Documente Academic
Documente Profesional
Documente Cultură
NAUTICA
II
Ioan CLIMNESCU
Lucian GRIGORESCU
Editura
NAUTICA
2013
III
Note: This Volume was developed by the Authors in the following proportions:
Bibliogr.
ISBN
CLIMNESCU, IOAN; GRIGORESCU, LUCIAN
IV
INDEX/CUPRINS/
1.0 Structural Analisys of Mechnisms /Analiza Structural a Mecanismelor/ ..1-2
1.1 Field of Study/Obiectul de studiu/ ...1-2
1.2 Basic concepts/Concepte de baz/ ...1-6
1.2.1 Pairs (Joints)/Cuple cinematice/ ..1-6
1.2.2 Degrees of Freedom/Grade de libertate/
..1-8
1.2.3 Link (Kinematic elements)-Kinematic Chain/Elemente cinematice-Lan cinematic/.1-11
1.3 Degree of Freedom of Mechanisms/Gradele de libertate ale mecanismelor/ ....1-14
1.4 Constrained Unconstrained Mechanism/Mecanism Constrns-Neconstrns/ ....1-19
1.5 Kinematic Inversion/Inversiunea Cinematic/
...1-20
1.6 Grbler's Equation/Ecuaia lui Grbler/
1-22
1.7 Enumeration of Kinematic Chains in Mechanisms/Enumerarea Lanurilor Cinematice n
Mecanisme/
1-24
1.8 Spherical and Two Dimensional Space/Spaiul n Coordinate Sferice i Spaiul BiDimensional/ ....1-27
1.9 Classification of Mechanisms/Clasificarea Mecanismelor/
......1-28
2.0 Positional Analisys of Mechanisms /Analiza Poziional a Mecanismelor/ ..2-2
2.1 Position of a Particle/Poziia Punctului Material/
.2-2
2.2 Kinematics of a Rigid Body in Plane/Cinematica corpului rigid n plan/
..2-4
2.3 Coincident Points/Puncte coincidente/
..2-6
2.4 Vector Loops of a Mechanism /Conturul vectorial al unui mechanism/
..2-8
2.5 Graphical Solution of Loop Closure Equations/Soluiile grafice ale ecuaiilor de contur/2-18
2.6 Step-Wise Solution of the Loop Closure Equation/Soluiile iterative ale ecuaiilor contururilor
nchise/ .2-25
2.7 Position Analysis of Mechanisms By Means of Complex Numbers/Analiza poziional a
mecanismelor cu numere complexe/
.2-29
2.8 Numerical Solution of the Loop Closure Equations/Soluii numerice ale ecuaiilor de
contur/...2-32
3.0 Kinematic Analisys of Mechanisms /Analiza Cinematic a
Mecanismelor/...3-2
3.1 Velocity and Acceleration Analysis of a Rigid/Analiza Vitezelor i Acceleratiilor ale unui
rigid/ ...3-2
3.1.1 Translation of a rigid body/Translaia rigidului/
....3-2
3.1.2 Rotation of a rigid body/Rotaia rigidului/ .3-3
3.1.3 General Plane Motion/Micarea Plan Paralel/
....3-6
3.2 Velocity and Acceleration Vectorial Analysis of Mechanisms/Analiza Vectorial a Vitezelor i
Acceleraiilor n Mecanisme/ ..3-16
3.3 Position, Velocity and Acceleration Analytical Calculation of Mechanisms/Calculul Analitic al
Poziiei, Vitezelor i Acceleraiilor n Mecanisme/
...3-36
3.3.1 Kinematic analysis of a crank/ Analiza Cinematic a Elementului
Conductor/.......3-39
3.3.2 Kinematic analysis of a link in general motion/Analiza cinematic a unui element n miscare
plan-paralel/ ....3-43
3.3.3 The Kinematic Analysis of a Dyad with 3 Rotation Joints Using Distance Method/Analiza
Cinematic a Grupei Structurale RRR Prin Metoda Distantelor/ ..3-46
3.3.4 The Kinematic Analysis of RRT or TRR Dyads using Contour method / Analiza Cinematica
a Diadei RRT-TRR prin Metoda Contururilor/ ....3-55
3.3.5 The Kinematic Analysis of RTR Dyad using Contour method / Analiza Cinematica a Diadei
RRT- TRR prin Metoda Contururilor/ .3-57
3.3.6 The Kinematic Analysis of TRT Dyad using Contour method / Analiza Cinematica a
VI
VII
_________________________________________________________________________________________________
INDEX/CUPRINS/
1.0 STRUCTURAL ANALISYS OF MECHNISMS /ANALIZA STRUCTURAL A
MECANISMELOR/ ____________________________________________________________________2
1.1 FIELD OF STUDY/OBIECTUL DE STUDIU/ _________________________________________________2
1.2 BASIC CONCEPTS/CONCEPTE DE BAZ/ __________________________________________________6
1.2.1 Pairs (Joints)/Cuple cinematice/ __________________________________________________6
1.2.2 Degrees of Freedom/Grade de libertate/ ____________________________________________8
1.2.3 Link (Kinematic elements)-Kinematic Chain/Elemente cinematice-Lan cinematic/ __________11
1.3 DEGREE OF FREEDOM OF MECHANISMS/GRADELE DE LIBERTATE ALE MECANISMELOR/ ___________14
1.4 CONSTRAINED UNCONSTRAINED MECHANISM/MECANISM CONSTRNS-NECONSTRNS/ _________19
1.5 KINEMATIC INVERSION/INVERSIUNEA CINEMATIC/ ______________________________________20
1.6 GRBLER'S EQUATION/ECUAIA LUI GRBLER/ __________________________________________22
1.7 ENUMERATION OF KINEMATIC CHAINS IN MECHANISMS/ENUMERAREA LANURILOR CINEMATICE N
MECANISME/________________________________________________________________________24
1.8 SPHERICAL AND TWO DIMENSIONAL SPACE/SPAIUL N COORDINATE SFERICE I SPAIUL BIDIMENSIONAL/ ______________________________________________________________________27
1.9 CLASSIFICATION OF MECHANISMS/CLASIFICAREA MECANISMELOR/ __________________________28
1-1
_________________________________________________________________________________________________
1-2
_________________________________________________________________________________________________
Fig.1.1
The internal combustion engine is the prime Motoarele cu combustie intern este invenia
mover which gave the human kind an care a dat omenirii o mobilitate fr precedent
unthinkable mobility. Within the last century, n istorie. n ultimul secol motoarele cu
the classical engine (Fig.1.2-a) with a centric combustie intern cu piston (Fig.1.2-a) au atins
slider-crank
arrangement
has
reached aproape perfeciunea. Dei mai puin
perfection. Although it has not found a wide rspndite, motoarele rotative tip Wankel
acceptance, the Wankel engine (Fig.1.2-b) is (Fig.1.2-b) sunt folosite n aplicaii unde
used in applications where the volume and the volumul i greutatea motorului sunt importante.
weight of the engine is quite important
a.
b.
Fig.1.2
Rock crusher (Fig.1.3)-In this type of Concasorul (Fig.1.3) este caracterizat prin
machinery, the mechanical advantage must be amplificarea forei de acionare care trebuie s
very high to create forces to crush the rocks. devin suficient de mare s poat sfrma
Mechanisms of very high mechanical piatra. Are n compunere un mecanism cu
advantage are called toggle mechanisms and genunchi care amplific fora generat de
this action is known as the toggle action. Input motorul de acionare de cteva ori astfel nct
force is amplified several times for crushing ntre flcile concasorului se dezvolt o for
capabil s sfrme piatra.
rocks between the jaws
1-3
_________________________________________________________________________________________________
Fig.1.3
In a number of machinery such as machine n alte tipuri de maini ca de pild strungurile
tools, cars, etc., we would like to obtain several sau autovehiculele este necesar s existe la
speeds from a constant speed input. The gears universal sau la roile autovehiculului viteze
are engaged or disengaged by shifting or there diferite pentru aceeai vitez constant intrat
are clutches or slide-keys to engage or de la motorul electric sau de la respectiv
motorul cu ardere intern. Pentru aceasta sunt
disengage gears to a shaft (Fig.1.4).
folosite cutiile de viteze care prin intemediul
unui cuplaj transmit viteze deiferite la
elementul motor (Fig.1.4).
Fig.1.4
The crane shown in (Fig.1.5) is also known as Macaraua din Fig.1.5 numit i macara
Demag jib-crane. It is very often used at ports. pivotant tip Demag este des folosit n porturi.
After the load is lifted up we would like the tip Dup ce se leag sarcina vrful macaralei
of the crane to move horizontally. A four-bar trebuie micat n plan orizontal. Un mecanism
arrangement approximately satisfies this patrulater poate asigura acest tip de micare n
requirement while its load carrying capacity is condiiile unei sarcini de ridicat relativ mare.
acceptable
1-4
_________________________________________________________________________________________________
Fig.1.5
To shape metals we need large forces. Pentru prelucarea prin deformare a tablelor este
Hydraulic, mechanical (Fig.1.6) or pneumatic nevoie de fore mari de aceea se folosesc prese
presses are used. The mechanism shown has a hidraulice, mecanice (Fig.1.6) sau pneumatice.
high mechanical advantage.
Fig.1.6
Using Trucks you carry very heavy loads Pentru ncrcarea sarcinilor grele se folosesc
reaching 40-50 tons (such as rocks). Dumping ncrctoare ca mai jos unde un mecanism
the load is also a hard task. The mechanism simplu poate asigura executarea acestei
shown is one of the solutions found.
operaiuni.
Fig.1.7
1-5
_________________________________________________________________________________________________
Cuple cinematice
Kinematic pairs may be classified in several Cuplele cinematice pot fi clasificate dup mai
multe criterii:
different forms:
Closed Kinematic pairs are those in which the
contact between the kinematic elements is
maintained within all possible positions of a
mechanism. Figure below shows a closed
kinematic pair:
Fig.1.8
Open kinematic pair is one whose pairing and Cuplele cinematice deschise sunt acele cuple
unpairing of its kinematic elements that form intermitente care cupleaz/decupleaz controlat
the joint are controlled. In the Geneva n mecanism. O asemenea cupl apare n
mechanism shown the contact between the pin mecanismul Cruce de Malta (sau mecanismul
Geneva) la care contactul dintre tift i canalele
and the slot is not continuous:
mecanismului este intermitent:
1-6
_________________________________________________________________________________________________
Fig.1.9
In closed kinematic pairs the contact between
the two kinematic elements is due to a normal
forces acting at the contacting surfaces
(Fig.1.12). Such pairs are force closed
kinematic pairs. If one of the kinematic
elements envelopes the other and the contact is
due to the geometric shape than such joints are
form closed kinematic pairs (Fig.1.10,11)
Fig.1.10
Closed kinematic pairs are classified according Cuplele cinematice nchise pot fi clasificate i
dup tipul de contact dintre elementele
to the type of contact between the elements:
cinematice:
Lower kinematic pairs are those in which the Cuple cinematice inferioare sunt acelea la
contact between the two elements is along a care contactul dintre elemente se face pe o
suprafa (Fig.1.11).
surface (Fig.1.11).
Fig.1.11
Higher kinematic pairs are those in which the Cuple cinematice superioare sunt acelea la
contact between the kinematic elements is care contactul dintre elemente se face pe o linie
along a line or at a point (Fig.1.12).
sau punct (Fig.1.12).
1-7
_________________________________________________________________________________________________
Fig.1.12
1.2.2 Degrees of Freedom/Grade de libertate/
Some of the classifications used in the previous
page are important in terms of force
transmission (i.e. lower or higher kinematic
pairs) or in terms of physical construction (i.e.
form or force closed kinematic pairs). However
the most important characteristic of the
kinematic pairs is the type of motion that may
exist between the kinematic elements.
Depending on the type of kinematic pair used,
there are different motion characteristics
between the mating parts. Since there are two
rigid bodies connected by a kinematic pair, they
will have different relative motions with respect
to each other according to the type of the
kinematic pair. In order to classify this relative
motion we have to understand the degree of
freedom concept.
The degree-freedom of space is the number of Spaiul gradelor de libertate este dat de
independent parameters to define the position numrul de parametri independeni care pot
defini poziia unui corp rigid n spaiul fizic.
of a rigid body in that space.
1-8
_________________________________________________________________________________________________
Fig.1.13
2
2
+ (y 2 y1 ) + (z 2 z1 ) = a 12
(x 2 x 1 )
(x 3 x 1 )2 + (y 3 y1 )2 + (z 3 z1 )2 = a 32
(x 3 x 21 )2 + (y 3 y 2 )2 + (z 3 z 2 )2 = a 32
2
(1.1)
_________________________________________________________________________________________________
Fig.1.14
cos 1 + cos 2 2 + cos 2 3 = 1
(1.2)
If the space that we consider is a plane, then we Dac spaiul tridimensional devine un plan
only need 3 parameters. Different forms of bidimensional numrul maxim de grade de
selecting these three parameters are shown libertate se reduce la 3 n plan sistemele de
referin pot fi carteziene sau polare.
below (polar, rectangular).
