TEMA DE PROIECT 1

PROIECT MECANISME

Indrumator de proiect:
Student: Prof. Dr. Ing.
Gr
upa:631A,TCM

Tema de proiectare
Mecanismul cu bare tip R-RRR-TRT
Enuntul temei: se da schema cinematica a mecanismului cu
bare din figura.
Se cere:
1. Geometria grafica a mecanismului.
2. Geometria si cinematica analitico-numerica a mecanismului.
2.1 Calculul deplasarilor liniare si unghiulare ale elementelor
cinematice.
2.2 Calculul vitezelor liniare si unghiulare ale elementelor
cinematice.
2.3 Calculul acceleratiilor liniare si unghiulare ale elementelor
cinematice.
3. Fortele de inertie dezvoltate de elementele cinematice.
4.Cinetostatica mecanismelor cu bare.
5.Program de calcul pt deplasari, vteze si acceleratii.
Aplicatia 1
lox=0,278 [m]
loy=0,092 [m]
ld=0,067 [m]
lh=0,230 [m]
l1=0,120 [m]
l2=0,254 [m]
l3=0,279 [m]
l4=0,01 0 [m]
l5=0,235 [m]
= 350
n1=550 rot/min.

m 1=1,8 kg
m 2=9,0 kg
m 3=5,3 kg
m 4=0,75kg
m 5=4,5 kg

Se impune schema cinematic a mecanismului plan tip R-RRR-TRT de clasa a II-a

cu dou contururi nchise independente.
Conturul 1 este format prin asamblarea la MF(0,1) a lanului diadic LcD(2,3)
tip RRR, iar conturul II este obtinut prin legarea la elementele 2 si 0 a lanului
diadic LcD(4,5) tip RTR (fig. 1).
fig.1

A 0 B 0=0.278 [ m ] ;
BB 0 =0.092 [ m ] ; A 0 D 0=0.067 [ m ] ;
D0 D 0=0.230 [ m ] ;
A 0 A=0.120 [ m ] ; AB=0.245 [ m ] ; B B 0=0.279 [ m ] ;

C D' =0.235 [ m ] ; =35 ;

Se impune micarea uniforma a manivelei 1 (conductoare) prin turaia
n=550rot /min .
1. Analiza structural a mecanismului
Analiza geometrica a mecanismului implic definirea att a lungimilor
constante (notate cu l i ) i a celor variabile (notate cu s i ), ct i a unghiurilor
constante (notate cu i ) i a celor variabile (notate cu i ).
Mecanismul este monomobil, ceea ce se verific prin calcularea gradului de
mobilitate cu formula:

M =3 n2C 5C 4=3 52 7=1

n care:

n=5, numrul de elemente mobile;

C5 =7, numrul de cuple cinematice de clasa a V-a;
C 4=0, numrul de cuple cinematice de clasa a IV-a;
Formula anterioar arat c este suficient o singur deplasare unghiular
1 (ca parametru de intrare) pentru poziionarea univoc a elementelor
cinematice din schema cinematic considerat.
Numrul ciclurilor independente se calculeaz cu relaia:

1
1
N= ( C 52 C 4M ) = ( 72 01 )=2
3
3
Formula structural topologic a mecanismului motor MM (fig. 2) se obine
prin atarea la mecanismul iniial, denumit mecanism fundamental MF(0,1), a
dou lanuri cinematice diadice n ordinea LcD(2,3) i LcD(4,5);
MM=MF(0,1)+LcD(2,3)+LcD(4,5)

a.

b.

Fig 1.2

2.Geometria grafic a mecanismului

Analiza geometric a mecanismului implic definirea att a lungimilor
constante (notate cu l i ) i a celor variabile (notate cu s i ), ct i a unghiurilor
constante (notat cu

) i a unghiurilor variabile (notate cu

i ).

Parametrii constani sunt:

A 0 B 0=l 0 x =0,278 [ m ] ; B B 0=l oy =0,092 [ m ] ;
A 0 D 0=l d =0,067 [ m ] ; D 0 D 0=l h=0,230 [ m ] ;
C D' =l 5=0,235 [ m ] ; A 0 A=l 1=0,120 [ m ] ;
AB=l 2=0,254 [ m ] ; B B 0=l 3=0,279 [ m ] ; BAC==35 ;
Pentru trasarea la scar a schemei cinematice (fig. 3) se adopt scara
lungimilor constante sau variabile: k 1=k s =1/250 [ m ] / [ mm ]

n funcie de scara aleas se calculeaz lungimile constante pe

desen cu formula:

l i [ mm ]=l 1 [ m ] /k 1 [ m/mm ]

Noile valori vor fi:

Tab.1.1
li [ m ]
l i [ mm ]

l0 x

l oy

ld

lh

l1

l2

l3

l5

0.278
72

0.092
21.25

0.067
17

0.230
57.5

0.120
62.5

0.254
63.75

0.279
71.25

0.235
57.75

Pentru trasarea la scar a schemei cinematice se parcurg

urmtoarele etape:
- se alege, pe plan, punctul fix

A0

n partea stnga jos;

- se poziioneaz punctul fix B 0 fa de

coordonatelor carteziene x B 0=l0 x ; y B 0=loy ;

A0

prin msurarea

- se poziioneaz punctul fix D0 fa de

coordonatelor carteziene x D 0 =ld ; y D 0=lh ;

A0

prin msurarea

- se msoar n sens trigonometric, fa de A 0 x , unghiul =330 i

pe direcia obinut se poziioneaz punctul mobil A prin msurarea
lungimii ( AA 0 =( l1 ) ;
- se construiesc arcele de cerc
BA cu centrul n A de raza

BB 0
l2

cu centrul n

B0

de raza

l3

- cele dou arce de cerc se intersecteaz n punctele B i B; se alege

punctul B din condiia de continuitate a micrii, ceea ce corespunde
soluiei adoptate n poziia iniial a manivelei ( 1=0 ;
- se msoar fa de AB unghiul constant 2=35 ; intersecia dintre
direcia obinut i paralela prin D0 la axa A 0 x , punctul C,
reprezint central articulaiei dintre elementele 2 i 4;

- pe aceast plan se msoar parametrii de poziionare ai

elementelor cinematice conduse s 2 , s 4 , s5 , 2 , 3 , 4 ;
Se realizeaz filmul micrii mecanismului pe un ciclu cinematic
complet 1= [ 0,2 ] repetnd construcia grafic menionat anterior.
Avnd schema cinematic trasat n 24 poziii succesive se pot
msura parametrii s 2 , s 4 , s5 , 2 , 3 , 4 , apoi se traseaz diagramele de
variaie ale deplasrilor unghiulare i liniare.

1.3 Calculul analitic al deplasrilor, vitezelor i acceleraiilor

Se consider schema cinematic a mecanismului patrulater

alturi de care s-au schiat cele dou contururi nchise ale vectorilor
asociai, (fig. 1.4).

1.3.1 Calculul geometro-cinematic al conturului I

Conturul vectorial I este asociat lanului cinematic nchis

[ 0,1,2,3,0 ] , prin orientarea fiecrei laturi astfel nct unghiul de
poziionare s fie ct mai mic posibil.
Se scrie ecuaia vectorial de nchidere a conturului I:
l 1+l 2 =l 0 x l oy + l 3

Se scriu ecuaiile de proiecii pe axele de coordonate:

l 2 cos 2l 3 cos 3 =l ox l1 cos 1
l 2 sin 2l 3 sin 3=l oy l 1 sin 1

Calculul deplasrilor unghiulare

Sistemul de ecuaii de mai sus se rezolv prin metoda eliminrii

uneia din acele dou necunoscute 2 i 3 ;
l 2 cos 2 +b1 ( 1 ) =l 3 cos 3

l 2 sin 2+ b2 (1 )=l 3 sin 3

Prin ridicarea la ptrat a celor dou ecuaii, se ajunge la final la

forma:
A 2 sin 2 +B 2 cos 2+ C2=0 ;

n care:
1
l oy + l1 sin ;

1
l 0 x +l 1 cos

A 2=2 l 2

C2 =l 20+l 21 +l 22 +l 23 +2l 1 ( l oy sin 1 l ox cos 1 )

Soluia acestei ecuaii este de forma:

2=2arctg

A 2 A 2 + A2C 2
B2C 2
2

).

Pentru calculul lui 3 se procedeaz similar, prin izolarea i

eliminarea lui 2 din sistemul de ecuaii neliniare iniial, obinnduse ecuaia:
3 + C3 =0 ;
A 3 sin 3 + B3 cos

n care:
A 3=2 l 3 ( l oy +l 1 sin 1) ; B3=2 l 3 (l ox +l 1 cos 1 ) ;
C3 =l 20+ l21 l 22+l 23 +2 l 1 ( l oy sin 1l ox cos 1 ) .

Soluia acestei ecuaii este de forma:

A 3 A23 + A23 C23
3 =2 arctg
.
B3C 3

Calculul vitezelor unghiulare

Se deriveaz ecuaiile scalare de deplasare, n funcie de timp,

obinndu-se un sistem de dou ecuaii liniare de forma:
2
l 2 sin

( l2 cos 2 ) 2 + (l3 cos 3 ) 3 =(l1 cos 1) 1 .

Rezolvnd sistemul prin metoda reducerii, se obine:

2 =1

l 1 sin( 13 )
;
l 2 sin( 32 )

3 =1

l 1 sin( 12 )
;
l 2 sin( 3 2)

Calculul acceleraiilor unghiulare

Se deriveaz ecuaiile scalare de vitez, n funcie de timp,
obinndu-se un sistem de dou ecuaii liniare de forma:
1
l 1 sin

3
l 3 sin

( l2 cos 2 ) 2 + (l3 cos 3 ) 3 =

2
l 2 sin

Rezolvnd sistemul prin metoda reducerii, se obine:

2

l 1 1 cos ( 1 3 ) +l 2 2 cos ( 32 ) l 3 3
2 =
;
l 2 sin ( 32 )
l 1 21 cos ( 13 ) +l 2 22l3 23 cos ( 32 )
3 =
.
l 2 sin ( 32 )

1.3.2 Calculul geometro-cinematic al conturului II

Conturul vectorial II este asociat lanului cinematic nchis

[ 0,1,2,4,5,0 ] , prin orientarea fiecrei laturi astfel nct unghiul de
poziionare s fie ct mai mic posibil.
Se scrie ecuaia vectorial de nchidere a conturului II:
l 1+ s 4s 5=l d +l h .

Se scriu ecuaiile de proiecii pe axele de coordonate:

( + 2 ) = lhl1 sin 1 .
s 4 sin

( + 2 ) s 5=ldl 1 cos 1 ;
s 4 cos

Calculul deplasrilor liniare

Sistemul de ecuaii parial neliniare, de mai sus, se rezolv prin
metoda eliminrii uneia din cele dou necunoscute 2 i 3 :
s4 =

s 5=

l h l1 sin 1
sin ( +2 )

l hl 1 sin 1
+ ( l +l cos 1 ) .
tan ( + 2) d 1

Calculul vitezelor liniare

Se deriveaz ecuaiile scalare de deplasare, n funcie de timp,
obinndu-se un sistem de dou ecuaii liniare de forma:
s 4 sin ( + 2 ) +2 s 4 cos ( + 2 ) =1 l 1 cos 1 .
s 4 cos ( + 2 ) 2 s 4 sin ( + 2 )s5=1 l 1 sin 1 ;

Rezult:
v 4=

2 s4 cos ( + 2 ) +1 l 1 cos 1
sin ( + 2)

v 5= 1 l 1 sin 1+ v 4 cos ( + 2 )2 s 4 sin ( + 2 ) .

Calculul acceleraiilor liniare

Se deriveaz ecuaiile scalare de vitez, n funcie de timp,

obinndu-se un sistem de dou ecuaii liniare de forma:
2

s 4 cos ( + 2 ) 2 s 4 sin ( + 2 ) 2 2 s 4 cos ( + 2 ) 2 s 4 sin ( +2 ) s 5= 1 l 1 cos 1

s 4 sin ( + 2 ) +2 s 4 cos ( + 2 ) 2+ 2 s4 cos ( + 2 ) 22 s 4 sin ( +2 ) =21 l 1 sin 1 .

