24x yD yE + R24y xD xE = Pi4x yg4 yE Mi4 + Pi4y G4 xg4 xE

Notm cu R1 vectorul reactiunilor necunoscute astfel:

R24x
R24y

R1 = R54x

R
54y
R05

Notm cu MR1 coeficientilor necunoscutelor astfel:

0
1

1
0
1
0
MR1 :=

1
0
( yD yE) xD xE

0 0 1
0 0
1 0
0 1
0 0

0
1
1
0
1
MR1 =
0

1
0
0.208 0.0716

0
0

0
0

0 0 1

0 0 0

0 1 0

0 0 0
1 0 0

Notm cu TL1 vectorul termenilor liberi astfel:

( Pi5x + Pi4x )

( Pi5y + Pi4y G4 G5 Qr)

Pi4x
TL1 :=

G4 Pi4y

Pi4x ( yg4 yE) Mi4 + ( Pi4y G4 ) ( xg4 xE)

Sistemul [SR1] scris sub form matricial devine:

30.2685
405.6581

TL1 = 30.2685

57.5595
2.6296

MR1 R1 = TL1
1

R1 := MR1

152.356
405.6581

R1 = 122.0875

348.0986
122.0875

TL1

R24x
R24y

R54x := R1
R
54y
R05
Reactiunile sunt:

R24x = 152.356

MECANISMUL 311

31

R24y = 405.6581
h :=

R54x = 122.0875

R05

R54y = 348.0986
R05 = 122.0875
h=0

DIADA RTR (BR-CT-CR)

Se cunosc:

G2 = 25.1911

Pi2x = 113.2922

Pi2y = 17.6368

Mi2 = 6.0325

G3 = 26.5267

Pi3x = 0

Pi3y = 0

Mi3 = 0.3638

R42x := R24x

R42y := R24y

Se cer: R12x, R12y, h1, R32x, R32y, R03x si R03y .

Necunoscutele se determin din sistemul:

F ( 2 + 3) = 0
ix

Pi3x + Pi2x + R42x + R03x R12x = 0

F ( 2 + 3) = 0
iy

Pi3y + Pi2y G2 G3 + R42y + R03y + R12y = 0

F ( 3) = 0
ix

R32x + Pi3x + R03x + R42x = 0

R42x = 152.356
R42y = 405.6581

MECANISMUL 311

32

R32y + Pi3y G3 + R03y + R42y = 0

F ( 3) = 0
iy

Mi2 + R42x yD yC R42y xD xC + Pi2x yg2 yC R12y xB xC R12x yB yC = 0

M ( 2) = 0
C

Mi3 R32x h1 sin ( ) R32y h1 cos( ) = 0

M ( 3) = 0
C

R32x = R32y tan( )

A rezultat un sistem de 7 ecuatii cu 7 necunoscute

R03x R12x = Pi3x + Pi2x + R42x

R03y + R12y = Pi3y + Pi2y G2 G3 + R42y

R32y tan( ) + R03x = Pi3x + R42x

[SR2]

R32y + R03y = G3 Pi3y R42y

R12y xB xC R12x yB yC = R42y xD xC Mi2 + R42x yD yC + Pi2x yg2 yC

R32y tan( ) h1 sin( ) R32y h1 cos( ) = Mi3

R32x = R32y tan( )
Din sistemul [SR2] lum ecuatiile 1, 2, 3, 4 si 5 rezultnd un sistem liniar de 5 ecuatii cu 5 necunoscute R32y, R12x,
R12y, R03x si R03y

R03x R12x = Pi3x + Pi2x + R42x

R03y + R12y = Pi3y + Pi2y G2 G3 + R42y

R32y tan( ) + R03x = Pi3x + R42x

R32y + R03y = G3 Pi3y R42y

R12y xB xC R12x yB yC = R42y xD xC Mi2 + R42x yD yC + Pi2x yg2 yC

MECANISMUL 311

Notm cu R2 vectorul reactiunilor necunoscute astfel:

MR2 := 1

0
1
0

MR2 = 1

0
0

0
1
0
1
0

0 yB yC
1

tan

180
1

) (xB xC)

33

R03x
R03y

R2 = R12x

R12y
R32y

0
1
0

0
0
0.2585

0
0
1

0.05 0.1934
0
0

( Pi3x + Pi2x + R42x)

( Pi3y + Pi2y G2 G3 + R42y)

( Pi3x + R42x)
TL2 :=

G3 Pi3y R42y

R42y ( xD xC) Mi2 + R42x ( yD yC) + Pi2x ( yg2 yC)

265.6482
475.0128

TL2 = 152.356

432.1848
88.799

Sistemul [SR2] scris sub form matricial devine:

MR2 R2 = TL2
1

R2 := MR2

TL2

MECANISMUL 311

37.8055
875.2605

R2 = 227.8427

400.2477
443.0757

R03x
R03y

R12x := R2
R
12y
R32y
Reactiunile sunt:

34

R03x = 37.8055
R03y = 875.2605
R12x = 227.8427

180

R32x := R32y tan

R12y = 400.2477
R32y = 443.0757

R32y tan( ) h1 sin( ) R32y h1 cos( ) = Mi3

h1 :=

R32x = 114.5505

Mi3

R tan sin R cos

32y

32y

180 180
180

h1 = 0.00079501

ELEMENTUL CONDUCTOR

Se cunosc:

G1 = 6.6023

P1ix = 12.7834

R21x := R12x

R21y := R12y

P1iy = 7.3805

M1i = 0

R21x = 227.8427
Se cer: R01x, R01y, si M1.

R21y = 400.2477

MECANISMUL 311

35

P1ix + R21x + R01x = 0

F ( 1) = 0
ix

P1iy G1 + R21y + R01y = 0

F ( 1) = 0
iy

)(

) (

M1i + M1 P1iy G1 xg1 xA R21y xB xA R21x yB yA P1ix yg1 yA = 0

M ( 1) = 0
A

R01x := P1ix + R21x

R01y := G1 P1iy R21y

)(

M1 := R21x yB yA + P1ix yg1 yA + R21y xB xA + P1iy G1 xg1 xA M1i

R01x = 215.0593
R01y = 401.0259
M1 = 23.6236

ANALIZA DINAMIC A MECANISMULUI

Calculul masei reduse a mecanismului
Masa redus a mecanismului se determin cu relatia:
5

mred =

=1

2
vgi 2
i
mi vg1 + Jgi vg1

unde:

vgi reprezint viteza centrului de greutate al elementului i [m/s];

Jgi reprezint momentul de inertie n raport cu axa ce trece prin centrul de greutate G al
elementului i.
vgi =

(vgix)2 + (vgiy)2

m/s

unde:

vgix si vgiy sunt componentele vitezei vgi n proiectie pe axe n [m/s] determinate la analiza
cinematic a mecanismului
Elementul 1
1 := 1
m1 := m1

vg1x = 0.5236
rad/s
m1 = 0.673

m/s
1 = 20.944
kg

vg1y = 0.9069

m/s

Jg1 := Jg1
6

Jg1 = 968.5976 10

MECANISMUL 311

vg2x = 1.4871

Elementul 2
2 := 2

vg3x = 0

3 := 3

rad/s

m3 := m3

m3 = 2.704

m4 := m4

kg

Jg2 = 53.8014 10
vg3y = 0

m/s
3 = 7.4788

m/s

Jg3 := Jg3
3

Jg3 = 3.2449 10

kg

vg4x = 0.9635
rad/s

Jg2 := Jg2

kg

Elementul 3

4 := 4

m/s

m2 = 2.5679

Elementul 4

vg2y = 0.1122

m/s
2 = 7.4788

rad/s

m2 := m2

36

vg4y = 1.2575

m/s

m/s

Jg4 := Jg4

4 = 9.2642

Jg4 = 6.7823 10
m4 = 1.2876

kg

vg5x = 0

Elementul 5

5 := 5

rad/s

m5 := m5

kg

vg5y = 0.9257

m/s

m/s

Jg5 := Jg5

5 = 0

m5 = 2.704

Jg5 = 3.2449 10
kg

vg1 :=

( vg1x)2 + (vg1y)2

m/s

vg1 = 1.0472

m/s

vg2 :=

( vg2x)2 + (vg2y)2

m/s

vg2 = 1.4913

m/s

vg3 :=

( vg3x)2 + (vg3y)2

m/s

vg3 = 0

m/s

vg4 :=

( vg4x)2 + (vg4y)2

m/s

vg4 = 1.5842

m/s

vg5 :=

( vg5x)2 + (vg5y)2

m/s

vg5 = 0.9257

m/s

vg1 := vg1
nlocuind valorile cunoscute avem:
5

mred :=

=1

2
vgi 2
i
mi + Jgi
vg1
vg1

kg
mred = 14.7684

Calculul momentului de inertie redus al mecanismului

kg

MECANISMUL 311

37

Se face cu relatia:
5

Jred =

=1

2
vgi 2
i
mi + Jgi
1
1

unde:

1 := 1
nlocuind, avem:
5

Jred :=

=1

2
vgi 2
i
mi + Jgi
1
1

Jred = 36.9211 10