2
Fig.1.15
The degree-of-freedom of a kinematic pair is Gradele de libertate ale unei cuple
defined as the number of independent cinematice sunt definite ca fiind numrul de
parameters that is required to determine the parametri independeni necesari pentru a se
relative position of one rigid body with respect putea defini poziia relativ a unui element
to the other connected by the kinematic pair. It cinematic fat de cellalt element cinematic, ele
is this characteristic that is used to classify the fiind legate prin cupla cinematic respectiv.
kinematic pairs. If the degree-of-freedom of a Prin acest nou concept se pot clasifica cuplele
kinematic pair is 6, there is no joint involved. cinematice astfel: dac numrul gradelor de
If the degree-of-freedom is 5, the kinematic libertate ale unei cuple este 6 atunci nu exist
pair must constrain one of the freedoms of nici o cupl de vreme ce elementele cinematice
space. There is no joint that can constrain the pot ocupa relativ orice poziie unul fa de
rotational degree-of-freedom while permitting cellalt. Dac numrul gradelor de libertate este
the translational freedom in all directions. We 5 atunci cupla anuleaz/constrnge o micare
1-10
_________________________________________________________________________________________________
1-11
_________________________________________________________________________________________________
Fig.1.16
The kinematic dimensions of a link in a Dimensiunea cinematic a unui Element
mechanism are those dimensions which define simplu, Diade, Triade etc. dintr-un mecanism
the relative positions of the kinematic elements este dat de poziiile relative ale cuplelor din
on that link and when these dimensions are alctuire. Poziiile dintre elementele cinematice
specified, the link dimensions are known for date de dimensiuni liniare sau unghiulare.
motion analysis. These dimensions can be Pentru fabricantul elementului este important
distances or angles. For the manufacture of the nu numai poziia dintre cuple ci i grosimea,
link or for the dynamics, etc other physical limea, lungimea etc. dar pentru proiectarea
dimensions such as the width, height, thickness, mecanismelor sunt de interes doar dimensiunile
etc. may be important. For the kinematic cinematice. Din figura de mai sus se poate
analysis we shall be interested only with the vedea c dimensiunile cinematice sunt a, b, i
kinematic dimensions. The distance between i dac sunt cunoscute atunci elementul
revolute joints A and B (a), the angle slot cinematic este complet definit.
makes with respect to the line AB ( ) and
perpendicular distance from point A to the slot
axis (b) are the kinematic dimensions of this
link. Once these four parameters are known, the
link is kinematically defined.
The links connected to each other by kinematic Elementele cinematice conectate ntre ele prin
1-12
_________________________________________________________________________________________________
If one of the links in a kinematic chain is Dac unul din elementele cinematice ale
fixed, then the system thus obtained is called unui lan cinematic este fix atunci lanul
cinematic devine un mecanism.
a mechanism.
Fig.1.17
1-13
_________________________________________________________________________________________________
Fig.1.18
Consider a mechanism with five links Fie un mecanism cu 5 elemente de lungimi
connected to each other by five revolute joints cunoscute, conectate ntre ele cu 5 cuple de
as a second example. If the angle is defined rotaie. Dac se definete unghiul se poate
we can solve for the triangle A0AC0. However, rezolva triunghiul A0AC0 . Elementele care
the remaining links is a quadrilateral (ABCC0) rmn formeaz patrulaterul ABCC0 care
which will require an additional parameter pentru a fi determinat necesit cunoaterea unui
(Such as angle ) to locate the links. In such a parametru suplimentar: unghiul pentru a se
case, since the number of parameters required putea determina poziia fiecrui element al
to determine the position of the links is 2, the patrulaterului. n consecin este nevoie de
degree of freedom of this five link mechanism cunoaterea a 2 parametri suplimentari pe lng
lungimile elementelor pentru a se putea preciza
is 2.
poziia tuturor elementelor mecanismului cu 5
laturi. n acest caz numrul de grade de
1-14
_________________________________________________________________________________________________
Fig.1.19
We must be able to determine an equation that Trebuie s se determine o ecuaie care s lege
relates the degree of freedom of a mechanism gradele de libertate ale unui mecanism de
with the number of links, number of joints and numrul de cuple i elemente cinematice ale
the degree of freedom of the joints. To express acestuia. Se definesc urmtoarele cantiti:
these quantities in mathematical terms let us
define:
=Numrul de grade de libertate din spaiu (n
plan 3, n spaiu 6).
1-15
_________________________________________________________________________________________________
Fig.1.20
Now, consider the joints by utilizing a simple Fie acum un exemplu simplu. n figura de mai
example. In the above figure there are four sus sunt 4 elemente cinematice care plutesc
floating links in planar space. If there are no n spaiul bidimensional. Dac nu exist cuple
joints, then the number of parameters requires active atunci numrul de parametri necesari
determining the position of these links will be 3 pentru definirea poziiei lor este 3 x 4=12. Dac
x 4=12. If link 2 is connected to links 4 and 5 elementul 2 este conectat de elementele 4 i 5
by revolute joints, and if there is a cylinder in prin cuple de rotaie i dac elementul 2 se
slot joint between links 2 and 3, the number of leag cu un tift poziionat n canalul
parameters required determining the position of elementului 2, atunci numrul de parametri
these four links will be less. We will still need necesari definirii poziiei elementelor scade.
3 parameters to determine the position of link 2 Pentru aceasta vor fi necesari 3 parametri
(for instance the x, y, z coordinates of its centre independeni (de pild coordonatele carteziene
of gravity). Once the position of link 2 is x, y, z ale centrului de greutate n spaiu) pentru
known, links 4 and 5 can only rotate relative to definirea poziiei elementului 2. Dac se tie
link 2, and link 3 can rotate and translate along poziia elementului 2 atunci elementele 4 i 5 se
the slot axis relative to link 2. To locate the pot roti faa de elementul 2 iar elementul 3 se
position of link 4 we need angle (one known poate roti i simultan poate translata n canal
parameter), to locate the position of link 5 we faa de elementul 2. Pentru a localiza elementul
need (1 knew parameter) and to locate the 4 avem nevoie s tim unghiul , pentru a
position of link 3 we need 2 more parameters (b localiza elementul 5 avem nevoie s tim
and ). Thus the total number of parameters unghiul i pentru a localiza elementul 3 fa
required is 3+1+1+2=7 instead of 12, when de 2 trebuiesc cunoscuti parametri b i . n
there were no joints. In planar space we need 2 consecin pentru a determina complet poziia
less parameters for the revolute joint and one elementelor mecanismului sunt necesari
less parameter for the cylinder in slot joint. 3+1+1+2=7 parametri n loc de 12 necesari
This means, we dont need to define a cnd elementele sunt flotante. Cu alte cuvinte
1-16
_________________________________________________________________________________________________
i =1
i =1
( f i ) = j f i ...
(1.3)
F = (l 1) j f i F = (l j 1) + f i
i =1
i =1
Mechanism
1-17
(1.4)
_________________________________________________________________________________________________
Quick Return
Mechanism
Spatial four-bar
1-18
_________________________________________________________________________________________________
Adjustable Drive
Grabber
1-19
_________________________________________________________________________________________________
Fig.1.21
1.5 Kinematic Inversion/Inversiunea Cinematic/
Kinematic inversion is the process of fixing
different links in a kinematic chain (or
assuming any one of the links, other than the
fixed link as fixed). It is a good method of
generating some new mechanisms and it is very
often used for the synthesis and analysis of the
mechanisms to determine the relative motion
between the links. In the figures below the
kinematic inversions of a four-link chain with
three revolute and one prismatic pairs are
shown.
Although the joints and the link length Dei dimensiunile cuplelor i elementelor sunt
dimensions are the same, four different identice, prin inversiune cinematic se obtin 4
tipuri de mecanisme diferite
mechanisms results.
Oldham Coupling: This is the practical
application of the mechanism shown in
Fig.1.23. Notice that links 1 and 3 are in the
form of a cylinder. Link 4 is also a cylinder
which forms two prismatic joints with the
extensions on each side.
1-20
_________________________________________________________________________________________________
Fig.1.22
Fig.1.23
Fig.1.24
1-21
_________________________________________________________________________________________________
3l-2j-4=0
(1.5)
1-22
_________________________________________________________________________________________________
(1.7)
Since two kinematic elements are joined to Cum dou elemente cinematice simple sunt
form a kinematic pair:
conectate cu cuple ntre ele:
2j = 2l2+3l3+4l4+.....nln
If we now substitute eqs (1.6) and (1.8) into
Grubler's Equation (1.5):
(1.8)
l2-(l4+2l5+3l6+.....+(n-3)ln=4
l2=4-P
(1.9)
P = l4+2l5+3l6+.....+(n-3)ln
P is always a positive quantity. It can at most be Cum P este mereu o cantitate pozitiv (i la
zero, if all the links in the mechanism are limit
zero),
dac
toate
elementele
binary or ternary links. Hence, the number of mecanismului sunt simple sau diade, i dac
binary links (l2) can at least be 4 if P = 0, P=0 atunci l2 (elementele simple) trebuie s fie
cel puin n numr de 4 (sau mai mare).
otherwise it is greater than 4.
3. The number of kinematic elements in one 3. Numrul de elemente cinematice simple
link cannot be greater than half of the dintr-un element complex (diade, triade etc.)
nu poate fi mai mare dect jumtate din
number of links in the mechanism.
numrul de elemente cinematice simple din
mecanism.
Fig.1.25
Proof: For instance consider a link (a) with i Demonstraie: Fie un element a care cuprinde i
kinematic elements and let this number of elemente cinematice simple i fie i numrul
kinematic elements be the maximum that a link maxim de elemente simple din comunerea unui
can have. A kinematic chain using this hyper- element complex. Un lan cinematic care
link can be formed if we attach links of type (b) folosete un asemenea hiper-element a poate fi
(see figure), and if we join these links with format prin ataarea elementelor tip b (triade)
links of type (c), in this case the number of care dac se unesc ntre ele cu elemente tip c,
kinematic elements on link (a) will be a atunci lanul cinematic avnd un element tip a
maximum. There will be 1 link of type (a), i va avea maximum de elemente simple posibile.
links of type (b) and (i-1) links of type (c). Aadar avem 1 element tip a, i elemente tip b i
Then the number of links in this mechanism i-1 elemente tip c. Numrul de elemente simple
will be:
din lan va fi:
1-23
_________________________________________________________________________________________________
l=1+i+(i-1)
(1.10)
or/sau/
i=l/2
I=l/2 is the maximum number of kinematic Deci dac un mecanism conine l elemente
elements on any one link when the mechanism simple atunci i=l/2 este numrul maxim de
contains l links.
elemente simple care pot compune un element
complex.
1.7 Enumeration of Kinematic Chains in Mechanisms/Enumerarea Lanurilor Cinematice n
Mecanisme/
Fig.1.25
1-24
_________________________________________________________________________________________________
Fig.1.26
If the distance between the two kinematic Dac unul dintre elementele ternare se reduce
elements on a ternary link goes to zero, we have dimensional la zero aprnd doar o cupla tripl
limitting cases of Watt and Steffenson chains. n loc avem cazurile limit ale lanurilor lui
The joint degree will increase and the two Watt i Steffenson ca mai jos:
limitting chains will be as shown below. These
are the special cases of 6 link chains.
Fig.1.27
1-25
_________________________________________________________________________________________________
Fig.1.28
A piston-cylinder can be considered as two Un sistem piston-cilindru poate fi socotit ca
binary links connected by a prismatic joint. legnd dou elemente simple binare cu o cupla
Hence in Watt's chain or in Streffenson's chain de translaie. Deci n lanurile lui Watt i
a piston-cylinder must replace the two binary Steffenson trebuie nlocuit o cupl de rotaie
links connected to each other. In Steffenson's cu cupla de translaie. n lanul lui Steffenson
chain there is a unique location where the nu exist dect o singur locaie unde se poate
piston-cylinder can be placed. In case of Watt's poziiona pistonul iar n cazul lanului Watt
chain although there two different locations, dei exist dou poziii posibile lanul
due to symmetry of the chain, there is no cinematic care rezult este acelai datorit
difference. Since the cylinder must be simetriei. Cum pistonul trebuie legat de
connected to the fixed link, there are two elementul fix date n Fig.1.28.
different six link mechanisms that satisfy these
conditions. The result is as shown above.