Rezult:
( + 2 ) 21 l 1 sin 1
;
sin ( + 2)
2 v 4 cos ( + 2 ) 2+ 2 s4 cos ( + 2 )
a 4=

sin ( + 2 )
22 s 4 sin

( +2 ) s 4 cos ( +2 )
2 v 4 sin

2
a5 =1 l 1 cos 1 +a 4 cos ( + 2) 2

1.3.3 Valorile calculate analitic

introduceti l1=0.120
introduceti l2=0.254
introduceti l3=0.279

introduceti
introduceti
introduceti
introduceti
introduceti
introduceti
introduceti
introduceti
introduceti
introduceti
introduceti
introduceti
introduceti
Introduceti
Introduceti
introduceti

ld=0.067
lh=0.230
l0x=0.278
l0y=0.092
m1=1.8
m2=9
m3=5.3
m4=0.75
m5=4.5
J2=0.048
J3=0.034
j4=0.00000625
g=9.81
omega1=57.595
alfa=0.61
pasul p=0.043

1.3.3 Valorile calculate analitic

fi2(fi1) fi3(fi1)

ans =

0 1.5562
-3.1222

0.3491
-3.1305

1.5498

0.7854
-3.1351

1.5438

0.3927
-3.1312

1.5490

0.8290
-3.1354

1.5434

0.4363
-3.1318

1.5483

0.8727
-3.1356

1.5430

1.5476

0.9163
-3.1359

1.5427

0.0436
-3.1237

1.5553

0.4800
-3.1323

1.5470

1.5545

0.9599
-3.1361

1.5424

0.0873
-3.1250

0.5236
-3.1328

1.5463

1.5537

1.0036
-3.1363

1.5422

0.1309
-3.1261

0.5672
-3.1333

1.5458

1.5529

1.0472
-3.1365

1.5419

0.1745
-3.1272

0.6109
-3.1337

1.5452

1.5521

1.0908
-3.1366

1.5417

0.2182
-3.1281

0.6545
-3.1341

1.5447

1.5513

1.1345
-3.1368

1.5416

0.2618
-3.1290

0.6981
-3.1344

1.5442

1.5505

1.1781
-3.1369

1.5415

0.3054
-3.1298

0.7418
-3.1348

1.2217
-3.1370

1.5414

2.0071
-3.1371

1.5431

2.7925
-3.1317

1.5482

1.2654
-3.1372

1.5413

2.0508
-3.1370

1.5434

2.8362
-3.1311

1.5485

1.3090
-3.1372

1.5412

2.0944
-3.1369

1.5436

2.8798
-3.1304

1.5489

1.3526
-3.1373

1.5412

2.1380
-3.1368

1.5439

2.9234
-3.1296

1.5492

1.3963
-3.1374

1.5412

2.1817
-3.1366

1.5441

2.9671
-3.1287

1.5495

1.4399
-3.1375

1.5413

2.2253
-3.1364

1.5444

3.0107
-3.1278

1.5499

1.4835
-3.1375

1.5413

2.2689
-3.1362

1.5446

3.0543
-3.1267

1.5502

1.5272
-3.1375

1.5414

2.3126
-3.1360

1.5449

3.0980
-3.1255

1.5505

1.5708
-3.1376

1.5415

2.3562
-3.1358

1.5452

3.1416
-3.1241

1.5509

1.6144
-3.1376

1.5416

2.3998
-3.1355

1.5455

3.1852
-3.1226

1.5512

1.6581
-3.1376

1.5417

2.4435
-3.1352

1.5458

3.2289
-3.1208

1.5516

1.7017
-3.1376

1.5418

2.4871
-3.1349

1.5461

3.2725
-3.1188

1.5519

1.7453
-3.1375

1.5420

2.5307
-3.1346

1.5464

3.3161
-3.1165

1.5523

1.7890
-3.1375

1.5421

2.5744
-3.1342

1.5467

3.3598
-3.1139

1.5526

1.8326
-3.1375

1.5423

2.6180
-3.1338

1.5470

3.4034
-3.1108

1.5530

1.8762
-3.1374

1.5425

2.6616
-3.1333

1.5473

3.4470
-3.1071

1.5533

1.9199
-3.1373

1.5427

2.7053
-3.1329

1.5476

3.4907
-3.1026

1.5537

1.9635
-3.1372

1.5429

2.7489
-3.1323

1.5479

3.5343
-3.0972

1.5540

3.5779
-3.0904

1.5544

4.3633
-0.4530

1.5609

5.1487
-0.3639

1.5656

3.6216
-3.0818

1.5548

4.4070
-0.4193

1.5612

5.1924
-0.3955

1.5657

3.6652
-3.0706

1.5551

4.4506
-0.3919

1.5616

5.2360
-0.4399

1.5658

3.7088
-3.0553

1.5555

4.4942
-0.3694

1.5619

5.2796
-0.5047

1.5658

3.7525
-3.0334

1.5558

4.5379
-0.3509

1.5622

5.3233
-0.6045

1.5658

3.7961
-2.9999

1.5562

4.5815
-0.3358

1.5625

5.3669
-0.7711

1.5658

3.8397
-2.9435

1.5566

4.6251
-0.3234

1.5628

5.4105
-1.0815

1.5657

3.8834
-2.8351

1.5569

4.6688
-0.3136

1.5632

5.4542
-1.6923

1.5656

3.9270
-2.5987

1.5573

4.7124
-0.3060

1.5634

5.4978
-2.4421

1.5655

3.9706
-2.1487

1.5577

4.7560
-0.3004

1.5637

5.5414
-2.7905

1.5653

4.0143
-1.6417

1.5580

4.7997
-0.2969

1.5640

5.5851
-2.9235

1.5651

4.0579
-1.2598

1.5584

4.8433
-0.2954

1.5643

5.6287
-2.9876

1.5649

4.1015
-1.0030

1.5587

4.8869
-0.2959

1.5645

5.6723
-3.0245

1.5646

4.1452
-0.8286

1.5591

4.9306
-0.2987

1.5647

5.7160
-3.0483

1.5642

4.1888
-0.7057

1.5595

4.9742
-0.3041

1.5649

5.7596
-3.0648

1.5638

4.2324
-0.6158

1.5598

5.0178
-0.3124

1.5651

5.8032
-3.0769

1.5634

4.2761
-0.5477

1.5602

5.0615
-0.3244

1.5653

5.8469
-3.0861

1.5629

4.3197
-0.4949

1.5605

5.1051
-0.3410

1.5655

5.8905
-3.0933

1.5624

5.9341
-3.0991

1.5618

6.0650
-3.1112

1.5599

6.1959
-3.1186

1.5577

5.9778
-3.1039

1.5612

6.1087
-3.1140

1.5592

6.2396
-3.1205

1.5569

6.0214
-3.1078

1.5606

6.1523
-3.1165

1.5585

6.2832
-3.1222

1.5562

Figura 1

fi2,fi3

-1

-2

-3

-4

fi1

s4(fi1) s5(fi1)