Fig.1.29
The special 6 link chains can also be used. Mecanismul cu 6 elemente poate avea i dou
There are two special chains where one or two sub-cazuri speciale unde elementele ternare se
link dimension of a ternary link is zero. In reduc la zero dimensional i devin cuple triple.
practice, the truck dump mechanism, cement n practic excavatoarele sau alte maini de
pump boom, loaders and back-hoe systems all ncrcare folosesc aceast soluie cum se vede
use the above chains. Two practical examples, mai jos:
log grabber and back-hoe, are shown below:
1-26
_________________________________________________________________________________________________
Fig.1.30
1.8 Spherical and Two Dimensional Space/Spaiul n Coordinate Sferice i Spaiul BiDimensional/
Cardan Joint-1 (such a construction is used to Cupla cardanic tip 1 poate transmite sarcini
transmit heavy loads- in cars and trucks, for mari la autovehicule de pild,
example).
Fig.1.31
Cardan Joint-2 (Such a construction is used in Cupla cardanic tip 2 este folosit mai ales la
machine tools for easy assembly and mainile-unelte,
disassembly).
1-27
_________________________________________________________________________________________________
Fig.1.32
Cardan Joint-3 (This is the usual shape that Cupla cardanic tip 3 este cea mai comun i
you will see in books. this construction is used are o varietate mare de aplicaii,
extensively in a variety of applications).
Fig.1.33
In two dimensional space (=2). In planar n spaiul bidimensional cu =2 i n cazul
motion two-dimensional space exists for screw mecanismelor cu urub-piuli avnd 3
mechanisms or for 3-link chains with sliding elemente cu cuple de translaie micarea de
joints only (the degree of freedom of space is rotaie nu este independent de cea de
two (=2). In case of 3-link mechanisms in the translaie, ele fiind corelate prin pasul filetului.
case of screw mechanisms there is rotation and
translation along one axis -screw axis- only but
only one movement is independent since
translation and rotation are correlated.
Fig.1.34
1.9 Classification of Mechanisms/Clasificarea Mecanismelor/
_________________________________________________________________________________________________
1. Screw Mechanisms
2. Wheel mechanisms (gear mechanisms
or roller mechanisms)
3. Cam mechanisms
4. Crank mechanisms (sometimes also
called link mechanisms).
5. Belt mechanisms
6. Ratchet
and
lock
mechanisms
(including Geneva drives).
1. Mecanisme urub-piuli,
2. Mecanisme cu roi (cu roi dinate sau
roi de friciune),
3. Mecanisme cu came,
4. Mecanisme cu manivel,
5. Mecanisme cu curele,
6. Mecanisme cu clichet incluznd cele cu
cruce de Malta,
Other classifications may be made concerning Alte clasificri in cont de alte caracteristici
precum:
the following topological characteristics:
1. Degree-of-freedom of space of the
mechanism (e.g. spatial, spherical,
planar, etc.)
2. Degree-of-freedom of the mechanism
3. Number of links in the mechanism
4. Number of joints in the mechanism
5. Types of joints in the mechanism
Fig.1.35
1-29
_________________________________________________________________________________________________
INDEX/CUPRINS/
2.0 POSITIONAL ANALISYS OF MECHANISMS /ANALIZA POZIIONAL A
MECANISMELOR/ ____________________________________________________________________2
2.1 POSITION OF A PARTICLE/POZIIA PUNCTULUI MATERIAL/___________________________________2
2.2 KINEMATICS OF A RIGID BODY IN PLANE/CINEMATICA CORPULUI RIGID N PLAN/ _________________4
2.3 COINCIDENT POINTS/PUNCTE COINCIDENTE/ _____________________________________________6
2.4 VECTOR LOOPS OF A MECHANISM /CONTURUL VECTORIAL AL UNUI MECHANISM/_________________8
2.5 GRAPHICAL SOLUTION OF LOOP CLOSURE EQUATIONS/SOLUIILE GRAFICE ALE ECUAIILOR DE
CONTUR/ ___________________________________________________________________________18
2.6 STEP-WISE SOLUTION OF THE LOOP CLOSURE EQUATION/SOLUIILE ITERATIVE ALE ECUAIILOR
CONTURURILOR NCHISE/ ______________________________________________________________25
2.7 POSITION ANALYSIS OF MECHANISMS BY MEANS OF COMPLEX NUMBERS/ANALIZA POZIIONAL A
MECANISMELOR CU NUMERE COMPLEXE/ __________________________________________________29
2.8 NUMERICAL SOLUTION OF THE LOOP CLOSURE EQUATIONS/SOLUII NUMERICE ALE ECUAIILOR DE
CONTUR/ ___________________________________________________________________________32
2-1
_________________________________________________________________________________________________
Fig.2.1
These two specifications (the magnitude and Dac se d mrimea distanei de la origine la P
direction) are the properties that define a i sensul, atunci se definete practic un vector
vector. Therefore, the position of a particle de poziie, ca urmare poziia unui punct e dat
r
r
r
r
(point) is given by a position vector OP = r . de vectorul de poziie OP = r . n coordinate
The vector can be represented in Cartesian form carteziene vectorul de poziie se poate exprima
as:
astfel:
r
r r
r = i x + j y (2.1)
In this equation i and j are the unit vectors for n ecuaia de mai sus i i j sunt vectorii unitate
Ox and Oy axes, and x and y are the distances (sau versorii) pentru axele Ox i Oy iar x i y
in horizontal and vertical axes which are to be sunt distane pe direcii orizontale i verticale
ce trebuie msurate.
measured by a certain scale.
If polar form the position vector is determined Dac sistemul de referin este polar atunci
by r and , where r is the distance from the vectorul de poziie este dat de r i , unde r
origin to the particle and is the inclination of este distana de la origine la punct iar este
2-2
_________________________________________________________________________________________________
the line OP from a reference line (Ox), unghiul format de linia OP fa de axa Ox
msurat n sesn trigonometric.
measured in counter-clockwise direction.
To convert from x, y to r, or vice versa:
(2.3)
z = x 2 + y2
Fig.2.2
where x and y are the distances measured along unde x i y sunt distanele msurate de-a lungul
the real and imaginary axes and i is an operator axei reale i imaginare, iar i este un operator
which is defined as the unit imaginary numit i numr unitate imaginar cu
proprietatea c i = 1 .
number ( i = 1 ).
2-3
_________________________________________________________________________________________________
x
x = r cos ; y = r sin ; r = x 2 + y 2 ; = arctg
y
z = x + yi z = r cos + ir sin
i
z = r (cos + i sin ); z = r (cos i sin )
z sau z = re = r cos ir sin
z = e i = cos + i sin
(2.4)
z = e i = cos i sin
1. The plane motion of a rigid body is 1. Micarea plan a unui corp rigid este
completely described by the motion of any complet descris dac se cunoate micarea
a dou puncte oarecare ale corpului rigid.
two points within the rigid body.
Fig.2.3
2-4
_________________________________________________________________________________________________
Fig.2.4
The position of a rigid body can also be defined Poziia rigidului poate fi definit i printr-un
by a vector from one point of the rigid body to vector care leag un punct al rigidului de altul,
another such as A and B, which will be called ca de pild A de B (Fig.2.4) notat AB .
AB vector (Fig.2.4).
The vector AB is a fixed vector on the rigid
body. Since A and B can be selected anywhere,
the length of the vector is arbitrary. Relative to
a fixed reference frame, the position of the rigid
body can as well be defined by giving the
position of the origin of this vector (point A
which is a point on the rigid body) and its
orientation (angle )
2. Rigidity ensures that the particles lying on 2. Rigiditatea asigur faptul c punctele
a straight line have equal velocity situate pe o linie dreapt n cuprinsul
rigidului au componente/proiecii ale vitezei
components in the direction of this line.
egale (vitezele lor din plan se proiecteaz pe
aceast linie).
2-5
_________________________________________________________________________________________________
difference may be on perpendicular direction to rigidului. Dac exist diferene n vitezele celor
the line.
dou puncte acestea se pot manifesta doar pe
direcie perpendicular pe aceasta linie.
V A V B pr ( V A )
pr ( V B )
Fig.2.5
3. If we are concerned with the kinematics of 3. Dac suntem interesai doar de cinematica
the rigid bodies only, it is sufficient to unui corp rigid atunci pentru a o studia este
consider just a line on the rigid body (vector suficient s se studieze cinematica unei linii
AB, for example).
din rigid precum vectorul AB .
Since the actual boundaries of the body do not
influence the kinematics (but it does influence
the dynamics), the rigid body in plane motion is
to be regarded as a large plane which embraces
any desired two point in the plane.
2-6
_________________________________________________________________________________________________
Fig.2.6
Consider the motion of link 2 with respect to Fie c elementul 2 se mic relativ fa de
link 1. It will be a rotation about the axis of the elementul 1. Aceast micare este o micare de
revolute joint connecting these links, A0. The rotaie n jurul cuplei care leag cele dou
size of the joint or the shape of the joint is elemente, A0. Mrimea i forma cuplei sunt
completely unimportant and, furthermore, it complet neimportante i nici nu este important
does not matter which link is fixed since we are dac unul dintre elementele cinematice este fix
concerned with the relative motion only. The sau nu de vreme ce intereseaz doar micarea
relative motion between links 2 and 3 or 4 and relativ. Micarea relativ dintre elementele 2
3 will again be a rotation about A or B i 3 sau 3 i 4 vor fi deasemenea rotaii n jurul
cuplelor A sau B.
respectively.
Consider a general point P. In order to locate
this point, let us assume that we have pierced a
hole through all of the four planes involved.
There will be a corresponding point P1 on plane
l, P2 on plane 2, P3 on Plane 3 and P4 on plane
4. At the position considered, all these four
points are coincident but at any other position
these points will be at different relative
positions. Consider point P2. It will trace a
circle with origin A0 on plane 1 and it will trace
another circle with origin A on plane 3. The
path of P on plane 4 will not be a circle but a
higher order curve (it is a fourth-order algebraic
curve in general).
2-7
_________________________________________________________________________________________________
b.
a.
Fig.2.7
Let us consider a four-bar mechanism as shown
above (Fig.2.7-a) as a simple example. In this
mechanism A0, is a permanently coincident
point between links 1 and 2, A is permanently
coincident point between links 2 and 3, B
between 3 and 4 and B0 between 1 and 4. Let us
disconnect joint B. In such a case we will
obtain two open kinematic chains A0AB (links
2,3) with two degrees of freedom and A0B0B
(links 1,4) with one degree of freedom
2-8
_________________________________________________________________________________________________
(Fig.2.7b).
To determine the positions of the links we must
have a reference frame. One obvious choice is
to select the fixed pivots A0, B0 as one of the
co-ordinate axes and select A0 or B0 as the
origin. Next, in order to define the position of
link 2 (its length is known), we must define
angle 12, which is related with the degree of
freedom of the joint between links 1 and 2. To
determine the position of link 3, since the
location of the permanently coincident point A
between 2 and 3 can be determined when 12
defined, we must now define 13, which is
related to the freedom of the joint between links
2 and 3. Similarly 14 must be defined to
determine the position of link 4. Hence we need
3 parameters (12, 13 and 14) which are all
related to the joint freedoms for the open
kinematic chains obtained when we disconnect
a joint to eliminate a loop.
A 0 B0 =a1
B0 B =a4).
However, at every instant the revolute joint n orice caz la mecanismul real cupla dintre
between links 3 and 4 must exist and point B elementele 3 i 4 trebuie s existe i deci B3 i
2-9
_________________________________________________________________________________________________
This vector equation must be valid for all Ecuaia vectorial de mai sus trebuie s fie
positions due to the permanently coincident valid permanent datorit faptului c B3 i B4
trebuie s fie permanent coincidente.
points.
In a four-bar mechanism there is a single loop
formed and the vector equation describes the
closure of this loop mathematically. The
equation(s) that describes the closure of the
loop(s) formed in the mechanism are known as
loop closure equation(s). The variables in the
loop closure equations are always related by the
joint freedoms and we can solve for two
position variables from any loop equation. In
plane the vector equation will correspond to
two scalar equations for each of axes. In the
four-bar example there are three variables (12,
13 and 14) which we shall call "position
variables". If one of the position variable (say
12), the other position variables (13 and 14)
can be solved from this vector loop equation.
The number of independent parameters that
are required will always be equal to the
degree-of-freedom of the mechanism. The
relation between the position variables is a
nonlinear, trigonometric relation.
A0A = a2 e i12
A0A = a2 e i12
2-10
_________________________________________________________________________________________________
ax
separat
avem
(2.6)
Axa Oy a 2 sin 12 + a 3 sin 13 = a 4 cos 14
In case of a prismatic joint, the variable will be n cazul cuplelor de translaie parametrul va fi
the magnitude of a vector or a vector modulul unui vector sau o component a unui
component (projection). Consider a slider-crank vector pe o anumit direcie. Fie un mecanism
mechanism as shown in Fig. 2.8. Let us biel-manivel ca n Fig.2.8-a. Se va deconecta
disconnect the revolute joint at B. In order to cupla B. Pentru a se defini poziiile elementelor
determine the positions of links 2 and 3 we 2 i 3 este nevoie de unghiurile 12 i 13. Pentru
must define 12 and 13. To locate the position a defini poziia elementului 4 (prisma cuplei de
of link 4 its displacement along the slider axis translaie) e nevoie s se tie parametrul s14 .
must be known and the position variable s14 Ecuaia de nchidere a buclei este:
must be defined. The resulting loop closure
equation is:
a.
b.
Fig.2.8
AoA + AB = AoB
(2.7)
2-11
_________________________________________________________________________________________________
(2.8)
Fig.2.9
Referring to the four-bar mechanism below Pentru mecanismul patrulater din Fig.2.10 se
(Fig.2.10), one can write a vector equation in poate scrie ecuaia vectorial astfel:
the form:
(2.9)
AoA +AB = AoB
Considering the vector AoB, the magnitude and Mrimea (modulul) i direcia vectorului AoB
direction of this vector are variables (or its Ox sunt variabile n timp (deci i componentele
and Oy components) and these variables are not sale pe Ox i Oy) dar AoB nu are componentele
related with the joint freedoms, we can solve direct legate de gradele de libertate ale
for the vector AoB provided that the magnitudes cuplelor. Se poate rezolva vectorul AoB dac se
and the directions of the other two vectors are cunosc modulele i direciile altor doi vectori.
known. Such an equation will not help us for Ecuaia de mai sus (2.9) dei este o ecuaie
the solution of position variables. Although it is vectorial nu ajut la gsirea parametrilor i
a valid vector equation, it is not a loop closure dei este o ecuaie valid ea nu este o ecuaie
2-12
_________________________________________________________________________________________________
equation. One can identify such loops by vectorial de nchidere a unei bucle. Asemenea
noting the variables involved are not related ecuaii (2.9) nu se obin prin deconectarea unei
with the joint freedoms and these equations are cuple.
not obtained by disconnecting the joints.
Fig.2.10
Fig.2.11
A similar argument can also be made for the Din Fig.2.11 se pot deduce deasemenea ecuaii
vector equations (Fig.2.11):
tip (2.9):
AoA + AC = AoC
(2.10)
AB + BC = AC
In the later case, all three vectors are on the Cea de-a doua ecuaie vectorial de mai sus
same link and they have a fixed orientation este legat doar de geometria elementului 3
with respect to each other and it has no care este constant i nu are nici o legtur cu
connection to the mechanism evolution.
evoluia mecanismului.
Fig.2.12
In certain other cases we may have to use n anumite cazuri se folosesc puncte
instantaneously coincident points or other coincidente instantaneu sau diverse alte puncte
2-13
_________________________________________________________________________________________________
a 2e
i12
= a1 + a 4e
i 4
+ s 43 e
i (14 + 4 )
(2.11)
Fig.2.13
The vector CA changes both its magnitude and Vectorul CA variaz att ca direcie ct i ca
direction. However its orientation with respect modul (lungime). n orice caz orientarea sa fa
to the vector B0C will be fixed and no new de vectorul B0C rmne constant. Dac se tie
variable is needed. If the orientation of the orientarea lui B0C prin parametrul 14 atunci
vector B0C is known by the variable 14, the direcia vectorului CA fa de axa Ox va fi 14+
orientation of the vector CA with respect to 4 unde 4 este un unghi constant al geometriei
positive Ox axis is 14+ 4 and angle 4 is a elementului 4. Deci variabilele de poziie vor fi
constant angle measured on link 4. The position 12, 14 i s43.
variables in the loop equation will be 12, 14
and s43.
2-14
_________________________________________________________________________________________________
Fig.2.14
Note that the same vector loop equation can be O ecuaie vectorial identic se poate deduce
derived for the swinging block mechanism pentru un mecanism balansier (Fig.2.14).
shown above (Fig.2.14).
Fig.2.15
When writing the vector loop equations one Cnd se scriu ecuaiile vectoriale de nchidere
must be sure that the equations are valid for ale unor bucle trbuie s se verifice dac
every position of the mechanism. The ecuaiile sunt valide pentru oricare poziie
mechanism may be at a special position such posibil
a
mecanismului.
Mecanismul
that one or more of the links are collinear as (Fig.2.15) poate avea o poziie special ca de
shown above (Fig.2.15). Although links 2 and 1 pild cu elementul 2 coliniar cu elementul 1 ai
are collinear, they will have different cror vectori dei coliniari au sensuri opuse.
orientations at some other instant. In such a Pentru verificare se deseneaz mecanismul ntrcase you may redraw the mechanism slightly o poziie uor deplasat fa de poziia critic.
offset from the critical position. In some cases Uneori se pot scrie simplificat ecuaiile n
if the constant link angles between two vectors complex. De pild dac la ecuaia (2.11)
are of a certain simple value (such as 900), then = 90 0 atunci ea devine:
4
it is advisable to simplify the equations
accordingly. For example if the angle 4 of the
inverted slider crank mechanism is a right
angle, the loop closure equation must be written
as:
a 2 e i12 = a 1 + a 4 e i4 + is 43 e i (14 )
(2.12)
The solution to the loop equations may not Uneori exist posibilitatea ca s nu existe
2-15
_________________________________________________________________________________________________
How will you determine the number of Cum se determin numrul de bucle
independent loops from the number of joints independente avnd numrul de cuple i
elemente ale mecanismului?
and links?
In planar mechanisms we can write vector loop
equations for each loop of the mechanism. This
corresponds to L (L= number of independent
loops) vector equations or 2L scalar equations,
if we equate the x and y components of vectors.
The number of parameters involved in these
equations will be 2L+F, where F is the degree
of freedom of the mechanism. If we now define
F number of variables (independent variables or
input parameters), then theoretically, we must
be able to solve for the other variables
(dependent position parameters).
2-16
_________________________________________________________________________________________________
Example 2.1
Exemplul 2.1
Fig.2.16
(A0A=a2, AB= a3, BC=a4)
(2.13)
Fig.2.17
A0A = A0B0 + B0B + BA a 2 e i12 = c1 ia 1 + a 5 e i15 + s 43 e i14
2-17
(2.14)
_________________________________________________________________________________________________
Fig.2.18
r313= -r2(12-2) (when 13=0; 12=2)
B0B + BC + CD = B0A0 + A0A + AD a 3 e i13 + a 4 e i14 + a 6 e i16 = a 1 + ib 1 + a 2 e i12 + a 7 e i17
B0B + BC = B0C0 + C0C a 3 e i13 + a 4 e i14 = d 1 + ic1 + a 5 e i15
(2.15)
2.5 Graphical Solution of Loop Closure Equations/Soluiile grafice ale ecuaiilor de contur/
2-18
_________________________________________________________________________________________________
Fig.2.19
(2.16)
A0A+AB = A0B0+B0B
It must also be true when A is replaced by A' Ecuaia trebuie s fie valid i dac A este
(known point) and B is replaced by B' inlocuit cu A i B cu B (inc necunoscut), dat
(unknown), since the mechanism will form a fiind c mecanismul formeaz i n noua poziie
closed loop in this second position:
o bucl nchis.
A0A'+AB' = A0B0+B0B'
(2.17)
(2.18)
2-19
_________________________________________________________________________________________________
Fig.2.20
The above procedure is nothing but the Procedura de mai sus este rezolvarea pe cale
graphical solution of a triangle whose three grafic a unui triunghi cu laturile cunoscute.
sides are known.
Example 2.4
Exemplul 2.4
Fig.2.21
A0A=A0B0+B0C+CA
(2.19)
The vector A0B0 is fixed. The vector A0A has a Se tie c vectorul A0B0 este fix, A0A are o
fixed magnitude and its angular orientation is mrime fix iar orientarea e dat de 12 , B0C
2-20
_________________________________________________________________________________________________
Fig.2.22
In a complete motion analysis it is necessary to Intr-o analiz grafic complet este necesar s
draw the mechanism in various phases of its se deseneze mecanismul n toate poziiile
cycle (for all possible input positions). Through posibile rezultnd astfel pozitiile limit n care
such an analysis one can determine the limiting mecanismul i inverseaz micarea.
positions (positions at which there is the
displacement of the link involved is at an
extreme position, e.g. at this position there is a
reversal of motion).
Example 2.5
Exemplul 2.5
2-21
(2.20)
_________________________________________________________________________________________________
Fig.2.23
For a detailed analysis the number of Cu ct mai mare numrul de diviziuni cu att e
increments must be large. However in the mai bun precizia. n mecanismul de mai sus
above figure the circle is divided into 12 parts cercul se divide 12 pri corespunztor la
corresponding to 300 increments. The location unghiuri cresctoare cu cte 300. Poziia
of point A for every value of the input variable punctului A pentru fiecare increment al
is denoted by Ai (i=1 to 12). By drawing unghiului de input se noteaz cu Ai (i=1...12).
circular arcs with centre Ai and of radius AB, Dac se traseaz arcuri circulare centrate n Ai
we determine the intersection of this arc with i de raz AB, se determin intersecia acestor
the slider axis Bi. Next, the horizontal distance arcuri cu axa lui Bi. Msurnd fa de origine
of the slider with respect to the origin can be s14 i desennd pe o diagram poziia lui Bi
rezult diagrama de deplasare s14=f(12).
plotted as shown.
The diagram that gives the angular or linear
displacement of a link with respect to the input
parameter is usually called as the displacement
diagram. If the time rate of change of the input
parameter is a constant this diagram is also the
time-displacement plot. For a four-bar
mechanism, the angular displacement of link 4
with respect to link 2 is given in the figure
below Fig.2.24-a. In some other problems we
may be interested in the curve described by one
of the points on a floating link (a link which is
not connected to the fixed link- Fig.2.24-b).
Note that one can perform the graphical
analysis either by using the drawing equipment
such as a compass and a ruler, or use any
drawing program such as AutoCAD , CadKey
or the like. If each of these positions is stored
Diagrama
care
infieaz
deplasarea
unghiular sau liniar a unui element fa de
valorile incrementale ale parametrului de input
se numete diagram de deplasri. Dac
parametrul de input variaz monoton n timp
atunci aceast diagram este identic cu
diagrama timp-deplasare. Pentru un mecanism
patrulater deplasarea unghiular a elementului
cinematic 4 fa de elementul 2 este dat n
Fig.2.24-a. n anumite cazuri putem fi interesai
de curba descris de un anumit punct (situat de
pild pe un element flotant fr rol n
cinematica mecanismului- Fig.2.24-b).
Analiza grafic poziional a mecanismelor se
poate face folosind diverse programe grafice
precum AutoCAD, CadKey etc. Alte programe
precum Catia , ProE , Ideas or
2-22
_________________________________________________________________________________________________
in a separate file, the mechanism can be very Solidworks , pot chiar simula miscarea
easily animated on the screen. CAD programs mecanismului.
such as Catia , ProE , Ideas or
Solidworks , etc. can simulate the motion,
provided the joints are correctly defined.
a.
b.
Fig.2.24-(A0A=1, A0B0=2, AB=B0B=BC=2.5)
When the mechanism has several loops, the Dac mecanismul este alctuit din mai multe
vector loop equations can be solved graphically bucle atunci ecuaiile vectoriale pentru fiecare
in sequence. The mechanism shown below is bucl se rezolv grafic pas cu pas. De pild
used to move a mixer vertically up and down. mecanismul folosit pentru micarea unui mixer
A0A is the driving link (there is a lever dat mai jos la care A0A este manivela de
acionare.
attached).
The first loop is the four-bar mechanism Prima bucl este alctuit din mecanismul
A0ABB0 (links 1,2,3 and 4). The vector loop patrulater A0ABB0 (elementele 1, 2, 3, 4) cu
ecuaia vectorial:
equation is:
A0A+AB= A0B0+B0B
(2.21)
Fig.2.25
This vector loop equation can be solved for a Acast ecuaie vectorial de poziii se rezolv
each new position of the input crank (link 2), as pentru fiecare poziie a elementului de input 2,
2-23
_________________________________________________________________________________________________
BC+CE=BD+DE (2.22)
In this vector loop equation the vector BC and n aceast ecuaie vectorial vectorii BC i BD
BD are known (both in magnitude and sunt cunoscui ca i mrime i orientare iar
direction) and the magnitudes of the vectors CE mrimea vectorilor CE i DE este cunoscut.
and DE are given. We again have a triangle Vom avea un triunghi CED cu laturile
(CED) whose three sides are known. Hence the cunoscute. n consecin intersecia arcului
intersection of the circular arcs of radii CE and circular de raz CE cu DE duse din punctele C
DE from points C and D respectively, will give i D va da poziia punctului E.
us the position of point E.