ans =

0 -0.2496
0.0783

0.0436 -0.2440
0.0807

0.0873 -0.2384
0.0829

0.1309 -0.2328
0.0848

0.9163 -0.1483
0.0772

1.7017 -0.1234
0.0023

0.1745 -0.2273
0.0865

0.9599 -0.1451
0.0746

1.7453 -0.1243
-0.0030

0.2182 -0.2218
0.0880

1.0036 -0.1420
0.0716

1.7890 -0.1253
-0.0083

0.2618 -0.2164
0.0892

1.0472 -0.1392
0.0685

1.8326 -0.1266
-0.0138

0.3054 -0.2110
0.0901

1.0908 -0.1365
0.0652

1.8762 -0.1282
-0.0192

0.3491 -0.2057
0.0908

1.1345 -0.1341
0.0617

1.9199 -0.1300
-0.0247

0.3927 -0.2005
0.0913

1.1781 -0.1319
0.0580

1.9635 -0.1320
-0.0302

0.4363 -0.1954
0.0915

1.2217 -0.1299
0.0542

2.0071 -0.1342
-0.0357

0.4800 -0.1904
0.0914

1.2654 -0.1281
0.0501

2.0508 -0.1366
-0.0413

0.5236 -0.1856
0.0911

1.3090 -0.1266
0.0459

2.0944 -0.1393
-0.0468

0.5672 -0.1808
0.0905

1.3526 -0.1253
0.0416

2.1380 -0.1421
-0.0522

0.6109 -0.1762
0.0897

1.3963 -0.1242
0.0371

2.1817 -0.1452
-0.0577

0.6545 -0.1717
0.0887

1.4399 -0.1234
0.0325

2.2253 -0.1485
-0.0631

0.6981 -0.1674
0.0873

1.4835 -0.1228
0.0277

2.2689 -0.1519
-0.0684

0.7418 -0.1632
0.0858

1.5272 -0.1224
0.0228

2.3126 -0.1556
-0.0737

0.7854 -0.1592
0.0840

1.5708 -0.1223
0.0178

2.3562 -0.1594
-0.0789

0.8290 -0.1554
0.0820

1.6144 -0.1224
0.0128

2.3998 -0.1634
-0.0841

0.8727 -0.1518
0.0797

1.6581 -0.1228
0.0076

2.4435 -0.1675
-0.0891

2.4871 -0.1718
-0.0940

3.2725 -0.2656
-0.1564

4.0579 -0.3502
-0.1493

2.5307 -0.1763
-0.0989

3.3161 -0.2710
-0.1579

4.1015 -0.3536
-0.1468

2.5744 -0.1809
-0.1036

3.3598 -0.2765
-0.1593

4.1452 -0.3567
-0.1440

2.6180 -0.1856
-0.1081

3.4034 -0.2819
-0.1604

4.1888 -0.3596
-0.1411

2.6616 -0.1904
-0.1126

3.4470 -0.2872
-0.1613

4.2324 -0.3623
-0.1379

2.7053 -0.1954
-0.1169

3.4907 -0.2925
-0.1620

4.2761 -0.3649
-0.1346

2.7489 -0.2004
-0.1210

3.5343 -0.2977
-0.1624

4.3197 -0.3671
-0.1311

2.7925 -0.2056
-0.1250

3.5779 -0.3028
-0.1626

4.3633 -0.3692
-0.1274

2.8362 -0.2108
-0.1288

3.6216 -0.3078
-0.1625

4.4070 -0.3710
-0.1235

2.8798 -0.2161
-0.1325

3.6652 -0.3126
-0.1622

4.4506 -0.3727
-0.1195

2.9234 -0.2215
-0.1359

3.7088 -0.3174
-0.1617

4.4942 -0.3740
-0.1153

2.9671 -0.2269
-0.1392

3.7525 -0.3221
-0.1610

4.5379 -0.3752
-0.1110

3.0107 -0.2324
-0.1423

3.7961 -0.3266
-0.1600

4.5815 -0.3761
-0.1065

3.0543 -0.2379
-0.1451

3.8397 -0.3309
-0.1588

4.6251 -0.3767
-0.1019

3.0980 -0.2434
-0.1478

3.8834 -0.3351
-0.1573

4.6688 -0.3771
-0.0972

3.1416 -0.2490
-0.1503

3.9270 -0.3392
-0.1556

4.7124 -0.3773
-0.0924

3.1852 -0.2545
-0.1525

3.9706 -0.3430
-0.1537

4.7560 -0.3772
-0.0874

3.2289 -0.2600
-0.1545

4.0143 -0.3467
-0.1516

4.7997 -0.3769
-0.0824

4.8433 -0.3764
-0.0773

5.3669 -0.3515
-0.0123

5.8905 -0.2989
0.0473

4.8869 -0.3756
-0.0721

5.4105 -0.3480
-0.0069

5.9341 -0.2936
0.0514

4.9306 -0.3745
-0.0668

5.4542 -0.3444
-0.0015

5.9778 -0.2883
0.0555

4.9742 -0.3733
-0.0614

5.4978 -0.3405
0.0038

6.0214 -0.2829
0.0593

5.0178 -0.3718
-0.0560

5.5414 -0.3365
0.0090

6.0650 -0.2774
0.0630

5.0615 -0.3700
-0.0506

5.5851 -0.3323
0.0142

6.1087 -0.2719
0.0664

5.1051 -0.3680
-0.0452

5.6287 -0.3279
0.0192

6.1523 -0.2664
0.0697

5.1487 -0.3658
-0.0397

5.6723 -0.3234
0.0242

6.1959 -0.2608
0.0728

5.1924 -0.3634
-0.0342

5.7160 -0.3188
0.0291

6.2396 -0.2552
0.0756

5.2360 -0.3607
-0.0287

5.7596 -0.3140
0.0338

6.2832 -0.2496
0.0783

5.2796 -0.3579
-0.0232

5.8032 -0.3090
0.0384

5.3233 -0.3548
-0.0177

5.8469 -0.3040
0.0429

0.1

0.05

-0.05

s4,s5

-0.1

-0.15

-0.2

-0.25

-0.3

-0.35

-0.4

fi1

omega2(fi1) omega3(fi1)
ans =

0.4586 -23.1134

1.0036 -19.4262 -11.8623

0.0436 -0.5860 -23.0757

1.0472 -19.9561 -10.9813

0.0873 -1.6251 -22.9925

1.0908 -20.4476 -10.0798

0.1309 -2.6575 -22.8640

1.1345 -20.8998 -9.1597

0.1745 -3.6815 -22.6903

1.1781 -21.3117 -8.2227

0.2182 -4.6955 -22.4718

1.2217 -21.6828 -7.2706

0.2618 -5.6981 -22.2090

1.2654 -22.0122 -6.3053

0.3054 -6.6874 -21.9025

1.3090 -22.2996 -5.3285

0.3491 -7.6619 -21.5530

1.3526 -22.5442 -4.3421

0.3927 -8.6200 -21.1611

1.3963 -22.7457 -3.3481

0.4363 -9.5599 -20.7279

1.4399 -22.9038 -2.3481

0.4800 -10.4800 -20.2542

1.4835 -23.0182 -1.3443

0.5236 -11.3788 -19.7410

1.5272 -23.0886 -0.3383

0.5672 -12.2545 -19.1897

1.5708 -23.1151

0.6679

0.6109 -13.1057 -18.6012

1.6144 -23.0976

1.6724

0.6545 -13.9309 -17.9768

1.6581 -23.0362

2.6734

0.6981 -14.7285 -17.3180

1.7017 -22.9310

3.6689

0.7418 -15.4971 -16.6260

1.7453 -22.7823

4.6572

0.7854 -16.2354 -15.9024

1.7890 -22.5903

5.6363

0.8290 -16.9419 -15.1485

1.8326 -22.3556

6.6046

0.8727 -17.6154 -14.3660

1.8762 -22.0785

7.5601

0.9163 -18.2548 -13.5563

1.9199 -21.7597

8.5012

0.9599 -18.8587 -12.7212

1.9635 -21.3997

9.4259

2.0071 -20.9994 10.3328

3.2289

1.4586 22.9943

2.0508 -20.5595 11.2200

3.2725

2.4094 22.8691

2.0944 -20.0809 12.0859

3.3161

3.3474 22.7016

2.1380 -19.5646 12.9289

3.3598

4.2691 22.4923

2.1817 -19.0116 13.7474

3.4034

5.1704 22.2417

2.2253 -18.4230 14.5400

3.4470

6.0463 21.9506

2.2689 -17.7999 15.3051

3.4907

6.8907 21.6201

2.3126 -17.1437 16.0414

3.5343

7.6950 21.2517

2.3562 -16.4557 16.7475

3.5779

8.4475 20.8474

2.3998 -15.7371 17.4220

3.6216

9.1297 20.4107

2.4435 -14.9895 18.0638

3.6652

9.7112 19.9476

2.4871 -14.2143 18.6716

3.7088 10.1354 19.4708

2.5307 -13.4131 19.2443

3.7525 10.2837 19.0118

2.5744 -12.5876 19.7808

3.7961

9.8608 18.6717

2.6180 -11.7394 20.2802

3.8397

7.9539 18.8943

2.6616 -10.8701 20.7416

3.8834

1.0221 22.4145

2.7053 -9.9817 21.1640

3.9270 -34.5958 53.6206

2.7489 -9.0759 21.5468

3.9706 101.3286 -85.5021

2.7925 -8.1546 21.8892

4.0143 44.1049 -30.0385

2.8362 -7.2197 22.1906

4.0579 34.1904 -20.9363

2.8798 -6.2732 22.4504

4.1015 30.1208 -17.0897

2.9234 -5.3172 22.6682

4.1452 27.9697 -14.7853

2.9671 -4.3536 22.8436

4.1888 26.6876 -13.1014

3.0107 -3.3848 22.9762

4.2324 25.8679 -11.7115

3.0543 -2.4128 23.0660

4.2761 25.3171 -10.4750

3.0980 -1.4401 23.1127

4.3197 24.9302 -9.3233

3.1416 -0.4689 23.1162

4.3633 24.6450 -8.2202

3.1852

4.4070 24.4216 -7.1453

0.4982 23.0767

4.4506 24.2334 -6.0869

5.3669 10.9484 15.9201

4.4942 24.0615 -5.0380

5.4105

7.4417 18.0712

4.5379 23.8922 -3.9947

5.4542

0.0971 23.0312

4.5815 23.7152 -2.9546

5.4978 -41.5778 60.1268

4.6251 23.5224 -1.9169

5.5414 40.7763 -30.4887

4.6688 23.3074 -0.8813

5.5851 22.7445 -19.4722

4.7124 23.0648

0.1522

5.6287 18.4808 -18.9388

4.7560 22.7899

1.1829

5.6723 16.2873 -19.2481

4.7997 22.4787

2.2101

5.7160 14.7168 -19.6995

4.8433 22.1270

3.2330

5.7596 13.4010 -20.1704

4.8869 21.7308

4.2508

5.8032 12.2073 -20.6262

4.9306 21.2859

5.2628

5.8469 11.0774 -21.0539

4.9742 20.7872

6.2685

5.8905

9.9823 -21.4472

5.0178 20.2286

7.2679

5.9341

8.9062 -21.8026

5.0615 19.6021

8.2615

5.9778

7.8406 -22.1180

5.1051 18.8969

9.2509

6.0214

6.7805 -22.3919

5.1487 18.0975 10.2400

6.0650

5.7231 -22.6230

5.1924 17.1803 11.2356

6.1087

4.6672 -22.8105

5.2360 16.1076 12.2517

6.1523

3.6123 -22.9537

5.2796 14.8150 13.3159

6.1959

2.5588 -23.0522

6.2832

0.4586 -23.1134

5.3233 13.1814 14.4886

6.2396

1.5072 -23.1055

150

100

omega2.omega3

50

-50

-100

fi1

0.5672

6.2094

1.5061

v4(fi1) v5(fi1)
ans =

6.1708

2.4606

0.0436

6.2799

2.4884

0.6109

6.0978

1.3380

0.0873

6.3708

2.4973

0.6545

5.9721

1.1613

0.1309

6.4434

2.4875

0.6981

5.8328

0.9771

0.1745

6.4979

2.4597

0.7418

5.6808

0.7866

0.2182

6.5343

2.4143

0.7854

5.5164

0.5909

0.2618

6.5529

2.3520

0.8290

5.3405

0.3912

0.3054

6.5538

2.2733

0.8727

5.1537

0.1888

0.3491

6.5375

2.1791

0.9163

4.9566 -0.0152

0.3927

6.5041

2.0702

0.9599

4.7500 -0.2197

0.4363

6.4542

1.9475

1.0036

4.5346 -0.4234

0.4800

6.3881

1.8119

1.0472

4.3110 -0.6254

0.5236

6.3064

1.6644

1.0908

4.0800 -0.8245

1.1345

3.8422 -1.0197

2.3562 -3.2151 -2.9086

1.1781

3.5984 -1.2100

2.3998 -3.4246 -2.8637

1.2217

3.3492 -1.3945

2.4435 -3.6290 -2.8171

1.2654

3.0953 -1.5724

2.4871 -3.8285 -2.7695

1.3090

2.8374 -1.7427

2.5307 -4.0227 -2.7219

1.3526

2.5762 -1.9049

2.5744 -4.2118 -2.6751

1.3963

2.3122 -2.0582

2.6180 -4.3956 -2.6298

1.4399

2.0461 -2.2021

2.6616 -4.5741 -2.5868

1.4835

1.7785 -2.3360

2.7053 -4.7472 -2.5468

1.5272

1.5099 -2.4596

2.7489 -4.9147 -2.5104

1.5708

1.2409 -2.5725

2.7925 -5.0767 -2.4783

1.6144

0.9720 -2.6745

2.8362 -5.2330 -2.4510

1.6581

0.7037 -2.7655

2.8798 -5.3835 -2.4289

1.7017

0.4364 -2.8453

2.9234 -5.5280 -2.4125

1.7453

0.1707 -2.9140

2.9671 -5.6664 -2.4020

1.7890 -0.0932 -2.9717

3.0107 -5.7986 -2.3976

1.8326 -0.3547 -3.0187

3.0543 -5.9243 -2.3995

1.8762 -0.6137 -3.0551

3.0980 -6.0433 -2.4076

1.9199 -0.8697 -3.0813

3.1416 -6.1554 -2.4219

1.9635 -1.1224 -3.0978

3.1852 -6.2602 -2.4421

2.0071 -1.3716 -3.1051

3.2289 -6.3575 -2.4678

2.0508 -1.6171 -3.1037

3.2725 -6.4468 -2.4985

2.0944 -1.8586 -3.0942

3.3161 -6.5278 -2.5335

2.1380 -2.0960 -3.0773

3.3598 -6.5999 -2.5718

2.1817 -2.3290 -3.0538

3.4034 -6.6625 -2.6121

2.2253 -2.5575 -3.0243

3.4470 -6.7148 -2.6528

2.2689 -2.7815 -2.9897

3.4907 -6.7559 -2.6918

2.3126 -3.0007 -2.9509

3.5343 -6.7845 -2.7259

3.5779 -6.7986 -2.7506

4.7997 -3.4101 -3.4815

3.6216 -6.7954 -2.7592

4.8433 -3.0743 -3.2349

3.6652 -6.7702 -2.7401

4.8869 -2.7296 -2.9756

3.7088 -6.7142 -2.6722

4.9306 -2.3760 -2.7024

3.7525 -6.6090 -2.5111

4.9742 -2.0134 -2.4139

3.7961 -6.4088 -2.1469

5.0178 -1.6414 -2.1084

3.8397 -5.9721 -1.2396

5.0615 -1.2596 -1.7835

3.8834 -4.7466

1.5363

5.1051 -0.8669 -1.4359

0.9754 15.0752

5.1487 -0.4616 -1.0605

3.9270

3.9706 -20.1547 -35.8244

5.1924 -0.0408 -0.6492

4.0143 -11.0267 -14.1632

5.2360

0.4006 -0.1887

4.0579 -9.2972 -10.2734

5.2796

0.8722

0.3442

4.1015 -8.4742 -8.5807

5.3233

1.3921

0.9938

4.1452 -7.9434 -7.6113

5.3669

2.0006

1.8559

4.1888 -7.5411 -6.9715

5.4105

2.8038

3.1816

4.2324 -7.2039 -6.5086

5.4542

4.2078

5.9293

4.2761 -6.9016 -6.1499

5.4978 11.0569 21.5145

4.3197 -6.6181 -5.8560

5.5414 -1.8204 -9.3727

4.3633 -6.3440 -5.6033

5.5851

1.2486 -2.6765

4.4070 -6.0731 -5.3766

5.6287

2.1218 -1.1439

4.4506 -5.8016 -5.1659

5.6723

2.6552 -0.4003

4.4942 -5.5268 -4.9639

5.7160

3.0774

0.0937

4.5379 -5.2469 -4.7655

5.7596

3.4458

0.4747

4.5815 -4.9605 -4.5667

5.8032

3.7807

0.7916

4.6251 -4.6669 -4.3645

5.8469

4.0907

1.0656

4.6688 -4.3654 -4.1566

5.8905

4.3798

1.3071

4.7124 -4.0556 -3.9411

5.9341

4.6499

1.5217

4.7560 -3.7372 -3.7165

5.9778

4.9021

1.7122

6.0214

5.1365

1.8806

6.1959

5.8978

2.3470

6.0650

5.3534

2.0278

6.2396

6.0434

2.4135

6.1087

5.5527

2.1543

6.2832

6.1708

2.4606

6.1523

5.7342

2.2606

Figura 4

30

20

10

v4,v5

-10

-20

-30

-40

fi1

epsilon2(fi1) epsilon3(fi1)