PA0+A0A=PB0+B0B+BA
(2.23)
PQ+QC=PB0+B0B+BC
Fig.2.26
In both of these equations there are three Cum n fiecare ecuaie vectorial sunt 3
unknowns; therefore these equations must be necunoscute, cele dou ecuaii trebuie rezolvate
solved simultaneously. There are four simultan. Sunt 4 necunoscute n total n
unknowns in the two equations (the direction of sistemul de ecuaii (direcia lui B0B, mrimea
B0B, magnitude of QC, magnitude and lui QC, mrimea i direcia lui BA). Cum
direction of BA). Since the direction of BC is direcia lui BC este identic cu a lui BA, acest
that of BA, it is not an additional unknown. The parametru este cunoscut. Traiectoria lui B este
2-24
_________________________________________________________________________________________________
2.6 Step-Wise Solution of the Loop Closure Equation/Soluiile iterative ale ecuaiilor
contururilor nchise/
(2.24)
A0A= A0B +BA
In rectangular form, these vectors can be n form cartezian acesti vectori pot fi scrii
written as:
ca:
r
r
A 0 A = a 2 cos 12 i + sin 12 j
r
r
A 0 B = x i + a1 j
(2.25)
r
r
BA = a 3 cos 13 i + sin 13 j
2-25
_________________________________________________________________________________________________
Fig.2.27
Equating x and y components separately, the Dac se egaleaz componentele de pe axele x i
loop closure equation will yield two scalar y separat, ecuaia vectorial va genera 2 ecuaii
equations:
scalare:
a 2 cos 12 = (s14 + a 3 cos 13 )
a 2 sin 12 = (a 1 + a 3 sin 13 )
1
(a 2 sin 12 a 1 );
sin 13 =
a3
(2.26)
2-26
_________________________________________________________________________________________________
Fig.2.28
s = a 22 + a 12 2a 2 a 1 cos(12 )
1/ 2
(2.28)
a 12 + s 2 a 22
' = arccos
2a 1 s
= '
Another form of calculating s and is to Un alt mod de rezolvare este egalarea
componentelor pe Ox i Oy:
equate the x and y components:
s cos = a 2 cos 12 a 1 Horizontal component/Componenta orizontala/ B 0 A = x s
s sin = a 2 sin 12 Vertical component/Componenta verticala/ B 0 A = y s
Referring to the triangle ABB0 and applying n triunghiul ABB0 se aplic
cosine theorem:
cosinusului:
a 2 + a 24 s 2
= arccos 3
2a 3 a 4
a 2
= arccos 4
(2.29)
teorema
(2.30)
a 32 + s 2
2a 4 s
_________________________________________________________________________________________________
14 = ;
(2.31)
13 = 14
Hence, we have obtained a set of equations Aadar am obinut un set de ecuaii care trebuie
rezolvat pas cu pas.
which must be solved in steps.
Another example is the case of an inverted Fie ca un alt exemplu, un mecanism patrulater
slider-crank mechanism shown below, the ca mai jos la care ecuaiile scalare vor fi:
equations for the total position analysis are:
Fig.2.29
A0A=A0B0+B0B+BA
p cos = a 2 cos 12 a 1
p sin = a 2 sin 12
c
= arccos
p
(2.32)
s 43 = p 2 a 24
14 =
In great many mechanisms, the stepwise
solution will require the solution of four-bar,
slider-crank or inverted slider-crank loops in
steps. For example, the quick-return mechanism
shown below links 1, 2, 3 and 4 form an in-line
inverted slider-crank mechanism while links 1,
4, 5 and 6 form a slider-crank mechanism. For a
given value of the input variable, 12, the angle
14 and s43 can be determined. In case of the
slider-crank mechanism, with 14 as the input
variable, the position variables 15 and s6 are
found.
2-28
_________________________________________________________________________________________________
Fig.2.30
s 43 cos 14 = a 2 cos 12 a 1
s 43 sin 14 = a 2 sin 12
a cos 14 + b1
15 = arcsin 4
a5
(2.33)
2-29
(2.34)
_________________________________________________________________________________________________
Fig.2.31
If we equate the real and imaginary parts of this Dac se egaleaz ntre ele prile reale i
equation separately, we obtain two scalar imaginare din cei doi termeni ai ecuaiei (stng
equations in three position variables (12, 13 i drept), rezult 2 ecuaii scalare avnd 3
and 14). If one of the position variables is the variabile (12, 13 i 14). Dac una dintre
input variable whose value is given, then we variabile este dat celelalte dou vor putea fi
shall be able to solve for the values of the other calculate. n ecuaiile din planul complex,
two variables. In complex plane, when we deasemenea i ecuaia format cu conjugatele
have an equation in complex numbers, the numerelor complex din ecuaia initial este
complex conjugate of the equation is also adevarat. Un num complex conjugat descrie
true. The complex conjugate yields vectors vector care este imaginea n oglind a
which are the mirror image of the original vectorului iniial fa de axa numerelor reale
vectors with respect to the real axis (x-axis). (axa x=Re (z)). De pild n cazul unui
For instance in case of a mechanism, if we mecanism dac se aeaz o oglind pe axa Ox
place a mirror about the real axis, as we move atunci dac mecanismul real se mic la fel se
the original mechanism its image will also va mica i mecanismul din imaginea sa din
move. Hence we obtain another loop closure oglind. Aadar pe lng ecuatia (2.35) vom
avea ca fiind valid i ecuaia cu numere
equation in terms of complex numbers as:
complexe conjugate:
a 2 e i12 + a 3 e i13 = a 1 + a 4 e i14
The original equation (2.34) and its complex
conjugate (2.35) are the two independent
equations in the complex plane (if we equate
the real and imaginary parts of these equations
they will yield the same two scalar equations in
the real plane). Using the equations (2.34) and
(2.35) if we are to find 14 as a function of 12,
we have to eliminate 13 from the above
equations. We can write the loop closure
equations in the form:
(2.35)
2-30
_________________________________________________________________________________________________
a 2e
)(
a 32
a 12
a 24
a 22
+ a 1a 4 e
i14
+e
i14
] a a [e
1 2
i12
+e
i12
] a a [e
2
i 24
+ e i24
e i (13 13 ) = e 0 = 1
Since/Cum/ cos =
e i + e i
2
a 2 + a 22 a 32 + a 24
a1
a
cos 14 1 cos 12 + 1
= cos( 24 12 )
a2
a4
2a 2 a 4
{
{
144
42444
3
K2
K1
K3
(2.36)
14
2tg
sin 14 =
2 14
1 + tg
1 tg 2 14
cos 14 =
1 + tg 2 14
tg 2 14
2
cos 12 (1 K 2 ) + K 3 K 1 + tg 14
1
4
4
4
4
4
2
4
4
4
4
4
3
2
A
(2.37)
( 2 sin 12 ) + cos 12 (1 + K 2 ) + K 3 + K 1 = 0
43 14444
4244444
3
142
B
C
Ecuaia (2.37) este de ordin doi i:
B B 2 4AC
B B 2 4AC
tg 14 =
14 = 2arctg
2A
2A
2
(2.38)
where the plus or minus sign refers to two unde semnele plus sau minus fac referire la
different configurations of the four-bar diferitele configuraii ale mecanismului
2-31
_________________________________________________________________________________________________
Another form of solving equation (2.37) is to Ecuaia (2.37) se poate rezolva i dac se scrie:
rewrite it in the form:
D = (K cos )2 + sin 2
1
12
12
sin 12
= arctg
(2.39)
K 1 cos 12
K3
(2.40)
2.8 Numerical Solution of the Loop Closure Equations/Soluii numerice ale ecuaiilor de
contur/
2-32
_________________________________________________________________________________________________
Example 2.1
For
the
mechanism
shown
below:
a2=50 mm; a3= 250 mm; b3=120 mm; a1= 20
mm and 3 =300 . Determine the co-ordinates
of point C when 12 =600.
Exemplul 2.1
Fig.2.32
a sin 12 a 1
With the given data/Dupa inlocuiri/ : sin 13 = 2
= 0.0932 13 = 5.3 0 or/sau/ 174.7 0
a3
(2.41)
From the figure, we note that we must select Din figur se vede c valoarea acceptabil este
13=174.7 0. Then:
13=174.7 0 .
s14 = a 2 cos 12 a 3 cos 13 = 273.9mm
x C = x + b 3 cos(13 3 ) = 176mm
y C = a 1 + b 3 sin (13
In this example we shall use MathCAD which
is a program for solving equations for the entire
variation
domain
of
input
0
0
variable 12 = 0 ...360 , (Fig.2.32).
3 ) = 89.4mm
Pentru rezolvarea numeric pentru ntregul
domeniu de variaie al parametrului de input
12 = 0 0...360 0 , se va folosi MathCAD
(Fig.2.32).
Example 2.2
Exemplul 2.2
2-33
_________________________________________________________________________________________________
MathCad Solving
a1
20
a2
50
a3
250
b3
120
3 30.deg
i 0 .. 360
5 .i.deg
12
13
asin
13
13
13
12
deg
if 13 >
i
13
12
deg
a1
a3
= 0.093
12
s 14
i
a 2 .sin 12
i
, 13 ,
degrees
= 5.348
13
= 174.652
a 2 .cos 12
i
a 3 .cos 13
i
s 14 = 273.912
12
xC
xC
12
yC
= 176.033
a1
yC
12
b 3 .cos 13
i
s 14
i
b 3 .sin 13
i
= 89.425
xC
yC
angle x C , y C
i
i
2-34
_________________________________________________________________________________________________
180
100 90 80
70
207.87
60
187.08
50
166.3
40
145.51
124.72
30
103.93
83.15
20
62.36
41.57
10
20.79
0
0
190
350
120
130
140
150
160
C
i
170
110
200
210
220
230
240
120
130
140
150
160
C
i
270 280
12
i
290
170
180
100 90 80
70
0.68
60
0.61
50
0.54
40
0.47
0.41
30
0.34
0.27
20
0.2
0.14
10
0.068
0
0
190
350
200
340
250 260
110
210
220
230
240
330
320
310
300
340
250
260270 280
12
i
s cos = b1 + a 2 cos 12
s sin = s1 + a 2 sin 12
Fig.2.33
2-35
(2.42)
290
330
320
310
300
_________________________________________________________________________________________________
From (2.42) which we can solve for s and . Din sistemul (2.42) se pot calcula s i . Apoi
Then using the triangle B0A B, the angle can folosind triunghiul B0AB, se poate determina
be determined using the cosine theorem (2.43): unghiul cu teorma cosinusului (2.43):
Fig.2.34
a 2 + s 2 a 32
= arccos 4
2a 4 s
14 =
(2.43)
Fig.2.35
For the double slide (links 4 and 5), the loop Pentru sistemul de dou cuple de translaie ale
equation is:
elementelor 4 i 5 ecuaia este:
(2.44)
s 4 =
cos 14
s = b c cos + s sin
1
4
14
4
14
15
In MathCAD you will write these equations Se vor scrie n MathCad ecuaiile exact cum
exactly the same way. But before performing apar ele mai sus, dar nainte de toate trebuie s
2-36
_________________________________________________________________________________________________
MathCAD Output 1
conv
180
a2
55
a3
240
a4
165
b1
185
s1
A0A
AB
BB0
90
c4
70
320
.conv
= 5.585
xa
s
a2 .cos ( )
b1
( xa)
acos
14
( a4 )
( ya )
ya
( a3 )
2 .a4 .s
14 = 3.083
deg14
14
conv
deg14 = 176.659
s4
s15
c4 .sin ( 14) )
( s1
cos ( 14)
( b1
c4 .cos ( 14) )
s4 .sin ( 14)
s15 = 260.374
2-37
s1
a2 .sin ( )
angle ( xa, ya )
_________________________________________________________________________________________________
MathCAD Output 2
conv
a2
55
a3
240
a4
165
b1
185
A0A
AB
BB0
s1
90
c4
70
0 , 5 .. 360
i.conv
xai
a2 .cos i
b1
si
xai
acos
14i
ya i
( a4 )
si
i
2
s1
a2 .sin i
angle xai , ya i
( a3 )
2 .a4 .s i
i
2
14i
deg14i
conv
s1
s4 i
ya i
s15i
180
c4 .sin 14i
cos 14i
b1
c4 .cos 14i
s4 i .sin 14i
400
380
360
340
320
s15
300
280
260
240
220
200
Fig.2.36
If we want to determine the effect of the Dac se dorete s se calculeze influena
distance s1 which is adjusted by the screw, to distanei s1 de ajustare a cursei asupra
the displacement of the pump, then we must deplasrii pompei atunci analiza de mai sus
2-38
_________________________________________________________________________________________________
perform the same analysis for different values trebuie s in cont de variaia lui s. Vom avea:
of s. The result is as follows:
MathCAD Output 3
conv
a2
55
a3
240
a4
165
b1
185
c4
70
0 .. 5
s1 k
20.k
0 .. 72
12i
xai
b1
si, k
i , k
14i , k
A0A
s15i , k
AB
BB0
50
i.conv .5
a2 .cos 12i
xai
acos
s1 k
ya i , k
ya i , k
( a4 )
si, k
s1 k
i,k
2
( a3 )
a2 .sin 12i
angle xai , ya i , k
2
2 .a4 .s i , k
i,k
deg14i , k
s4 i , k
180
i , k
14i , k
conv
c4 .sin 14i , k
cos 14i , k
b1
c4 .cos 14i , k
2-39
s4 i , k .sin 14i , k
_________________________________________________________________________________________________
450
s15
i , 0 400
s15
i,1
s15
i,2
s15
i,3
350
300
s15
i,4
s15
i , 5 250
200
Fig.2.37
2-40
4
12
i
_________________________________________________________________________________________________
INDEX/CUPRINS/
3.0 KINEMATIC ANALISYS OF MECHANISMS /ANALIZA CINEMATIC A MECANISMELOR/
_____________________________________________________________________________________2
3.1 VELOCITY AND ACCELERATION ANALYSIS OF A RIGID/ANALIZA VITEZELOR I ACCELERATIILOR ALE
UNUI RIGID/ __________________________________________________________________________2
3.1.1 Translation of a rigid body/Translaia rigidului/ ______________________________________2
3.1.2 Rotation of a rigid body/Rotaia rigidului/ ___________________________________________3
3.1.3 General Plane Motion/Micarea Plan Paralel/ ______________________________________6
3.2 VELOCITY AND ACCELERATION VECTORIAL ANALYSIS OF MECHANISMS/ANALIZA VECTORIAL A
VITEZELOR I ACCELERAIILOR N MECANISME/ ____________________________________________16
3.3 POSITION, VELOCITY AND ACCELERATION ANALYTICAL CALCULATION OF MECHANISMS/CALCULUL
ANALITIC AL POZIIEI, VITEZELOR I ACCELERAIILOR N MECANISME/ __________________________37
3.3.1 Kinematic analysis of a crank/ Analiza Cinematic a Elementului Conductor/_____________40
3.3.2 Kinematic analysis of a link in general motion/Analiza cinematic a unui element n miscare
plan-paralel/ ____________________________________________________________________44
3.3.3 The Kinematic Analysis of a Dyad with 3 Rotation Joints Using Distance Method/Analiza
Cinematic a Grupei Structurale RRR Prin Metoda Distantelor/_____________________________47
3.3.4 The Kinematic Analysis of RRT or TRR Dyads using Contour method / Analiza Cinematica a
Diadei RRT-TRR prin Metoda Contururilor/ ___________________________________________56
3.3.5 The Kinematic Analysis of RTR Dyad using Contour method / Analiza Cinematica a Diadei RRTTRR prin Metoda Contururilor/ ______________________________________________________58
3.3.6 The Kinematic Analysis of TRT Dyad using Contour method / Analiza Cinematica a
Mecanismului ce Contine Diada TRT prin Metoda Contururilor/ ____________________________59
3.3.7 The Kinematic Analysis of RTT-TTR Dyad using Contour method /Analiza Cinematica a
Mecanismului ce Contine Diada RTT-TTR prin Metoda Contururilor/ ________________________59
3-1
_________________________________________________________________________________________________
Fig.3.1
r r
r
(3.1)
rB = rA + rAB
The time rate of change of the position vector is Cum ntre cele dou poziii 1 i 2 vectorul de
the velocity of that point. Therefore:
poziie variaz atunci derivata sa funcie de
timp va descrie modul su de variaie (viteza):
r
r
r
d rB d rA d rAB
(3.2)
=
+
dt
dt
dt
Since the vector AB is always parallel to its Cum vectorul AB este mereu paralel cu sine
original position, its rate of change both in nsui atunci variaia sa n timp este nul:
magnitude and direction is zero. Therefore:
r
d rAB
=0
(3.3)
dt
r
r
r
r
d rB d rA
=
VA = VB
dt
dt
We can take the second rate of change and Dac se ia a doua derivat n timp a vectorului
noting that the second rate of change of the de poziie atunci, asemntor, vectorul AB,
vector AB (r AB) is zero. Therefore the velocity fiind constant n timp, va avea acceleraia nul.
3-2
_________________________________________________________________________________________________
and acceleration of every point on the rigid Deci viteza i acceleraia fiecrui punct al unui
body will be equal at each instant if the rigid rigid n micare de translaie va fi aceeai n tot
body is in a translation.
cuprinsul su.
2r
d rAB
=0
dt 2
r
r
(3.4)
r
r
d 2 rB d 2 rA
=
a
=
a
A
B
dt 2
dt 2
3.1.2 Rotation of a rigid body/Rotaia rigidului/
Every point will move in concentric circles
with centre at O and the displacement of any
point will be equal to the distance from that
point to the centre of rotation times the angular
displacement (in radians). Therefore:
Fig.3.2
r A= r A
r B= r B
t 0
(3.5)
r
r d r
r d
VA = rA
; VB = rB
dt
dt
{
(3.6)
VA = x rA
where the operator (x) is the vectorial cross unde operatorul (x) indic produsul vectorial.
3-3
(3.7)
_________________________________________________________________________________________________
(3.8)
r A = r A e i
When the body is in a rotation, is the variable Dac rigidul se rotete atunci va fi variabil. n
angle. In this expression rA is the magnitude of expresia de mai sus rA este mrimea vectorului
position vector and ei is a unit vector in the de poziie iar ei va fi un vector unitate luat
direction of OA. Differentiating the position dup direcia OA. Dac se deriveaz relaia de
vector, we obtain (d/dt=):
mai sus (d/dt=):
V A = i r A e i
(3.9)
i ( )
i ( )
-ie i = e 2
direction is -ie i which is equal to e 2 .
Hence we state that the direction of the velocity Deci vectorul vitez liniar este perpendicular
vector is perpendicular to OA and rotated in the pe OA i are direcia n sensul vitezei
sense of . Differentiating the velocity vector unghiulare . Dac se deriveaz relaia (3.9):
(3.9) to obtain the second rate of change of
position :
Fig.3.3
3-4
(3
_________________________________________________________________________________________________
dVA d irA e it
d
rA e it rA 2 e it =
=
=i
dt
dt
dt
it
2 it
= irA e rA e
aA =
(3.10)
d d
=
dt dt 2
a A = a At + a nA
(3.11)
Fig.3.4
It must be noted that the centre of rotation O is Centrul de rotaie O are vitez i acceleraie
the only point on the rigid body that has zero nul.
velocity and acceleration.
3-5
_________________________________________________________________________________________________
Fig.3.5
General plane motion is the plane motion which Micarea plan paralel este acea micare a
is neither translation nor rotation about a fixed rigidului care nu este nici translaie pur i nici
axis but it can be analysed by the superposition rotaie pur dar care poate fi analizat prin
of these motions using the relative motion suprapunerea celor dou tipuri de micri cu
ajutorul conceptului de micare relativ.
concept.
Fie un plan n care se mic un rigid pe care sau definit punctele A i B. Rigidul se mic din
prima poziie spre cea de-a doua ntr-un
interval de timp t. Micarea sa este plan
paralel i poate fi privit ca fiind suma a unei
translaii din poziia AB n AB urmat de o
rotaie n jurul unei axe perpendiculare pe plan
care trece prin A.
3-6
_________________________________________________________________________________________________
This displacement is the motion of point B micarea lui B din poziia B n poziia B se
relative to point A.
va face dup un arc de cerc iar vectorul
deplasrii va fi rB/A. Aceast deplasare
constituie deplasarea relativa a punctului B fa
de punctul A.
Fig.3.6
The total displacement of point B will be the Deplasarea total a punctului B va fi suma
sum of these two motions:
celor dou micri astfel:
r B = r A + r B/A
Since the motion from B to B is a rotation,
rB/A = |BA|. Note that this relative motion is
a function of absolute instantaneous angular
motion of the rigid body. If one changes the
order of rotation and translation the same
equation will result. Dividing the above
equation by the corresponding time interval, t
and taking the limit as t tends to zero we
obtain:
(3.12)
V B = V A + V B/A
where/unde/
V B/A =x r B/A
and/i/
3-7
(3.13)
_________________________________________________________________________________________________
r B/A = AB = r B - r A
V B = V A + x(r B - r A )
V B/A is a relative velocity between two points
B and A belonging to the same rigid body. V B
and V A are absolute velocities of points A and
B on a rigid body in a general plane motion.
The same result can be obtained using complex Acelai rezultat se obine prin folosirea
numbers by writing the position of point B numerelor complexe n exprimarea relaiei
(3.12):
relative to A (3.12) in complex numbers:
r B = r A +be i
V B = V A +ibe i
(3.14)
(3.15)
V B/A = ibe i
and/i/
V B = V A + V B/A = V A + ibe i
3-8
(3.15)
_________________________________________________________________________________________________
Fig.3.7
Differentiation of the velocity equation with Prin derivarea ecuaiei vitezelor funcie de
respect to time yields:
timp:
a B = a A +ibe i -b 2e i
(3.16)
Fig.3.8
The first relative acceleration component has Prima component a acceleraiei are mrimea
the magnitude b and is in the direction ie i b i
direcia
dat
de
iei (Fig.3.8)
(Fig.3.8), which is perpendicular to the line AB perpendicular pe AB i rotit n sensul vitezei
and rotated in the sense of the angular unghiulare . Aceast component a
acceleration . This is relative acceleration acceleraiei este componenta tangenial notat
t
component is tangential relative acceleration cu a B/A. Cea de-a doua component are
component and is denoted by atB/A. The second mrimea dat de b2 i direcia dup -ei care
relative acceleration component has the este coliniar cu AB i ndreptat ctre centrul
magnitude b2 and is in the direction -ei which de rotaie A. Aceast component a acceleraiei
n
is along the line AB towards the centre of este componenta normal notat cu a B/A. n
rotation A. This direction is normal to the consecin acceleraia punctului B se va putea
relative path of B with respect to A. Therefore scrie:
it is called normal relative acceleration
component and is denoted by a n B/A. Hence the
acceleration of point B can be expressed as:
a B= a A+a t B/A+a n B/A
3-9
(3.17)
_________________________________________________________________________________________________
(3.18)
Fig.3.9
Another different type of relative motion occurs Un alt tip de micare relativ poate avea loc
between two coincident points on two different ntre dou puncte coincidente la un moment dat
rigid bodies but for which we know the path of care exist pe dou rigide diferite dar la care se
one point relative to the other rigid body. cunoate traiectoria unui punct aparinnd unui
rigid fa de cellalt rigid.
Consider 2 rigid bodies (links 1 and 2 of a Fie dou rigide (elementele 1 i 2 ale unui
mechanism) moving from position #1 to mecanism) care se mic reciproc din Poziia 1
another position #2. During this time a point n 2. n acest timp punctul A3 aparinnd
A3 of link 2 that is coincident with A2 of link 1 elementului 2 care este coincident cu A2
at position #1 but on a different plane, moves to aparinnd elementului 1 n poziia 1 se va
position A3 while A2 moves to A2. Points that mica n A3 iar A2 se va mica n A2 . Punctele
were instantaneously coincident in position #1 care erau deci coincidente instantaneu n
are not coincident at position #2. However, the poziia 1 nu vor mai fi coincidente n poziia 2.
path of A2 on link 2 is known. The motion of Dar traiectoria lui A2 fa de elementul 2 este
point A3 can be regarded as the sum of cunoscut. Micarea lui A3 poate fi privit ca
translation with A3 to A3 that is coincident fiind suma translaiei sale de la poziia A3 la
with A2 and a relative motion from A3 to A3 care va fi coincident cu A2 i o micare
A3 relative to the link 2. Hence, point A 3 first relativ de la A3 la A3 relativ la elementul 2.
moves by a distance rA2 with A2 and then Deci punctul A3 se va mica mai nti cu
moves by a distance rA3/2 relative to A 2. The distana rA2 mpreun cu punctul A2 apoi A3 se
order of the two superimposed motions is not mic singur cu distana rA3/2 fa de A2.
Ordinea n care au loc micrile care se
important.
insumeaz nu este mportant.