ans =

1.0e+006 *

0 -0.0017
-0.0010
0.0000 -0.0017
-0.0010
0.0000 -0.0017
-0.0010

0.0000 -0.0017
-0.0010

0.0000 -0.0017
-0.0009

0.0000 -0.0017
-0.0010

0.0000 -0.0017
-0.0009

0.0000 -0.0017
-0.0009

0.0000 -0.0017
-0.0009

0.0000 -0.0017
-0.0009

0.0000 -0.0017
-0.0008

0.0000 -0.0017
-0.0008

0.0000 -0.0012
0.0001

0.0000 -0.0003
0.0008

0.0000 -0.0016
-0.0007

0.0000 -0.0012
0.0002

0.0000 -0.0002
0.0009

0.0000 -0.0016
-0.0007

0.0000 -0.0011
0.0002

0.0000 -0.0002
0.0009

0.0000 -0.0016
-0.0007

0.0000 -0.0011
0.0003

0.0000 -0.0001
0.0009

0.0000 -0.0016
-0.0006

0.0000 -0.0010
0.0003

0.0000 -0.0001
0.0009

0.0000 -0.0016
-0.0006

0.0000 -0.0010
0.0004

0.0000 -0.0000
0.0009

0.0000 -0.0015
-0.0005

0.0000 -0.0009
0.0004

0.0000
0.0009

0.0000

0.0000 -0.0015
-0.0005

0.0000 -0.0009
0.0005

0.0000
0.0010

0.0001

0.0000 -0.0015
-0.0004

0.0000 -0.0008
0.0005

0.0000
0.0010

0.0001

0.0000 -0.0015
-0.0004

0.0000 -0.0008
0.0006

0.0000
0.0010

0.0001

0.0000 -0.0015
-0.0003

0.0000 -0.0007
0.0006

0.0000
0.0010

0.0002

0.0000 -0.0014
-0.0003

0.0000 -0.0007
0.0006

0.0000
0.0010

0.0002

0.0000 -0.0014
-0.0002

0.0000 -0.0006
0.0007

0.0000
0.0010

0.0003

0.0000 -0.0014
-0.0002

0.0000 -0.0006
0.0007

0.0000
0.0010

0.0003

0.0000 -0.0013
-0.0001

0.0000 -0.0005
0.0007

0.0000
0.0010

0.0003

0.0000 -0.0013
-0.0000

0.0000 -0.0005
0.0008

0.0000
0.0010

0.0004

0.0000 -0.0013
0.0000

0.0000 -0.0004
0.0008

0.0000
0.0010

0.0004

0.0000 -0.0012
0.0001

0.0000 -0.0003
0.0008

0.0000
0.0010

0.0004

0.0000
0.0010

0.0004

0.0000
0.0010

0.0002

0.0000
-0.0006

0.0101

0.0000
0.0010

0.0005

0.0000
0.0010

0.0001

0.0000
-0.0006

0.0093

0.0000
0.0010

0.0005

0.0000 -0.0001
0.0011

0.0000
-0.0006

0.0086

0.0000
0.0010

0.0005

0.0000 -0.0003
0.0011

0.0000
-0.0007

0.0080

0.0000
0.0010

0.0005

0.0000 -0.0005
0.0011

0.0000
-0.0007

0.0075

0.0000
0.0010

0.0005

0.0000 -0.0005
0.0012

0.0000
-0.0007

0.0070

0.0000
0.0010

0.0005

0.0000
0.0018

0.0007

0.0000
-0.0007

0.0066

0.0000
0.0010

0.0005

0.0000 -0.1933
0.0156

0.0000
-0.0007

0.0063

0.0000
0.0010

0.0005

0.0000
-0.0938

2.7891

0.0000
-0.0008

0.0060

0.0000
0.0010

0.0005

0.0000
-0.0059

0.1720

0.0000
-0.0008

0.0057

0.0000
0.0010

0.0005

0.0000
-0.0024

0.0653

0.0000
-0.0008

0.0054

0.0000
0.0010

0.0005

0.0000
-0.0014

0.0379

0.0000
-0.0009

0.0051

0.0000
0.0010

0.0005

0.0000
-0.0010

0.0265

0.0000
-0.0009

0.0049

0.0000
0.0010

0.0005

0.0000
-0.0008

0.0204

0.0000
-0.0009

0.0047

0.0000
0.0010

0.0005

0.0000
-0.0007

0.0167

0.0000
-0.0009

0.0045

0.0000
0.0010

0.0004

0.0000
-0.0007

0.0142

0.0000
-0.0010

0.0043

0.0000
0.0010

0.0004

0.0000
-0.0006

0.0125

0.0000
-0.0010

0.0041

0.0000
0.0010

0.0003

0.0000
-0.0006

0.0111

0.0000
-0.0010

0.0039

0.0000
-0.0010

0.0037

0.0000 -0.0124
0.0002

0.0000 -0.0018
-0.0009

0.0000
-0.0011

0.0035

0.0000 -0.0053
-0.0003

0.0000 -0.0018
-0.0009

0.0000
-0.0011

0.0032

0.0000 -0.0034
-0.0004

0.0000 -0.0017
-0.0009

0.0000
-0.0012

0.0028

0.0000 -0.0026
-0.0005

0.0000 -0.0017
-0.0009

0.0000
-0.0013

0.0022

0.0000 -0.0023
-0.0006

0.0000 -0.0017
-0.0010

0.0000
-0.0015

0.0010

0.0000 -0.0020
-0.0007

0.0000 -0.0017
-0.0010

0.0000 -0.0008
-0.0020

0.0000 -0.0019
-0.0007

0.0000 -0.0017
-0.0010

0.0000
-0.0216

0.3099

0.0000 -0.0018
-0.0008

0.0000 -0.0017
-0.0010

0.0000 -0.1218
0.0042

0.0000 -0.0018
-0.0008
Figura 5

x 10

2.5

epsilon2,epsilon3

1.5

0.5

-0.5

a4(fi1) a5(fi1)

fi1

ans =

1.0e+005 *

0 -0.0020
0.0004
0.0000 -0.0018
0.0003
0.0000 -0.0015
0.0002
0.0000 -0.0013
0.0001
0.0000 -0.0010
-0.0000
0.0000 -0.0007
-0.0001
0.0000 -0.0005
-0.0002
0.0000 -0.0002
-0.0003

0.0000
-0.0005

0.0015

0.0000
0.0009

0.0035

0.0000
-0.0005

0.0017

0.0000
0.0010

0.0035

0.0000
-0.0005

0.0019

0.0000
0.0012

0.0035

0.0000
-0.0005

0.0021

0.0000
0.0014

0.0035

0.0000
-0.0004

0.0023

0.0000
0.0015

0.0035

0.0000
-0.0004

0.0025

0.0000
0.0017

0.0035

0.0000
-0.0003

0.0026

0.0000
0.0019

0.0035

0.0000
-0.0003

0.0028

0.0000
0.0020

0.0034

0.0000
-0.0002

0.0029

0.0000
0.0022

0.0034

0.0000
-0.0003

0.0001

0.0000
-0.0001

0.0030

0.0000
0.0024

0.0034

0.0000
-0.0004

0.0003

0.0000
0.0000

0.0031

0.0000
0.0025

0.0033

0.0000
-0.0004

0.0006

0.0000
0.0002

0.0032

0.0000
0.0027

0.0033

0.0000
-0.0005

0.0008

0.0000
0.0003

0.0033

0.0000
0.0028

0.0032

0.0000
-0.0005

0.0011

0.0000
0.0004

0.0033

0.0000
0.0030

0.0031

0.0000
-0.0005

0.0013

0.0000
0.0006

0.0034

0.0000
0.0031

0.0031

0.0000
0.0007

0.0034

0.0000
0.0032

0.0030

0.0000
0.0033

0.0029

0.0000
0.0031

0.0012

0.0000 -0.0002
0.0006

0.0000
0.0034

0.0028

0.0000
0.0030

0.0011

0.0000 -0.0003
0.0006

0.0000
0.0035

0.0027

0.0000
0.0028

0.0010

0.0000 -0.0005
0.0007

0.0000
0.0036

0.0026

0.0000
0.0027

0.0009

0.0000 -0.0008
0.0010

0.0000
0.0036

0.0025

0.0000
0.0025

0.0009

0.0000 -0.0012
0.0013

0.0000
0.0037

0.0024

0.0000
0.0024

0.0008

0.0000 -0.0017
0.0018

0.0000
0.0037

0.0024

0.0000
0.0022

0.0007

0.0000 -0.0021
0.0020

0.0000
0.0037

0.0023

0.0000
0.0020

0.0006

0.0000 -0.0009
-0.0006

0.0000
0.0037

0.0022

0.0000
0.0019

0.0006

0.0000 -0.2983
0.4731

0.0000
0.0037

0.0021

0.0000
0.0017

0.0005

0.0000
-6.8795

4.4414

0.0000
0.0037

0.0020

0.0000
0.0015

0.0004

0.0000
-0.4310

0.2827

0.0000
0.0037

0.0019

0.0000
0.0014

0.0004

0.0000
-0.1661

0.1097

0.0000
0.0036

0.0018

0.0000
0.0012

0.0003

0.0000
-0.0979

0.0648

0.0000
0.0036

0.0017

0.0000
0.0010

0.0003

0.0000
-0.0692

0.0457

0.0000
0.0035

0.0016

0.0000
0.0009

0.0002

0.0000
-0.0540

0.0356

0.0000
0.0034

0.0015

0.0000
0.0008

0.0001

0.0000
-0.0448

0.0293

0.0000
0.0033

0.0014

0.0000
0.0007

0.0001

0.0000
-0.0386

0.0251

0.0000
0.0032

0.0013

0.0000 -0.0000
0.0006

0.0000
-0.0342

0.0221

0.0000
-0.0309

0.0198

0.0001
-0.0137

0.0067

0.0001 -0.0064
0.0057

0.0000
-0.0283

0.0180

0.0001
-0.0132

0.0062

0.0001 -0.0053
0.0038

0.0000
-0.0262

0.0165

0.0001
-0.0126

0.0057

0.0001 -0.0047
0.0028

0.0000
-0.0245

0.0153

0.0001
-0.0121

0.0052

0.0001 -0.0043
0.0022

0.0000
-0.0230

0.0142

0.0001
-0.0115

0.0047

0.0001 -0.0041
0.0019

0.0000
-0.0217

0.0132

0.0001
-0.0110

0.0041

0.0001 -0.0038
0.0016

0.0000
-0.0206

0.0124

0.0001
-0.0103

0.0035

0.0001 -0.0037
0.0014

0.0000
-0.0195

0.0116

0.0001
-0.0093

0.0027

0.0001 -0.0035
0.0012

0.0000
-0.0186

0.0108

0.0001
-0.0077

0.0014

0.0001 -0.0033
0.0011

0.0000
-0.0178

0.0102

0.0001 -0.0008
-0.0048

0.0001 -0.0031
0.0009

0.0000
-0.0170

0.0095

0.0001 -0.0035
-0.0009

0.0001 -0.0029
0.0008

0.0000
-0.0162

0.0089

0.0001
-0.7525

0.5028

0.0001 -0.0027
0.0007

0.0000
-0.0156

0.0083

0.0001 -0.1878
0.2880

0.0001 -0.0025
0.0006

0.0000
-0.0149

0.0078

0.0001 -0.0198
0.0272

0.0001 -0.0022
0.0005

0.0000
-0.0143

0.0072

0.0001 -0.0092
0.0102

0.0001 -0.0020
0.0004

Figura 6

x 10

a4,a5

-2

-4

-6

-8

fi1

1.4 Calculul forelot i momentelor de inerie

1.4.1 Calculul acceleraiilor centrelor de mas

Fig.1.11
- Elementul 1 are centrul de mas n punctul G1 la distana
A0G1=g1=0,5l1. Componentele axiale sunt:
yG1=g1

x G 1=g1 cos 1 ;

x G 1=0,5l 1 21 cos 1 y G 1

sin 1

= - 0,5

l 1 21 sin 1

- Elementul 2 are central de mas n punctul G2 la distana

A0G2=A0A + AG2. Componentele axiale sunt:
x G 2=l 1 cos 1+ g 2 cos 2 ;
y G 2=l 1 sin 1+ g 2 sin 2 ;
g2=0,1 l 2
x G 2=l 1 21 cos 10,11 2 ( 22 cos 2 + 2 sin 2 ) ;
y G 2=l 1 21 sin 10,11 2 ( 22 sin 2 + 2 cos 2 ) ;

- Elementul 3 are central de mas n punctul G3 la distana

A0G3=A0B B0

+B0G3. Componentele axiale sunt:

B '0

g3=0,2 l3
x G 3=l 0 x + g3 cos 3 ;
y G 3=l 0 x + g3 sin 3 ;
x G 3=0,2l 3 ( 23 cos 3 + 3 sin 3 )
y G 3=0,2 l 3 ( 23 sin 3 + 3 cos 3 )

- Elementul 4 are central de mas n punctul G4 la distana

A0G4=A0

'

D0

'

D 0 D 0s 5

. Componentele axiale sunt:

x G 4=l d s5 ; y G 4 =l h
x G 4=s5 ; y G 3=0

- Elementul 5 are central de mas n punctul G5 la distana

A0G5=A0

D'0

D '0 D 0g5

. Componentele axiale sunt:

g5=0,3 s 5 ;
x G 5=l ds 5 ; y G 5 =l h
x G 5=0,3 s 5 ; y G 5 =0

1.4.2 Calculul forelor i cuplurilor de inerie

Torsorul forei de inerie al elementului cinematic j, cu micare
plan, are trei componente:
Fijx =m j x Gj ;
y
Fij =m j y Gj ;

M zij =J Gj j ;

Aceste component se calculeaz pentru fiecare bar, a crei mas se

consider concentrat n centrul de mas:
Pentru manivela 1:
Fix1=m1 x G 1 ;
Fiy1=m1 y G 1 ;
x

M i1 =J G 1 1=0

Pentru biela 2:
Fix2=m2 x G 2 ;
y

Fi 2=m2 y G 2 ;
M xi2 =J G 2 2

Pentru balastierul 3:
Fix3=m3 x G 3 ;
Fiy3=m3 y G 3 ;
M zi3 =J G 3 3

Pentru patina 4:
x
Fi 4 =m4 x G 4 ;