Deplasarea total a punctului A3 este:
The total displacement of point A3 is:
r A3= r A2 +r A3/2
3-10
(3.19)
_________________________________________________________________________________________________
Fig.3.10
Dividing the above expression by the Dac se mparte expresia de mai sus la
corresponding time interval, t , and taking the intervalul de timp t i dac se face ca t s
limit as t tends to zero, we obtain:
tind la zero, vom avea:
V A3= V A2 +V A3/2
where VA3/2 is the relative velocity which is unde VA3/2 este viteza relativ tangent la
always tangent to the relative path of point A3 traiectoria punctului A2 fa de elementul 2.
with
respect
to
the
link
2.
In mechanisms such relative motion occurs n mecanismele din realitate asemenea micri
when we have prismatic, cylinder-in-slot or relative se produc atunci cnd avem de-a face
cam pairs between two moving links (Fig.3.11). cu o cupl de translaie (Fig.3.11).
In order to explain the relative motion between
the two links, consider link 3 connected to link
2 by a prismatic joint B. For simplicity, link 2
is connected to the fixed link by a revolute
joint. Point B corresponds to two coincident
points B2 and B3 on links 2 and 3. The position
vector for point B (B2 or B3 ) in complex
numbers is:
R B=re i
3-11
(3.20)
_________________________________________________________________________________________________
Fig.3.11
Note that R B is the position vector for both B 2 Se va observa c R B este vectorul de poziie
and B 3. However for B 2, R B is a constant but pentru ambele puncte B2 i B3. Oricum pentru
for B3, R B is a variable. Therefore, when B2 vom avea R B constant i pentru B3 vom
differentiating this vector, we must specify avea R B variabil. Prin derivarea acestui vector
which rate of change of position is sought. For se va preciza deci crui punct i se va calcula
example if we are to determine the rate of derivata. Dac se determin derivata pentru
vectorul de poziie al punctului B2 avem:
change of the position of point B 2, then:
V B2= ire i
(3.21)
where =d/dt . If we want to determine the unde =d/dt . Dac se determin derivata
pentru vectorul de poziie al punctului B3
rate of change of the position B 3, then:
avem:
r
r
r i d r i
VB3 = i1
r
e
+
23 dt e
VB 2
The first term is the velocity of point B2, V B2.
The second term is the relative velocity of point
B3 with respect to link 2. It is tangent to the
relative path. Hence:
(3.22)
(3.23)
V B3= V B2 +V B3/2
B 3, which is fixed on link 3 will be coincident Dup un anumit interval de timp, B 3, care este
with another point B2 on link 2 after a certain fix pe elementul 3 va fi coincident cu un alt
time interval. The second derivative of the punct B2 situat pe elementul 2. A doua
derivat a vectorului de poziie este:
position vector with respect to time yields:
2
dVB3
dr
dr
d r
= irae i r 2 e i + i e i + 2 e i + i e i
(3.24)
dt
dt
dt
dt
where the terms in the first bracket are those unde termenii din prima parantez sunt obinui
obtained from the differentiation of VB2, and din derivarea lui VB2, iar cei din a doua din
those in the second bracket are obtained when VB3/2. Primii doi termeni din prima paratez a
the relative velocity V B3/2 is differentiated. The ecuaiei de mai sus, sunt acceleraia tangenial
first two terms are the tangential and normal i cea normal ale punctului B2. Cel de al treilea
accelerations components of point B2. The third termen apare datorit faptului c B2, vzut ca
term arises due to the fact that B2 observed as fiind coincident cu B3, va fi diferit pentru
a B3 =
3-12
_________________________________________________________________________________________________
Fig.3.12
Consider the terms obtained when the relative Fie termenii obinui prin derivarea vitezei
velocity VB3/2 is differentiated (second bracket relative VB3/2 (a doua parantez din (3.24)).
in (3.24)). The first term is the acceleration due Primul termen din parantez este acceleraia
to the change in magnitude of the relative datorat variaiei vitezei relative i este
velocity. This term is tangent to the relative tangent la traiectoria relativ. Al doilea termen
path. The second term is the acceleration due to este acceleraia datorat schimbrii direciei
the change in the direction of the relative vectorului vitez relativ. Pentru a se explicita
velocity vector. In order to explain this term acest termen, fie o vitez relativ constant ca
consider a constant magnitude for relative mrime (Fig.3.12). ntr-un anumit interval de
velocity (Fig.3.12). At a certain time interval timp t, elemental 2 se va roti cu unghiul .
t, link 2 will rotate by an angle . The Direcia vitezei relative va fi acum e i ( + ) fa
direction of the relative velocity is now e i ( + ) de e i ( ) cum era nainte rotire. Schimbarea
instead of e i ( ) initially. The vectorial change direciei vectorului vitez relativ va fi
of the relative velocity vector is ir&e i ( ) , and ir&e i ( ) = i dr e i ( ) a crui variaie n timp
dt
its time rate of change is ir&e i ( ) . The last
i ( )
&
i
r
e
.
Dup cum se vede ultimii termeni
este
two terms in both of the brackets are the same
in magnitude and direction. They can be
dr
din ambele paranteze i e i sunt identici i
i ()
&
combined into one term 2ire . This term is
dt
called Coriolis acceleration component and is pot fi combinai ntr-un singur termen
represented by acB3/2. It is a relative acceleration 2ir&e i ( ) care se numete acceleraia Coriolis
3-13
_________________________________________________________________________________________________
d2r
dr
a B3 = irae i r 2 e i + 2 e i + 2i e i
dt
dt
(3.25)
a B3 = a Bt 2 + a nB2 + a Bt 3 / 2 + a cB3 / 2
In the previous case, since the prismatic joint n cazul prezentat mai sus axa cuplei de
axis is along the radial line B0B, so that the translaie este de-a lungul liniei radiale B0B,
normal acceleration component of point B2 astfel c punctul B2 va avea componenta
(namely an2) and the tangential relative acceleraiei normale an2 i cea tangenial a
acceleration component atB3/2 are along the acceleraiei relative atB3/2 de-a lungul aceleai
same direction (so is acB3/2 and atB2). These direcii (la fel i acB3/2 i atB2 ). n cazul general
directions need not be along the same direction direciile acestor componente ale acceleraiilor
in general. Consider a prismatic joint as shown pot fi diferite. Fie o cupl de translaie ntre
in figure 3.13 below between links 2 and 3. In elementele 2 i 3 ca n figura 3.13 de mai jos
such a case:
rB3 = ae i + se i (+ )
Differentiating, we obtain:
(3.26)
Prin derivare:
ds i (+ )
e
dt
(3.27)
3-14
_________________________________________________________________________________________________
Fig.3.13
The first term of above equation (Fig.3.14) has Primul termen al ecuaiei (v.Fig.3.14) de mai
the magnitude |A0B|= b and its direction is sus are mrimea dat de |A0B|= b i direcia
perpendicular to the line A0B since the unit perpendicular pe A0B de vreme ce vectorul
vector is ie i(+) . The second term has the su unitate este ie i(+). Al doilea termen are
magnitude s& which is the relative velocity of mrimea de s& care este viteza relativ a
point B3 with respect to link 2 and its direction punctului B3 fa de elementul 2 i direcia este
is along the slider axis AB given by the unit de-a lungul axei AB fiind determinat de
vector e i(+ ).
vectorul unitate e i(+ ).
Derivnd nc odat ecuaia de mai sus va
Differentiating the velocity equation once rezulta acceleraia punctului B3 :
more, we have the acceleration of point B3 as:
a B3
Fig.3.14
= iae a e + ise i (+ ) + is&e i (+ ) s 2 e i (+ ) +
i
2 i
+ &s&e i (+ ) + is&e i (+ )
the terms can be grouped as:
(3.29)
_________________________________________________________________________________________________
i
i
2 i
i
& i (+ ) && i (+ )
a B3 = ie a + se
i
a + se = be
) e (a + se ) + 2ise
+ se
(3.30)
r
r
r
r
r
a B3 = a Bt 2 + a nB 2 + a Bt 3 / 2 + a cB3 / 2
Fig.3.15
3.2 Velocity and Acceleration Vectorial Analysis of Mechanisms/Analiza Vectorial a
Vitezelor i Acceleraiilor n Mecanisme/
3-16
_________________________________________________________________________________________________
VB = VA+ VB/A
VC= VB+ VC/B
aB= aA+atB/A+anB/A
aC= aB+atC/B+anC/B
(3.31)
d12
d 2 12
; 12 = &&12 =
dt
dt 2
3-17
(3.32)
_________________________________________________________________________________________________
Fig.3.16
(3.33)
d
d
ds
= 12 ; 13 = 13 ; s& 14 = 14 ;
dt
dt
dt
(3.34)
Note that the velocity loop equation is nothing Ecuaia de mai sus se scrie n form vectorial:
but the vector equation:
VB+ VA/B = VA
(3.35)
3-18
_________________________________________________________________________________________________
3-19
_________________________________________________________________________________________________
Fig.3.17
If the dependant position variables (s14 and 13) Pentru determinarea necunoscutelor s14 i 13
are to be solved analytically for a prin metoda analitic pentru o anumit poziie
corresponding input position 12, the velocity a parametrului de input 12 , ecuaia vitezelor va
loop equation will always give a linear relation genera mereu o relaie liniar intre variabilele
between the velocity variables (12, 13 and 12, 13 i s& 14 . Dac se d si viteza unghiular
s& 14 ). If the rate of change of the input variable a variabilei de input i anume 12, se pot
(12) is given, one can solve for the other two determina 13 i s& 14 prin metodele sistemelor
velocity variables (13 and s& 14 ) from the de ecuaii algebrice liniare. Cum avem 2 ecuaii
velocity equations by the methods of linear cu 2 necunoscute se poate aplica regula lui
algebra. Since we have two equations in two Cramer astfel:
unknowns, we can apply Cramers rule:
s& 14 =
i13
1 ia 3 e
1 ia 3 e i13
s& 14 = a 2
13 =
ia 3 e i13
ia 3 e i13
ia 2 12 e i12
ia 2 12 e i12
a 2 a 3 e i (12 13 ) e i (12 13 )
ia 3 e
i13
+e
i13
12
sin (12 13 )
12
cos 13
1 ia 2 12 e i12
1 ia 2 12 e i12
i13
1 ia 3 e
1 ia 3 e i13
(3.37)
(
(e
ia 2 e i12 + e i12
ia 3
i13
+e
i13
)
)
12
= 12
a 2 cos(12 )
a 3 cos 13
Note that one can as well obtain two scalar Se va observa c se pot rezova ecuaiile de
equations by equating the real and imaginary bucl prin egalarea prilor imaginare i reale
parts of the velocity loop equation and solve for ntre ele. Pentru mecanismul considerat avem:
the velocity variables as well. For the slidercrank mechanism these two scalar equations
will be:
3-20
_________________________________________________________________________________________________
(3.38)
d 2 12
dt 2
; 13 =
d 2 13
dt 2
; &s&14 =
d 2 s14
dt 2
Note that this equation can be written as a Ecuaia de mai sus se poate scrie:
vector equation in the form:
(3.40)
(3.41)
a2
1
[12 cos(12 ) cos(13 ) + 12 13 cos(12 ) sin(13 )]
2
a 3 cos (13 )
3-21
(3.42)
_________________________________________________________________________________________________
Graphically, the acceleration loop equation can Grafic, ecuaia acceleraiilor se poate rezolva
be solved by rewriting the acceleration vector prin rescrierea ei astfel:
loop equation as:
(3.43)
Fig.3.18
where aB/A= - aA/B. The reason why the equation unde aB/A= - aA/B. Motivul pentru care ecuaia
is written in this form is that we want to leave s-a scris ca mai sus este c se dorete s avem
one unknown on each side of the equality. The cte o necunoscut n fiecare termen al ecuaiei.
magnitude of aB is one unknown and the Mrimea lui aB este o necunoscut iar atB/A este
magnitude of atB/A is the other unknown. Since cea de-a doua necunoscut. Cum viteza i
the input angular velocity and acceleration are acceleraia unghiular ale elementului 2 sunt
given anB/A is known (if the velocity analysis is date, atunci anB/A este cunoscut (mrimea lui
performed, magnitude of anB/A will be anB/A se determin dup analiza vitezelor). Se
determined). We utilise a scale factor [ka] to folosete o scar a acceleraiilor [ka] pentru a se
convert the acceleration vector magnitudes to a putea desena la scar acceleraiile. Se ncepe cu
certain length. Starting with the vector atA or stabilirea polului acceleraiilor Ov n cmpul
anA we draw the vectors atA , anB/A and anA/B of desenului. Se deseneaz mai nti la scar atA
known magnitude and direction in an end-to-tip sau anA apoi vectorii atA , anB/A i anA/B care
form as shown above, Fig.3.18. Then we draw sunt cunoscui ca mrime i direcie aa cum se
a line in the direction of atB/A, which must be vede n figura 3.18. Se duce apoi o linie n
perpendicular to the line AB. The acceleration direcia lui atB/A, care este perpendicular pe
vector aB must be parallel to the slider axis. AB. Vectorul aB trebuie s fie paralel cu axa
From the starting point we then draw a line ghidajului cuplei de translaie. Intersecia celor
parallel to the slider axis. The intersection of 2 linii va determina aB i atB/A . Diagrama astfel
the two lines drawn will determine the ridicat se numete poligonul acceleraiilor.
magnitudes of aB and atB/A. The diagram thus
obtained is known as the acceleration polygon.