Fiy4 =m4 y G 4 ;
z

M i 4=J G 4 4

Pentru glisiera translant 5:

x

Fi 5=m5 x G 5 ;
Fiy5=m5 y G 5 =0
z

M i5 =J G 5 5 =0

1.4.3 Valorile calculate analitic

Fi1x(fi1) Fi1y(fi1)

ans =

1.0e+003 *

2.4224

0.0001
0.3162

2.4017

0.0003
0.7284

2.3103

0.0002
0.4207

2.3856

0.0003
0.8285

2.2763

0.0000
0.1057

2.4201

0.0002
0.5243

2.3650

0.0004
0.9270

2.2380

0.0001
0.2111

2.4132

0.0003
0.6270

2.3399

0.0004
1.0238

2.1955

0.0005
1.1186

2.1487

0.0013
2.3103

0.7284

0.0021 -1.1186
2.1487

0.0005
1.2112

2.0979

0.0013
2.3399

0.6270

0.0021 -1.2112
2.0979

0.0006
1.3016

2.0431

0.0014
2.3650

0.5243

0.0021 -1.3016
2.0431

0.0006
1.3895

1.9843

0.0014
2.3856

0.4207

0.0022 -1.3895
1.9843

0.0007
1.4747

1.9219

0.0014
2.4017

0.3162

0.0022 -1.4747
1.9219

0.0007
1.5571

1.8557

0.0015
2.4132

0.2111

0.0023 -1.5571
1.8557

0.0007
1.6366

1.7860

0.0015
2.4201

0.1057

0.0023 -1.6366
1.7860

0.0008
1.7129

1.7129

0.0016
2.4224

0.0000

0.0024 -1.7129
1.7129

0.0008
1.7860

1.6366

0.0016 -0.1057
2.4201

0.0024 -1.7860
1.6366

0.0009
1.8557

1.5571

0.0017 -0.2111
2.4132

0.0024 -1.8557
1.5571

0.0009
1.9219

1.4747

0.0017 -0.3162
2.4017

0.0025 -1.9219
1.4747

0.0010
1.9843

1.3895

0.0017 -0.4207
2.3856

0.0025 -1.9843
1.3895

0.0010
2.0431

1.3016

0.0018 -0.5243
2.3650

0.0026 -2.0431
1.3016

0.0010
2.0979

1.2112

0.0018 -0.6270
2.3399

0.0026 -2.0979
1.2112

0.0011
2.1487

1.1186

0.0019 -0.7284
2.3103

0.0027 -2.1487
1.1186

0.0011
2.1955

1.0238

0.0019 -0.8285
2.2763

0.0027 -2.1955
1.0238

0.0012
2.2380

0.9270

0.0020 -0.9270
2.2380

0.0027 -2.2380
0.9270

0.0012
2.2763

0.8285

0.0020 -1.0238
2.1955

0.0028 -2.2763
0.8285

0.0028 -2.3103
0.7284

0.0036 -2.1487
-1.1186

0.0044 -0.7284
-2.3103

0.0029 -2.3399
0.6270

0.0037 -2.0979
-1.2112

0.0045 -0.6270
-2.3399

0.0029 -2.3650
0.5243

0.0037 -2.0431
-1.3016

0.0045 -0.5243
-2.3650

0.0030 -2.3856
0.4207

0.0038 -1.9843
-1.3895

0.0045 -0.4207
-2.3856

0.0030 -2.4017
0.3162

0.0038 -1.9219
-1.4747

0.0046 -0.3162
-2.4017

0.0031 -2.4132
0.2111

0.0038 -1.8557
-1.5571

0.0046 -0.2111
-2.4132

0.0031 -2.4201
0.1057

0.0039 -1.7860
-1.6366

0.0047 -0.1057
-2.4201

0.0031 -2.4224
0.0000

0.0039 -1.7129
-1.7129

0.0047 -0.0000
-2.4224

0.0032 -2.4201
-0.1057

0.0040 -1.6366
-1.7860

0.0048
-2.4201

0.1057

0.0032 -2.4132
-0.2111

0.0040 -1.5571
-1.8557

0.0048
-2.4132

0.2111

0.0033 -2.4017
-0.3162

0.0041 -1.4747
-1.9219

0.0048
-2.4017

0.3162

0.0033 -2.3856
-0.4207

0.0041 -1.3895
-1.9843

0.0049
-2.3856

0.4207

0.0034 -2.3650
-0.5243

0.0041 -1.3016
-2.0431

0.0049
-2.3650

0.5243

0.0034 -2.3399
-0.6270

0.0042 -1.2112
-2.0979

0.0050
-2.3399

0.6270

0.0034 -2.3103
-0.7284

0.0042 -1.1186
-2.1487

0.0050
-2.3103

0.7284

0.0035 -2.2763
-0.8285

0.0043 -1.0238
-2.1955

0.0051
-2.2763

0.8285

0.0035 -2.2380
-0.9270

0.0043 -0.9270
-2.2380

0.0051
-2.2380

0.9270

0.0036 -2.1955
-1.0238

0.0044 -0.8285
-2.2763

0.0051
-2.1955

1.0238

0.0052
-2.1487

1.1186

0.0056
-1.5571

1.8557

0.0060
-0.7284

2.3103

0.0052
-2.0979

1.2112

0.0056
-1.4747

1.9219

0.0060
-0.6270

2.3399

0.0053
-2.0431

1.3016

0.0057
-1.3895

1.9843

0.0061
-0.5243

2.3650

0.0053
-1.9843

1.3895

0.0057
-1.3016

2.0431

0.0061
-0.4207

2.3856

0.0054
-1.9219

1.4747

0.0058
-1.2112

2.0979

0.0062
-0.3162

2.4017

0.0054
-1.8557

1.5571

0.0058
-1.1186

2.1487

0.0062
-0.2111

2.4132

0.0055
-1.7860

1.6366

0.0058
-1.0238

2.1955

0.0062
-0.1057

2.4201

0.0055
-1.7129

1.7129

0.0059
-0.9270

2.2380

0.0063
-0.0000

2.4224

0.0055
-1.6366

1.7860

0.0059
-0.8285

2.2763

Figura1.1

2500

2000

1500

1000

Fi1y

500

-500

-1000

-1500

-2000

-2500

fi1,Fi1x

fi1 Fi2x(fi1) Fi2y(fi1)

ans =

1.0e+006 *

0
0.0000

0.2164

0.0000
0.0096

0.0000
0.0191

0.2162

0.2156

0.0000
0.1408

0.1655

0.0000
0.2183

0.0179

0.0000
0.1480

0.1592

0.0000
0.2190

0.0084

0.0000
0.1549

0.1527

0.0000 -0.0010
0.2192

0.0000
0.0286

0.2146

0.0000
0.1615

0.1458

0.0000 -0.0105
0.2190

0.0000
0.0380

0.2131

0.0000
0.1678

0.1387

0.0000 -0.0200
0.2183

0.0000
0.0474

0.2113

0.0000
0.1738

0.1313

0.0000 -0.0294
0.2173

0.0000
0.0566

0.2090

0.0000
0.1795

0.1236

0.0000 -0.0387
0.2158

0.0000
0.1848

0.1157

0.0000 -0.0480
0.2140

0.0000
0.1898

0.1076

0.0000 -0.0572
0.2117

0.0993

0.0000 -0.0663
0.2090

0.0000
0.0658

0.2064

0.0000
0.0748

0.2033

0.0000
0.1944

0.0908

0.0000
0.0837

0.1999

0.0000
0.1986

0.0000 -0.0753
0.2059

0.0821

0.0000
0.0925

0.1960

0.0000
0.2025

0.0000 -0.0841
0.2024

0.0733

0.0000
0.1011

0.1918

0.0000
0.2059

0.0000 -0.0927
0.1986

0.0643

0.0000
0.1095

0.1873

0.0000
0.2090

0.0000 -0.1012
0.1943

0.0552

0.0000
0.1176

0.1823

0.0000
0.2117

0.0000 -0.1095
0.1897

0.0460

0.0000
0.1256

0.1771

0.0000
0.2140

0.0000 -0.1176
0.1847

0.0367

0.0000
0.1333

0.1715

0.0000
0.2158

0.0000 -0.1255
0.1794

0.0000
0.2173

0.0273

0.0000 -0.1331
0.1738

0.0000 -0.1405
0.1678

0.0000 -0.2170
0.0190

0.0000 -0.1680
-0.1404

0.0000 -0.1476
0.1615

0.0000 -0.2177
0.0095

0.0000 -0.1602
-0.1476

0.0000 -0.1544
0.1548

0.0000 -0.2179
-0.0000

0.0000 -0.3865
-0.1501

0.0000 -0.1610
0.1479

0.0000 -0.2177
-0.0095

0.0000
-0.1901

3.1992

0.0000 -0.1672
0.1407

0.0000 -0.2170
-0.0191

0.0000
-0.1675

0.0659

0.0000 -0.1731
0.1333

0.0000 -0.2160
-0.0285

0.0000 -0.0546
-0.1729

0.0000 -0.1787
0.1255

0.0000 -0.2146
-0.0379

0.0000 -0.0798
-0.1784

0.0000 -0.1840
0.1176

0.0000 -0.2127
-0.0473

0.0000 -0.0856
-0.1837

0.0000 -0.1889
0.1094

0.0000 -0.2105
-0.0565

0.0000 -0.0848
-0.1886

0.0000 -0.1934
0.1010

0.0000 -0.2079
-0.0657

0.0000 -0.0809
-0.1932

0.0000 -0.1976
0.0925

0.0000 -0.2048
-0.0747

0.0000 -0.0753
-0.1974

0.0000 -0.2014
0.0837

0.0000 -0.2014
-0.0836

0.0000 -0.0687
-0.2013

0.0000 -0.2048
0.0748

0.0000 -0.1977
-0.0923

0.0000 -0.0614
-0.2047

0.0000 -0.2079
0.0658

0.0000 -0.1936
-0.1008

0.0000 -0.0536
-0.2078

0.0000 -0.2105
0.0566

0.0000 -0.1891
-0.1091

0.0000 -0.0454
-0.2104

0.0000 -0.2128
0.0473

0.0000 -0.1844
-0.1173

0.0000 -0.0370
-0.2127

0.0000 -0.2146
0.0380

0.0000 -0.1793
-0.1252

0.0000 -0.0284
-0.2146

0.0000 -0.2160
0.0285

0.0000 -0.1740
-0.1329

0.0000 -0.0196
-0.2160

0.0000 -0.0106
-0.2171

0.0000
-0.1935

0.1053

0.0000
-0.1090

0.1865

0.0000 -0.0016
-0.2177

0.0000
-0.1889

0.1134

0.0000
-0.1007

0.1914

0.0000
-0.2179

0.0075

0.0000
-0.1840

0.1213

0.0000
-0.0922

0.1957

0.0000
-0.2177

0.0167

0.0000
-0.1788

0.1287

0.0000
-0.0835

0.1997

0.0000
-0.2171

0.0258

0.0000
-0.1732

0.1357

0.0000
-0.0746

0.2032

0.0000
-0.2161

0.0350

0.0000
-0.1673

0.1416

0.0000
-0.0656

0.2063

0.0000
-0.2147

0.0441

0.0000
-0.1611

0.1467

0.0000
-0.0565

0.2090

0.0000
-0.2128

0.0532

0.0000
-0.1540

0.5264

0.0000
-0.0472

0.2112

0.0000
-0.2106

0.0622

0.0000
-0.1450

0.0149

0.0000
-0.0379

0.2131

0.0000
-0.2079

0.0711

0.0000
-0.1398

0.1525

0.0000
-0.0285

0.2145

0.0000
-0.2049

0.0799

0.0000
-0.1326

0.1671

0.0000
-0.0190

0.2156

0.0000
-0.2015

0.0885

0.0000
-0.1250

0.1749

0.0000
-0.0095

0.2162

0.0000
-0.1977

0.0970

0.0000
-0.1171

0.1811

0.0000
0.0000

0.2164

Figura1.2

3.5

x 10

2.5

Fi2y

1.5

0.5

-0.5

fi1,Fi2x

Fi3x (fi1) Fi3y(fi1)

ans =

1.0e+006 *

0 -0.0067
-0.0130
0.0000 -0.0067
-0.0130
0.0000 -0.0067
-0.0129
0.0000 -0.0066
-0.0128
0.0000 -0.0065
-0.0126
0.0000 -0.0064
-0.0124
0.0000 -0.0063
-0.0122

0.0000 -0.0061
-0.0119

0.0000 -0.0038
-0.0075

0.0000 -0.0059
-0.0115

0.0000 -0.0035
-0.0068

0.0000 -0.0057
-0.0112

0.0000 -0.0032
-0.0062

0.0000 -0.0055
-0.0107

0.0000 -0.0029
-0.0055

0.0000 -0.0052
-0.0103

0.0000 -0.0027
-0.0048

0.0000 -0.0050
-0.0098

0.0000 -0.0024
-0.0041

0.0000 -0.0047
-0.0092

0.0000 -0.0021
-0.0034

0.0000 -0.0044
-0.0087

0.0000 -0.0018
-0.0027

0.0000 -0.0041
-0.0081

0.0000 -0.0016
-0.0020

0.0000 -0.0013
-0.0013

0.0000 -0.0008
0.0095

0.0000 -0.0057
0.0130

0.0000 -0.0011
-0.0005

0.0000 -0.0010
0.0099

0.0000 -0.0060
0.0131

0.0000 -0.0009
0.0002

0.0000 -0.0012
0.0102

0.0000 -0.0062
0.0131

0.0000 -0.0007
0.0009

0.0000 -0.0014
0.0106

0.0000 -0.0064
0.0131

0.0000 -0.0005
0.0016

0.0000 -0.0017
0.0109

0.0000 -0.0066
0.0132

0.0000 -0.0004
0.0023

0.0000 -0.0020
0.0112

0.0000 -0.0067
0.0132

0.0000 -0.0003
0.0030

0.0000 -0.0022
0.0114

0.0000 -0.0069
0.0132

0.0000 -0.0002
0.0036

0.0000 -0.0025
0.0117

0.0000 -0.0070
0.0132

0.0000 -0.0001
0.0043

0.0000 -0.0028
0.0119

0.0000 -0.0071
0.0132

0.0000 -0.0000
0.0049

0.0000 -0.0031
0.0121

0.0000 -0.0071
0.0132

0.0000 -0.0000
0.0055

0.0000 -0.0034
0.0122

0.0000 -0.0072
0.0132

0.0000 -0.0000
0.0061

0.0000 -0.0037
0.0124

0.0000 -0.0072
0.0132

0.0000 -0.0001
0.0066

0.0000 -0.0040
0.0125

0.0000 -0.0072
0.0132

0.0000 -0.0001
0.0072

0.0000 -0.0043
0.0126

0.0000 -0.0072
0.0132

0.0000 -0.0002
0.0077

0.0000 -0.0046
0.0127

0.0000 -0.0072
0.0132

0.0000 -0.0003
0.0082

0.0000 -0.0049
0.0128

0.0000 -0.0071
0.0132

0.0000 -0.0005
0.0087

0.0000 -0.0052
0.0129

0.0000 -0.0070
0.0132

0.0000 -0.0006
0.0091

0.0000 -0.0055
0.0130

0.0000 -0.0069
0.0132

0.0000 -0.0068
0.0132

0.0000
0.0076

0.0059

0.0000
0.0116

0.0037

0.0000 -0.0067
0.0131

0.0000
0.0073

0.0049

0.0000
0.0119

0.0040

0.0000 -0.0066
0.0131

0.0000
0.0071

0.0042

0.0000
0.0121

0.0045

0.0000 -0.0065
0.0131

0.0000
0.0072

0.0037

0.0000
0.0123

0.0050

0.0000 -0.0064
0.0131

0.0000
0.0073

0.0033

0.0000
0.0126

0.0056

0.0000 -0.0064
0.0131

0.0000
0.0075

0.0030

0.0000
0.0128

0.0063

0.0000 -0.0065
0.0131

0.0000
0.0077

0.0028

0.0000
0.0129

0.0073

0.0000 -0.0068
0.0131

0.0000
0.0080

0.0026

0.0000
0.0131

0.0086

0.0000 -0.0077
0.0131

0.0000
0.0084

0.0025

0.0000
0.0132

0.0106

0.0000 -0.0102
0.0133

0.0000
0.0087

0.0024

0.0000
0.0132

0.0142

0.0000 -0.0200
0.0133

0.0000
0.0090

0.0024

0.0000
0.0130

0.0243

0.0000 -0.2046
0.0280

0.0000
0.0094

0.0024

0.0000
0.0301

0.2827

0.0000
0.1111

1.2179

0.0000
0.0097

0.0025

0.0000 -0.0524
0.0212

0.0000
0.0263

0.0731

0.0000
0.0101

0.0026

0.0000 -0.0055
0.0002

0.0000
0.0158

0.0271

0.0000
0.0104

0.0027

0.0000 -0.0038
-0.0043

0.0000
0.0116

0.0151

0.0000
0.0107

0.0029

0.0000 -0.0039
-0.0063

0.0000
0.0095

0.0101

0.0000
0.0110

0.0031

0.0000 -0.0042
-0.0076

0.0000
0.0083

0.0075

0.0000
0.0113

0.0034

0.0000 -0.0045
-0.0086

0.0000 -0.0048
-0.0094

0.0000 -0.0059
-0.0115

0.0000 -0.0065
-0.0127

0.0000 -0.0051
-0.0100

0.0000 -0.0061
-0.0119

0.0000 -0.0066
-0.0128

0.0000 -0.0054
-0.0106

0.0000 -0.0063
-0.0122

0.0000 -0.0067
-0.0129

0.0000 -0.0057
-0.0111

0.0000 -0.0064
-0.0125

0.0000 -0.0067
-0.0130

Figura1.3

14

x 10

12

10

Fi3y

-2

-4

fi1,Fi3x

Fi4x(fi1)

ans =

1.0e+005 *

0.0003

0.0000

0.0002

0.0000

0.0001

0.0000 -0.0002

0.0000

0.0001

0.0000 -0.0003

0.0000 -0.0000

0.0000 -0.0003

0.0000 -0.0001

0.0000 -0.0004

0.0000 -0.0001

0.0000 -0.0004

0.0000 -0.0004

0.0000

0.0020

0.0000

0.0020

0.0000 -0.0004

0.0000

0.0021

0.0000

0.0019

0.0000 -0.0004

0.0000

0.0023

0.0000

0.0018

0.0000 -0.0004

0.0000

0.0024

0.0000

0.0016

0.0000 -0.0004

0.0000

0.0025

0.0000

0.0015

0.0000 -0.0004

0.0000

0.0026

0.0000

0.0014

0.0000 -0.0004

0.0000

0.0026

0.0000

0.0012

0.0000 -0.0003

0.0000

0.0027

0.0000

0.0011

0.0000 -0.0003

0.0000

0.0028

0.0000

0.0010

0.0000 -0.0002

0.0000

0.0029

0.0000

0.0008

0.0000 -0.0001

0.0000

0.0029

0.0000

0.0007

0.0000 -0.0001

0.0000

0.0029

0.0000

0.0006

0.0000

0.0000

0.0000

0.0030

0.0000

0.0006

0.0000

0.0001

0.0000

0.0030

0.0000

0.0005

0.0000

0.0002

0.0000

0.0030

0.0000

0.0005

0.0000

0.0003

0.0000

0.0030

0.0000

0.0005

0.0000

0.0005

0.0000

0.0030

0.0000

0.0006

0.0000

0.0006

0.0000

0.0029

0.0000

0.0008

0.0000

0.0007

0.0000

0.0029

0.0000

0.0011

0.0000

0.0008

0.0000

0.0029

0.0000

0.0015

0.0000

0.0010

0.0000

0.0028

0.0000

0.0016

0.0000

0.0011

0.0000

0.0027

0.0000 -0.0005

0.0000

0.0012

0.0000

0.0027

0.0000

0.0000

0.0014

0.0000

0.0026

0.0000 -5.5036

0.0000

0.0015

0.0000

0.0025

0.0000 -0.3448

0.0000

0.0016

0.0000

0.0024

0.0000 -0.1329

0.0000

0.0018

0.0000

0.0023

0.0000 -0.0783

0.0000

0.0019

0.0000

0.0021

0.0000 -0.0554

0.3785

0.0000 -0.0432

0.0000 -0.0119

0.0001

0.0046

0.0000 -0.0358

0.0000 -0.0114

0.0001

0.0031

0.0000 -0.0309

0.0001 -0.0110

0.0001

0.0023

0.0000 -0.0273

0.0001 -0.0105

0.0001

0.0018

0.0000 -0.0247

0.0001 -0.0101

0.0001

0.0015

0.0000 -0.0226

0.0001 -0.0097

0.0001

0.0013

0.0000 -0.0210

0.0001 -0.0092

0.0001

0.0011

0.0000 -0.0196

0.0001 -0.0088

0.0001

0.0010

0.0000 -0.0184

0.0001 -0.0082

0.0001

0.0009

0.0000 -0.0174

0.0001 -0.0074

0.0001

0.0007

0.0000 -0.0165

0.0001 -0.0062

0.0001

0.0007

0.0000 -0.0156

0.0001 -0.0039

0.0001

0.0006

0.0000 -0.0149

0.0001 -0.0007

0.0001

0.0005

0.0000 -0.0142

0.0001 -0.6020

0.0001

0.0004

0.0000 -0.0136

0.0001

0.2304

0.0001

0.0003

0.0000 -0.0130

0.0001

0.0218

0.0000 -0.0124

0.0001

0.0081

Figura1.4

x 10

-1

-2

-3

-4

-5

-6

fi1,Fi4x

Fi5x(fi1)
ans =

1.0e+005 *

0.0005

0.0000 -0.0005

0.0000 -0.0006

0.0000 -0.0006

0.0000 -0.0006

0.0000 -0.0006

0.0000 -0.0005

0.0000

0.0004

0.0000 -0.0007

0.0000 -0.0004

0.0000

0.0003

0.0000 -0.0007

0.0000 -0.0002

0.0000

0.0001

0.0000 -0.0008

0.0000 -0.0001

0.0000 -0.0000

0.0000 -0.0008

0.0000

0.0001

0.0000 -0.0001

0.0000 -0.0008

0.0000

0.0002

0.0000 -0.0003

0.0000 -0.0007

0.0000

0.0004

0.0000 -0.0004

0.0000 -0.0007

0.0000

0.0006

0.0000

0.0008

0.0000

0.0052

0.0000

0.0010

0.0000

0.0010

0.0000

0.0052

0.0000

0.0014

0.0000

0.0012

0.0000

0.0051

0.0000

0.0019

0.0000

0.0015

0.0000

0.0050

0.0000

0.0026

0.0000

0.0017

0.0000

0.0049

0.0000

0.0028

0.0000

0.0019

0.0000

0.0048

0.0000 -0.0008

0.0000

0.0022

0.0000

0.0047

0.0000

0.0000

0.0024

0.0000

0.0045

0.0000 -9.7001

0.0000

0.0026

0.0000

0.0044

0.0000 -0.6078

0.0000

0.0029

0.0000

0.0042

0.0000 -0.2342

0.0000

0.0031

0.0000

0.0040

0.0000 -0.1380

0.0000

0.0033

0.0000

0.0038

0.0000 -0.0976

0.0000

0.0036

0.0000

0.0036

0.0000 -0.0761

0.0000

0.0038

0.0000

0.0033

0.0000 -0.0631

0.0000

0.0040

0.0000

0.0031

0.0000 -0.0544

0.0000

0.0042

0.0000

0.0029

0.0000 -0.0482

0.0000

0.0043

0.0000

0.0026

0.0000 -0.0435

0.0000

0.0045

0.0000

0.0024

0.0000 -0.0399

0.0000

0.0047

0.0000

0.0022

0.0000 -0.0370

0.0000

0.0048

0.0000

0.0019

0.0000 -0.0345

0.0000

0.0049

0.0000

0.0017

0.0000 -0.0324

0.0000

0.0050

0.0000

0.0015

0.0000 -0.0306

0.0000

0.0051

0.0000

0.0013

0.0000 -0.0290

0.0000

0.0052

0.0000

0.0011

0.0000 -0.0276

0.0000

0.0052

0.0000

0.0010

0.0000 -0.0263

0.0000

0.0053

0.0000

0.0009

0.0000 -0.0251

0.0000

0.0053

0.0000

0.0008

0.0000 -0.0239

0.0000

0.0053

0.0000

0.0009

0.0000 -0.0229

0.6671

0.0000 -0.0219

0.0001 -0.0109

0.0001

0.0026

0.0000 -0.0210

0.0001 -0.0068

0.0001

0.0022

0.0000 -0.0202

0.0001 -0.0013

0.0001

0.0019

0.0001 -0.0193

0.0001 -1.0610

0.0001

0.0017

0.0001 -0.0186

0.0001

0.4060

0.0001

0.0015

0.0001 -0.0178

0.0001

0.0384

0.0001

0.0013

0.0001 -0.0171

0.0001

0.0144

0.0001

0.0012

0.0001 -0.0163

0.0001

0.0080

0.0001

0.0010

0.0001 -0.0154

0.0001

0.0054

0.0001

0.0008

0.0001 -0.0145

0.0001

0.0040

0.0001

0.0007

0.0001 -0.0131

0.0001

0.0032

0.0001

0.0005

Figura1.5

x 10

-2

-4

-6

-8

-10

Mi2(fi1) Mi3(fi1)

ans =

fi1,Fi5x

1.0e+005 *

0
0.0000

0.0007

0.0003

0.0000
0.0000

0.0006

0.0001

0.0000
0.0000

0.0003 -0.0002

0.0000
0.0000

0.0006

0.0001

0.0000
0.0000

0.0002 -0.0002

0.0001

0.0003

0.0000
0.0000

0.0002 -0.0002

0.0007

0.0000
0.0000

0.0006

0.0000
0.0000

0.0001

0.0003

0.0000
0.0000

0.0002 -0.0002

0.0007

0.0000
0.0000

0.0006

0.0000
0.0000

0.0000

0.0003

0.0000
0.0000

0.0002 -0.0003

0.0007

0.0000
0.0000

0.0006

0.0000
0.0000

0.0000

0.0003

0.0000
0.0000

0.0001 -0.0003

0.0007

0.0000
0.0000

0.0006

0.0000
0.0000

0.0000

0.0003

0.0000
0.0000

0.0001 -0.0003

0.0007

0.0000
0.0000

0.0005

0.0000
0.0000

0.0003

0.0000
0.0000

0.0001 -0.0003

0.0007

0.0000
0.0000

0.0005 -0.0000

0.0000
0.0000

0.0003

0.0000
0.0000

0.0001 -0.0003

0.0007

0.0000
0.0000

0.0005 -0.0000

0.0000
0.0000

0.0003

0.0000
0.0000

0.0001 -0.0003

0.0007

0.0000
0.0000

0.0005 -0.0000

0.0000
0.0000

0.0003

0.0000
0.0000

0.0000 -0.0003

0.0007

0.0000
0.0000

0.0005 -0.0001

0.0000
0.0000

0.0003

0.0000
0.0000

0.0000 -0.0003

0.0007

0.0000
0.0000

0.0005 -0.0001

0.0000
0.0000

0.0007

0.0003

0.0000
0.0000

0.0004 -0.0001

0.0000
0.0000

0.0000 -0.0000 -0.0003

-0.0000

0.0007

0.0002

0.0000
0.0000

0.0004 -0.0001

0.0000
0.0000

0.0000 -0.0000 -0.0003

-0.0000

0.0007

0.0002

0.0000
0.0000

0.0004 -0.0001

0.0000
0.0000

0.0000 -0.0000 -0.0003

-0.0000

0.0007

0.0002

0.0000
0.0000

0.0004 -0.0001

0.0000
0.0000

0.0000 -0.0001 -0.0003

-0.0000

0.0007

0.0002

0.0000
0.0000

0.0004 -0.0001

0.0000
0.0000

0.0000 -0.0001 -0.0003

-0.0000

0.0006

0.0002

0.0000
0.0000

0.0003 -0.0002

0.0000
0.0000

0.0000 -0.0001 -0.0003

-0.0000

0.0006

0.0002

0.0000
0.0000

0.0003 -0.0002

0.0000
0.0000

0.0000 -0.0001 -0.0003

-0.0000

0.0006

0.0002

0.0000
0.0000

0.0003 -0.0002

0.0000
0.0000

0.0000 -0.0001 -0.0003

-0.0000

0.0006

0.0001

0.0000
0.0000

0.0003 -0.0002

0.0000
0.0000

0.0000 -0.0001 -0.0003

-0.0000

0.0000 -0.0001 -0.0003

-0.0000

0.0000 -0.0000 -0.0003

-0.0000

0.0000 -0.0029
-0.0000

0.0002

0.0000 -0.0002 -0.0003

-0.0000

0.0000
0.0000

0.0000 -0.0003

0.0000 -0.0027
-0.0000

0.0002

0.0000 -0.0002 -0.0003

-0.0000

0.0000
0.0000

0.0001 -0.0003

0.0000 -0.0026
-0.0000

0.0002

0.0000 -0.0002 -0.0003

-0.0000

0.0000
0.0000

0.0002 -0.0004

0.0000 -0.0024
-0.0000

0.0002

0.0000 -0.0002 -0.0003

-0.0000

0.0000
0.0000

0.0002 -0.0004

0.0000 -0.0023
-0.0000

0.0003

0.0000 -0.0002 -0.0003

-0.0000

0.0000 -0.0003 -0.0006

-0.0000

0.0000 -0.0022
-0.0000

0.0003

0.0000 -0.0002 -0.0003

-0.0000

0.0000
0.0000

0.0000 -0.0021
-0.0000

0.0003

0.0000 -0.0002 -0.0003

-0.0000

0.0000 -1.1440
-0.0002

0.0300

0.0000 -0.0020
-0.0000

0.0003

0.0000 -0.0002 -0.0003

-0.0000

0.0000 -0.0705
-0.0000

0.0019

0.0000 -0.0019
-0.0000

0.0003

0.0000 -0.0002 -0.0003

-0.0000

0.0000 -0.0268
-0.0000

0.0008

0.0001 -0.0018
-0.0000

0.0003

0.0000 -0.0002 -0.0003

-0.0000

0.0000 -0.0156
-0.0000

0.0005

0.0001 -0.0018
-0.0000

0.0003

0.0000 -0.0002 -0.0003

-0.0000

0.0000 -0.0109
-0.0000

0.0003

0.0001 -0.0017
-0.0000

0.0003

0.0000 -0.0002 -0.0003

-0.0000

0.0000 -0.0084
-0.0000

0.0003

0.0001 -0.0016
-0.0000

0.0003

0.0000 -0.0002 -0.0003

-0.0000

0.0000 -0.0068
-0.0000

0.0002

0.0001 -0.0015
-0.0000

0.0003

0.0000 -0.0002 -0.0003

-0.0000

0.0000 -0.0058
-0.0000

0.0002

0.0001 -0.0014
-0.0000

0.0003

0.0000 -0.0002 -0.0003

-0.0000

0.0000 -0.0051
-0.0000

0.0002

0.0001 -0.0013
-0.0000

0.0004

0.0000 -0.0002 -0.0003

-0.0000

0.0000 -0.0046
-0.0000

0.0002

0.0001 -0.0012
-0.0000

0.0004

0.0000 -0.0002 -0.0003

-0.0000

0.0000 -0.0041
-0.0000

0.0002

0.0001 -0.0009
-0.0000

0.0004

0.0000 -0.0002 -0.0003

-0.0000

0.0000 -0.0038
-0.0000

0.0002

0.0001 -0.0004
-0.0000

0.0005

0.0000 -0.0001 -0.0003

-0.0000

0.0000 -0.0035
-0.0000

0.0002

0.0001
0.0000

0.0003

0.0007

0.0000 -0.0001 -0.0003

-0.0000

0.0000 -0.0033
-0.0000

0.0002

0.0001 -0.1271
-0.0000

0.0069

0.0000 -0.0001 -0.0003

-0.0000

0.0000 -0.0031
-0.0000

0.0002

0.0001
0.0000

0.0793 -0.0050

0.0500 -0.0014

0.0001
0.0000

0.0051 -0.0001

0.0001
0.0000

0.0008

0.0002

0.0001
0.0000

0.0007

0.0003

0.0001
0.0000

0.0022

0.0001

0.0001
0.0000

0.0008

0.0003

0.0001
0.0000

0.0007

0.0003

0.0001
0.0000

0.0014

0.0001

0.0001
0.0000

0.0007

0.0003

0.0001
0.0000

0.0007

0.0003

0.0001
0.0000

0.0011

0.0002

0.0001
0.0000

0.0007

0.0003

0.0001

0.0007

0.0003

0.0001
0.0000

0.0009

0.0002

0.0001
0.0000

0.0007

0.0003

0.0001
0.0000

0.0008

0.0002

0.0001
0.0000

0.0007

0.0003

0.0000

Figura1.6

0.0001 0.0007
0.0003 0.0000

x 10

Mi2,Mi3,Mi4

-2

-4

-6

-8

-10

fi1

fi_s_v_a =

000

0.0436
3.7865

0.0012

0.0873
7.5151

0.0096

0.0827
0.3296

0.1309
11.1290

0.0323

0.7369

0.1745
14.5727

0.0762

1.2983

0.2182
17.7939

0.1477

2.0053

0.2618
20.7432

0.2531

2.8472

1.0472 10.6805 21.4932

5.2881

0.3054
23.3755

0.3980

3.8109

1.0908 11.6221 21.6418

1.5178

0.3491
25.6507

0.5872

4.8819

1.1345 12.5667 21.6253

-2.2756

0.3927
27.5340

0.8253

6.0437

1.1781 13.5069 21.4438

-6.0343

0.4363
28.9967

1.1157

7.2785

1.2217 14.4356 21.1000

-9.7008

0.4800
30.0163

1.4613

8.5676

1.2654 15.3459 20.5994

-13.2191

0.5236
30.5773

1.8639

9.8913

1.3090 16.2311 19.9494

-16.5354

0.5672
30.6711

2.3246 11.2292

1.3526 17.0848 19.1601

-19.5991

0.6109
30.2964

2.8437 12.5610

1.3963 17.9013 18.2434

-22.3633

0.6545
29.4587

3.4204 13.8663

1.4399 18.6752 17.2135

-24.7859

0.6981
28.1710

4.0531 15.1252

1.4835 19.4020 16.0860

-26.8297

0.7418
26.4528

4.7394 16.3185

1.5272 20.0778 14.8781

-28.4637

0.7854
24.3305

5.4759 17.4278

1.5708 20.6995 13.6084

-29.6628

0.8290
21.8365

6.2588 18.4363

1.6144 21.2647 12.2961

-30.4086

0.8727
19.0088

7.0831 19.3285

1.6581 21.7722 10.9615

-30.6899

0.9163
15.8908

7.9436 20.0909

1.7017 22.2213
-30.5023

9.6248

0.9599
12.5299

8.8343 20.7117

1.7453 22.6124
-29.8487

8.3064

1.0036
8.9776

9.7489 21.1816

1.7890 22.9467
-28.7390

7.0266

1.8326 23.2264
-27.1902

5.8049

2.7925 24.0000

1.8762 23.4544
-25.2260

4.6599

2.8362 23.9989 -0.0754

-3.4507

1.9199 23.6344
-22.8764

3.6091

2.8798 23.9912 -0.3004

-6.8517

1.9635 23.7709
-20.1773

2.6686

2.9234 23.9706 -0.6719

-10.1545

2.0071 23.8691
-17.1699

1.8528

2.9671 23.9306 -1.1844

-13.3113

2.0508 23.9346
-13.9002

1.1741

3.0107 23.8653 -1.8307

-16.2770

2.0944 23.9737
-10.4181

0.6428

3.0543 23.7690 -2.6015

-19.0090

2.1380 23.9930
-6.7768

0.2672

3.0980 23.6366 -3.4856

-21.4680

2.1817 23.9994
-3.0320

0.0530

3.1416 23.4633 -4.4704

-23.6187

2.2166 24.0000

2.2602 24.0000

2.3038 24.0000

2.3475 24.0000

2.3911 24.0000

2.4347 24.0000

2.4784 24.0000

2.5220 24.0000

2.5656 24.0000

2.6093 24.0000

2.6529 24.0000

2.6965 24.0000

2.7402 24.0000

2.7838 24.0000

3.1852 23.2452 -5.5418

-25.4302
3.2289 22.9787 -6.6843
-26.8765
3.2725 22.6611 -7.8816
-27.9368
3.3161 22.2904 -9.1164
-28.5960
3.3598 21.8652 -10.3711
-28.8445
3.4034 21.3853 -11.6275
-28.6787
3.4470 20.8508 -12.8678
-28.1011
3.4907 20.2629 -14.0740
-27.1200
3.5343 19.6234 -15.2288
-25.7494

3.5779 18.9349 -16.3156

-24.0090

4.3633
26.6175

3.9869 -14.5430

3.6216 18.2008 -17.3189

-21.9238

4.4070
27.7565

3.3781 -13.3553

3.6652 17.4249 -18.2243

-19.5238

4.4506
28.4968

2.8220 -12.1266

3.7088 16.6120 -19.0186

-16.8434

4.4942
28.8279

2.3202 -10.8745

3.7525 15.7670 -19.6906

-13.9212

4.5379
28.7450

1.8731 -9.6169

3.7961 14.8956 -20.2306

-10.7990

4.5815
28.2493

1.4807 -8.3720

3.8397 14.0036 -20.6307

-7.5217

4.6251
27.3479

1.1421 -7.1576

3.8834 13.0973 -20.8854

-4.1364

4.6688
26.0538

0.8554 -5.9911

3.9270 12.1832 -20.9909

-0.6917

4.7124
24.3856

0.6183 -4.8894

3.9706 11.2677 -20.9456

2.7629

4.7560
22.3671

0.4276 -3.8682

4.0143 10.3575 -20.7503

6.1779

4.7997
20.0274

0.2794 -2.9422

4.0579
9.5041

9.4591 -20.4078

4.8433
17.4002

0.1692 -2.1247

4.1015
12.6938

8.5787 -19.9229

4.8869
14.5230

0.0922 -1.4274

4.1452
15.7013

7.7224 -19.3027

4.9306
11.4373

0.0428 -0.8603

4.1888
18.4833

6.8960 -18.5560

4.9742
8.1873

0.0151 -0.4317

4.2324
20.9998

6.1048 -17.6936

5.0178
4.8198

0.0030 -0.1476

4.2761
23.2148

5.3535 -16.7278

5.0615
1.3830

0.0001 -0.0121

4.3197
25.0963

4.6463 -15.6726

5.0789

00

5.1225

00

5.7334

00

5.1662

00

5.7770

00

5.2098

00

5.8207

00

5.2534

00

5.8643

00

5.2971

00

5.9079

00

5.3407

00

5.9516

00

5.3843

00

5.9952

00

5.4280

00

6.0388

00

5.4716

00

6.0825

00

5.5152

00

6.1261

00

5.5589

00

6.1697

00

5.6025

00

6.2134

00

5.6461

00

6.2570

00

5.6898

00

Variatia acceleratiei n functie de unghiul fi

Figura 1

40
30
20

10
0
-10
-20
-30
-40

Variatia vitezei n functie de unghiul fi

Fi1

Figura1.2

25
20
15
10
5

0
-5
-10
-15
-20
-25

Fi1

Variatia deplasarii n functie de unghiul fi

Figura1.3

25

20

15

10

Fi1

1.5 Cinetostatica mecanismului cu bare

Cinetostatica mecanismului cu bare urmrete: calculul
reaciunilor din cuplele cinematice fr frecare, calculul forelor i
cuplurilor de frecare din cuplele cinematice i calculul momentului
motor ca moment de echilibru dinamic. Se cunosc forele de greutate,
fora de rezisten tehnologica, precum i forele\cuplurile de inerie.
Fora de rezisten tehnologica se calculeaz, observnd
diagrama din fig.1.18:

1.5.1 Calculul reaciunilor din cuplele cinematice (fr

frecare)
Formula structural-topologic a mecanismului este
MM=MF(0,1)+LD(2,3)+LD(4,5)
Deoarece fora de rezisten tehnologic Fr5 acioneaz pe
elementul cinematic condus 5, iar LD este static determinat, Calculul
cinetostatic se efectueaz n ordinea invers celui cinematic.
a)

c)

Cinetostatica LD(4,5)
Se consider schema cinematic a LD)4,5= ca structur izolat,
aflat n echilibru cinetostatic (fig.1.19.a), ncrcat cu toate forele
exterioare )greutate, fora de rezisten tehnologic, forele\cuplurile
de inerie) i cu reaciunile den cuple.
Se scriu ecuaiile de echilibru cinetostatic (dou de proiecii i
una de momente) pentru unul din cele dou elemente 4 sau 5 i pentru
ntreaga grup:
( F x ) gr=0 : R 24 sin ( +2 ) + F xi 4 + F xi5 + F r =0 ;
( F y ) gr =0 : R24 ( + 2 ) + R05 + F iy4 + Fiy5G 4G5=0 ;
( F x )5 =0 ;R x54+ F ix5 + Fr =0
( F y )5=0; R x05F54y G5=0
x
( M C ) 4=0 ; R24
h4 + M iz4 =0

 ( M C )5 =0 ;R 05 h5 +G5 g5=0

Sistemul de 6 ecuaii liniare cu 6 necunoscute se poate rezolva,

fie cu metoda Cramer, fie prin decuplarea unor ecuaii prin metoda
substituiei.
Rezult:
F ix4 + F xi 5+ F r
R24=
sin ( +2 )

( G4 G5 )( Fiy4 + F iy5 ) 2 ( F xi 4 + F xi5 )

R24=
+
cos ( +2 )
sin ( + 2 )
x

R54=F r + F i5
F54y =R 05+ G5
z

h4 =

M i 4
R 24

h5=

G5 0,3 s5
R05

Cinetostatica LD(2,3)
Prin izolarea lanului cinematic diadic format din elementele 2
i 3 (fig.1.19.b) se introduc n punctul C reaciunea R24 calculat
anterior, iar n punctele A i B 0 (reprezentnd cuplele poteniale) se
introduc componentele reaciunilor dinspre elementele 1 respectiv 0.
Ecuaiile de echilibru cinetostatic pentru fiecare din cele dou
elemente cinematice 2 i 3 sunt dou de proiecii i una de momente:
x

( F x )2 =0 :R 12+ F i 2R24 sin ( + 2) + R 32=0 ;

y

( F y )2=0: R i12 + Fi 2G 2+ R 24 cos ( +2 ) + R32=0;

Fix2 g2 sin 2( F iy2G2 ) g2 cos 2+ M iz2R 24 l 4

( M A )2=0 :
x

R32 l 2 sin 2R32 l 2 cos 2=0 ;

x
( F3x ) 3=0 : F x03+ F ix3R32
=0 ;
y
( F3y ) 3=0 : F03y R 32
+ F iy3G 3=0 ;

 ( M B )3=0:
0

x
i3

y
F g3 sin 3( Fiy3G3 ) g3 cos 3 + M zi3 Rx32 l 3 sin 3 + R32
l 3 cos 3=0

Sistemul format de cele 6 ecuaii liniare se rezolv prin

decuplarea unor ecuaii i prin metoda substituiei.
Rezult:
x
R32
=

y
R32
=

A l 3 cos 3 + B l 2 cos 2
l 2 l 3 sin ( 23 )

A l 3 sin 3 +B l 2 sin 2
l 2 l 3 sin ( 23 )

Unde:
A=

Fix2 0,1 l2 sin 2( Fiy2G2) 0,1 l 2 cos 2 + M i 2R24 s 4

B=

Fix3 0,2 l3 sin 3 ( F iy3G3 ) 0,2 l 3 cos 3 + M i3

x
R12
=Fix2 + R24 sin ( + 2 ) R x32
y
y
R12
=F iy2R24 cos ( + 2) R32
+G 2
x
x
R03
=Fix3 + R32
y

R03=Fi 3 + R32 +G3

Cinetostatica manivelei 1
Se izoleaz manivale 1 (fig.1.19.c) i se introduc componentele
reaciunii necunoscute din articulaia A0 ale reaciunii cunoscute din
articulaia A, precum i cuplul necunoscut de echilibru cinetostatic ce
acioneaz asupra elementului conductor.
Ecuaiile de echilibru cinetostatic al barei 1 sunt:

F 1x =0: R x01R x12+ F xi 1=0

x
x
R01
=R12
F xi1

 F 1y =0 :
y

y
y
R01
R12
+ Fiy1=0

R01=R12F i1
y
M e1=R x12 l 1 sin 1+ R 12
l 1 cos 1G1 a1 sin 1

1.6 Program de calcul

Pentru calculul cinematic i dinamic s-a ntocmit un program de
calcul n mediul Matlab-Simulink. Programul se scriu cu ajutorul
editorului Matlab editor se salveaz n:
C:\Matlab\bin\mecanismeA1.m i se ruleaz n work space
l1=input('introduceti l1=');
l2=input('introduceti l2=');
l3=input('introduceti l3=');
l4=input('introduceti l4=');
ld=input('introduceti ld=');
lh=input('introduceti lh=');
l0x=input('introduceti l0x=');
l0y=input('introduceti l0y=');
m1=input('introduceti m1=');
m2=input('introduceti m2=');
m3=input('introduceti m3=');
m4=input('introduceti m4=');
m5=input('introduceti m5=');
J2=input('introduceti J2=');
J3=input('introduceti J3=');
J4=input('introduceti j4=');
g=input('introduceti g=');
omega1=input('Introduceti omega1=');
alfa=input('Introduceti alfa=');
p=input('introduceti pasul p=');
fi1=0:p:2*pi;
a2=2.*l2.*(l0y+l1.*sin(fi1));
b2=2*12*(l1.*cos(fi1)-l0x);
c2=l0x*l0x+l0y*l0y+l1*l1+l2*l2-l3*l3+2*l1*(l0y.*sin(fi1)-l0x.*cos(fi1));
d2=(a2-sqrt(a2.*a2+b2.*b2-c2.*c2))./(b2-c2);
fi2=2*atan(d2);
a3=-2*13*(l0y+l1.*sin(fi1));
b3=-2*l3*(l1*cos(fi1)-l0x);
c3=l0x*l0x+l0y*l0y+l1*l1-l2*l2+l3*l3+2*l1*(l0y.*sin(fi1)-l0x.*cos(fi1));
d3=(a3-sqrt(a3.*a3+b3.*b3-c3.*c3))./(b3-c3);
fi3=2*atan(d3);
%if fi3<0,
%fi3=pi+fi3;
omega2=omega1.*l1.*sin(fi1-fi3)./(l2*sin(fi3-fi2));
omega3=omega1.*l1.*sin(fi1-fi2)./(l2.*sin(fi3-fi2));
epsilon2=(l1.*omega1.*omega1.*cos(fi1-fi3)+12.*omega2.*omega2.*cos(fi3fi2)-l3.*omega3.*omega3)./(l2.*sin(fi3-fi2));
epsilon3=(l1.*omega1.*omega1.*cos(fi1-fi3)-l3.*omega3.*omega3.*cos(fi3fi2)+l2.*omega2.*omega2)./(l3.*sin(fi3-fi2));

s4=(lh-l1.*sin(fi1))./sin(alfa+fi2);
s5=((lh-l1.*sin(fi1))./tan(alfa+fi2))+ld+l1.*cos(fi1);
v4=-(omega2.*s4.*cos(alfa+fi2)+omega1.*l1.*cos(fi1))./sin(alfa+fi2);
v5=-omega1.*l1.*sin(fi1)+v4.*cos(alfa+fi2)-omega2.*s4.*sin(alfa+fi2);
a4=(2*v4.*omega2.*cos(alfa+fi2)+epsilon2.*s4.*cos(alfa+fi2)omega2.*omega2.*s4.*sin(alfa+fi2)omega1.*omega1.*l1.*sin(fi1))./sin(alfa+fi2);
a5=-omega1.*omega1.*l1.*cos(fi1)+a4.*cos(alfa+fi2)omega2.*(2*v4.*sin(alfa+fi2)-s4.*cos(alfa+fi2))epsilon2.*s4.*sin(alfa+fi2);
disp(' fi1 fi2 fi3' )
[fi1',fi2',fi3']
pause;
plot(fi1,fi2,fi1,fi3)
pause;
disp(' fi1 s4 s5' )
[fi1',s4',s5']
pause;
plot(fi1,s4,fi1,s5)
pause;
disp(' fi1 omega2 omega3' )
[fi1',omega2',omega3']
pause;
plot(fi1,omega2,fi1,omega3)
pause;
disp(' fi1 v4 v5' )
[fi1',v4',v5']
plot(fi1,v4,fi1,v5)
pause;
disp(' fi1 epsilon2 epsilon3')
[fi1',epsilon2',epsilon3']
pause;
plot(fi1,epsilon2,fi1,epsilon3)
pause;
disp(' fi1 a4 a5' )
[fi1',a4',a5']
plot(fi1,a4,fi1,a5);
pause;
Fi1x=0.5*m1.*omega1.*omega1.*cos(fi1);
Fi1y=0.5*m1.*omega1.*omega1.*sin(fi1);
Fi2x=m2*11.*omega1.*omega1.*cos(fi1)+0.1*12.*(omega2.*omega2.*cos(fi2)+epsi
lon2.*sin(fi2));
Fi2y=m2*11.*omega1.*omega1.*sin(fi1)+0.1*12.*(omega2.*omega2.*sin(fi2)epsilon2.*cos(fi2));
Fi3x=0.2*m3*13.*(omega3.*omega3.*cos(fi3)+epsilon3.*sin(fi3));
Fi3y=0.2*m3*13.*(omega3.*omega3.*sin(fi3)-epsilon3.*cos(fi3));
Fi4x=m4*a5;
Fi5x=0.3*m5*a5;
Mi2=-J2.*epsilon2;
Mi3=-J3.*epsilon3;
Mi4=-J4.*epsilon2;
G1=m1*g;
G2=m2*g;
G3=m3*g;
G4=m4*g;
G5=m5*g;

disp(' fi1
Fi1x
Fi1y'
)
[fi1',Fi1x',Fi1y']
pause;
plot(fi1,Fi1x,fi1,Fi1y)
pause;
disp(' fi1
Fi2x
Fi2y'
)
[fi1',Fi2x',Fi2y']
pause;
plot(fi1,Fi2x,fi1,Fi2y)
pause;
disp(' fi1
Fi3x
Fi3y'
)
[fi1',Fi3x',Fi3y']
pause;
plot(fi1,Fi3x,fi1,Fi3y)
pause;
disp(' fi1
Fi4x'
)
[fi1',Fi4x']
pause;
plot(fi1,Fi4x)
pause;
disp(' fi1
Fi5x'
)
[fi1',Fi5x']
pause;
plot(fi1,Fi5x)
pause;
disp(' fi1
Mi2
Mi3
Mi4'
[fi1',Mi2',Mi3',Mi4']
pause;
plot(fi1,Mi2,fi1,Mi3,fi1,Mi4)
Fr=400;
%if fi1>pi,
%Fr=100;

R24=-(Fi4x+Fi5x+Fr)./sin(alfa+fi2);
R05=G4+G5+R24.*cos(alfa+fi2);
R54x=Fr+Fi5x;
R54y=R05-G5;
M4=-Mi4;
M5=R05.*s5-0.3*G5.*s5;
A=0.1*12.*Fi2x.*sin(fi2)-0.1*12.*(Fi2y-G2).*cos(fi2)+Mi2-R24.*s4;
B=0.2*13.*Fi3x.*sin(fi3)-0.2*13.*(Fi3y-G3).*cos(fi3)+Mi3;
R32x=(A.*13.*cos(fi3)+B.*12.*cos(fi2))./12.*13.*sin(fi2-fi3);
R32y=(A.*13.*sin(fi3)+B.*12.*sin(fi2))./12.*13.*sin(fi2-fi3);
R03x=R32x-Fi3x;
R03y=R32y-Fi3y+G3;
R12x=-Fi2x-R32x+R24.*sin(alfa+fi2);
R12y=-Fi2y-R32y-R24.*cos(alfa+fi2);
R01x=R12x-Fi1x;
R01y=R12y-Fi1y;
Me1=11.*R12x.*sin(fi1)+11.*R12y.*cos(fi1)-0.5*11*G1.*sin(fi1);
disp(' fi1
R24'
[fi1',R24']
pause;
plot(fi1,R24)
pause;
disp(' fi1
R05'
[fi1',R05']
pause;
plot(fi1,R05)
pause;

disp(' fi1
R54x
R54y'
[fi1',R54x',R54y']
pause;
plot(fi1,R54x,fi1,R54y)
pause;
disp(' fi1
R32x
R32y'
[fi1',R32x',R32y']
pause;
plot(fi1,R32x,fi1,R32y)
pause;
disp(' fi1
R03x
R03y'
[fi1',R03x',R03y']
pause;
plot(fi1,R03x,fi1,R03y)
pause;
disp(' fi1
R01x
R01y'
[fi1',R01x',R01y']
pause;
plot(fi1,R01x,fi1,R01y)
pause;
disp(' fi1
Me1'
)
[fi1',Me1']
pause;
plot(fi1,Me1)
pause;