3-22
_________________________________________________________________________________________________
r
i ( )
rC = s14 + ic + b 3 e 13 3
(3.44)
Fig.3.19
Viteza i acceleraia punctului C este:
r
VC = s& 14 + ib 3 13 e i (13 3 )
r
a C = &s&14 + ib 3 13 e i (13 3 ) b 3 213 e i (13 3 )
(3.45)
VC=VB+VC/B
(3.46)
aC = aB + atC/B + anC/B
If one has solved the position (13 and s14) Dac se rezolv (13 i s14), vitezele (13 i
velocity (13 and s& 14 ) and acceleration s& 14 ) i acceleraiile (13 and &s&14 ) pentru un
parameters (13 and &s&14 ) for the given input anumit set de parametric de input (12, 12 i
condition (12, 12 and 12), then note that all 12 ) ai mecanismului, din ecuaiile de mai sus
of the terms on the right hand side are known se pot determina poziia, vitezele i acceleraiile
and one can determine the position, velocity punctului C.
and
acceleration
of
point
C.
3-23
_________________________________________________________________________________________________
anC/B and atC/B starting from the tip of the vectorului aB . Vectorul care unete originea lui
vector aB .The acceleration vector from the aB cu vrful lui atC/B va da acceleraia lui C.
starting point of aB to the tip of the vector atC/B
, will give us the acceleration of point C.
Fig.3.20
As for the velocity and acceleration analysis of Dac se ia ca alt exemplu un mecanism
a four-bar mechanism, a similar approach can patrulater ca mai jos, pentru calculul vitezelor
be used. The loop closure equation and its i acceleraiilor se poate proceda asemntor.
complex conjugate is:
Ecuaia de nchidere a buclelor i conjugata ei
sunt:
Fig.3.21
a 2 e i12 + a 3 e i3 = a 1 + a 4 e i14
a 2 e i12 + a 3 e i3 = a 1 + a 4 e i14
(3.47)
VA+ VB/A = VB
The velocity loop equation and its complex Ecuaiile de mai sus pot fi folosite pentru
3-24
_________________________________________________________________________________________________
13 =
14 =
a 2 12 e i12
a 2 12 e i12
a 3 e i13
a 3 e i13
a 3 e i13
a 3 e 13
a 4 e i 4
a 4 e i 4
a 4 e i14
a 4 e i14
a 2 12 e i12
a 2 12 e i12
i13
a 3e
a 3 e i13
(3.48)
i14
a 4e
a 4 e i14
If the velocity of the coupler point C is to be Pentru viteza punctului C vom avea:
determined:
r
rC = a 2 e i12 + b 3 e i (13 +3 )
(3.49)
The derivative of the position vector will give Derivata vectorului de poziie de mai sus va fi:
us the velocity vector:
r
(3.50)
VC = ia 2 12 e i12 + ib 3 13 e i (13 +3 )
VC=VA VC/A
In terms of Cartesian components:
Sau n coordonate carteziene:
x& C = a 2 12 sin 12 b 3 13 sin (13 + 3 )
y& C = a 2 12 cos 12 + b 3 13 cos(13 + 3 )
(3.51)
Once the x and y components of the velocity is Odat componentele pe axele x i y ale
determined one can as well transform the vitezelor sunt calculate se poate trece din
velocity vector into polar form to yield the coordonatele carteziene n cele polare astfel:
magnitude and direction by writing the velocity
vector in the form:
VC = x& C2 + y& C2
is magnitude of velocity/mrime vector vitez/
y&
(3.52)
= tan 1 C
x&
C
is the angle the velocity vector makes with respect to positive x axis/unghiul fcut de vectorul
vitez cu axa x pozitiv/
For the acceleration analysis, the second Pentru analiza acceleraiilor se deriveaz nc
derivative of the loop closure equation odat ecuaia vitezelor n raport cu timpul:
3-25
_________________________________________________________________________________________________
(3.53)
ia 2 12 e i12 a 2 212 e i12 ia 3 13 e i13 a 3 213 e i13 = ia 4 14 e i14 a 4 214 e i14
Note that the acceleration loop equation is Se va observa c ecuaiile acceleraiilor se pot
nothing but the acceleration vector equation in scrie n form vectorial:
the form:
(3.54)
Rearranging the terms so that only the unknown Prin re-aranjarea ecuaiilor de mai sus
acceleration variables are on the left hand side necunoscutele se vor trece n partea stng:
of the equation:
i13
+ ia 4 14 e
i14
= a 4
14 e
i14
+ ia 2 12 e
i12
+ a 2
12 e
i12
+ a 3
(3.55)
2
13 e
i13
Solving the two linear equations for the Rezolvnd sistemul de ecuaii de mai sus avem:
acceleration variables:
13 =
14 =
1
sin(14
1
sin(14
a 2 2
a4 2
a
14 + 2 12 sin(12 14 ) + 213 cos(13 14 )
12 cos(12 14 )
13 ) a 3
a3
a3
a 2 2
a
a2
12 sin(12 13 ) 214 cos(13 14 ) + 3 213
12 cos(12 13 ) +
13 ) a 4
a4
a4
(3.56)
The acceleration of the coupler point C can be Acceleraia punctului C poate fi obinut i din
obtained from the second derivative of the a doua derivat a vectorului de poziie:
position vector:
r
2 i (12 )
a C = a 2 12
e
+ ia 2 12 e i (12 ) + ib 3 213 e i (13 +3 ) b 3 13 e i (13 +3 )
(3.57)
The graphical solution of the velocity and Soluiile prin metoda grafic ale vitezelor i
acceleration vector equations are as shown in acceleraiilor punctului C sunt date mai jos:
below.
3-26
_________________________________________________________________________________________________
Fig.3.22
Example 3.1
Exemplul 3.1
3-27
_________________________________________________________________________________________________
76
b3
c3
270
b1
a1
180
300
405
Position analisys
0 .. 18
s12k
s34k
k .20 60
b1
s12k
angle s34k , a3
angle a1 , b1
14k
a1
a3
s12k
3-28
_________________________________________________________________________________________________
i
zDk
s34k
i.b3 .e
c3
( i .14 )
Velocity analysis
v12
180
v12 .
cos 14k
14k
s34k
v12 . .
a3 cos 14k
v34k
s34k
vDk
s34k
i .b3 . e
c3
( i .14 )
.i.14
k
Aceleration analisys
v12 .
14k .s34k .sin 14k
2
s34k
v12
s34k
aDk
s34k
. 14 .a3
k
i.b3 . i.a14k
c3
( i .14 )
a14k
a34k
v34k .e
14k
i .14
2 .i.v34k .14k .e
i .14
Some results
s120 = 60
vD0 = 420.923
arg vD0
= 77.6
deg
140 = 0.45
a140 = 0.381
aD0 = 271.463
a340 = 0.338
v340 = 148.279
120
110
100 90 80
70
60
130
140
50
40
150
zD
k
vD
k
aD
k
30
160
20
170
10
180
0
0
190
200
400
600
200
350
340
210
330
220
230
320
310
240
250
290
300
Fig.3.23
3-29
a34k .e
( i .14 )
_________________________________________________________________________________________________
Example 3.2
Exemplul 3.2
Fig.3.24
Define the fixed link lengths/Definire lungime elemente/:
a1
365
a2
a4
b1
182
507
12
809
a3
876
a5
684
deg = 0.017
b3
85.7
c3
a3
a6
707
b6
385
1
b3
154.5.deg
Generate the input crank angle for every 50/Unghi input la fiecare 50 grade/.
0 .. 72
k
12
xB
yB
k.
36
a 2 .cos 12
k
b1
a 2 .sin 12
a1
xBk,yBk are the rectangular coordinates of B with respect to C0 with +ve x axis along
QC0/ xBk,yBk sunt coordonatele carteziene ale lui B fata de C0 cu + pe axa x
si de-a lungul lui QC0/
angle (x,y)-This function returns an angle
(in radians) between the positive x-axis, and the point (x,y)
/functia angle(x,y) intoarce valoarea in radiani a unghiului dintre dreapta
care uneste originea de punctul de coordonate (x,y) si axa Ox/
3-30
_________________________________________________________________________________________________
angle x B , y B
k
k
sk
xB
yB
sk
acos
14
a3
a4
sk
2 .a 4 .a 3
k
13
14
a 2 .cos 12
k
b1
a 4 .cos 14
k
b 3 .cos 13
k
xA
xD
a 4 .sin 14
k
yD
a3
a4
2 .a 4 .s k
acos
xA
xD
a 2 .sin 12
k
a1
b 3 .sin 13
k
xD ,y A
k
k
angle x A
k
sk
yA
yA
yD
yD
acos
sk
16
15
a5
a6
2 .a 5 .s k
15
a5
acos
a6
sk
2 .a 5 .a 6
zF
a 2 .e
i . 12
k
a 6 .e
i . 16
k
b 6 .e
i . 16
k
3-31
_________________________________________________________________________________________________
k
In figure below, the path of point F is shown ( the x sign is the position of point F when
q12=900)/In graficul de mai jos este trasata traiectoria lui F/
1000
900
800
700
Im z F
k
600
Im z F
18
500
400
300
200
100
0
500
600
700
800
Re z F , Re z F
k
18
900
i.a 3 .e
Ak
i . 13
k
i . 13
k
i.a 3 .e
i.c 3 .e
i .a 4 .e
i.a 4 .e
i . 13
k
i . 13
k
i.c 3 .e
i . 14
k
i . 14
k
i . 15
k
i.a 5 .e
i.a 5 .e
i . 15
k
i.a 6 .e
i.a 6 .e
i . 16
k
i . 16
k
bk
i . 12
k
i . 12
k
i .a 2 .e
2 .i.a 2 .e
i . 12
k
2 .i.a 2 .e
i . 12
k
13
k
14
k
15
k
Ak
1.
b k . 12
16
k
3-32
_________________________________________________________________________________________________
The angular acceleration of the links are found from the acceleration loop equations
Acceleratiile unghiulare rezulta din acceleratii/
2
a 2 . 12 .e
i . 12
k
2
a 2 . 12 .e
ck
2
2 .a 2 . 12 .e
2
2 .a 2 . 12 .e
i . 12
k
i . 12
k
2
a 3 . 13 .e
k
2
a 3 . 13 .e
k
2
c 3 . 13 .e
k
i . 12
k
i . 13
k
2
c 3 . 13 .e
k
i . 13
k
2
a 4 . 14 .e
k
i . 13
k
2
a 4 . 14 .e
k
2
a 5 . 15 .e
k
i . 13
k
i . 14
k
2
a 5 . 15 .e
k
i . 15
k
i . 15
k
i . 14
k
2
a 6 . 16 .e
k
i . 16
k
2
a 6 . 16 .e
k
i . 16
k
a 13
a 14
a 15
Ak
1.
ck
a 16
VF
i.a 2 . 12.e
aF
2
a 2 . 12 .e
i. 16 .e
k
i . 12
k
i . 16
k.
2
i. 16 .e
k
b 6 .e
a6
i . 16
k.
a6
i .(
b 6 .e
i .(
i. a 16 .e
k
i . 16
k.
a6
b 6 .e
The polar plots of the velocity and acceleration vectors of point F for a complete cycle are
shown below/Grafic in coordonate polare a vitezelor si acceleratiilor punctului F/
130
140
150
120
110
50
40
30
1000
160
VF
100 90 80
70
60
2000
20
170
k
10
180
190
350
200
340
210
330
220
230
240
250
290
300
Velocity of point F
Fig.3.25
3-33
320
310
i .(
_________________________________________________________________________________________________
120
130
140
150
110
1.5 10
1 10
160
aF
70
60
180
190
50
40
30
20
5000
170
k
100 90 80
10
0
350
200
340
210
220
230
240
250
260270 280
arg a F
k
290
330
320
310
300
Acceleration of F
Fig.3.26
Example 3.3
Exemplul 3.3
Fig.3.27
In case of the analytical solution, the main
problem is the identification of the loop and the
position variables. If we redraw the mechanism
as in figure 3.28 above, the identification of the
position variables may be more obvious. The
most important rule is that one must disregard
the shape of the links and concentrate on the
joints involved. In such a case we can write the
loop equation in complex numbers as:
Fig.3.28
Pentru a calcula soluia analitic problema este
identificarea buclelor i a variabilelor de
poziie. Dac se redeseneaz schematic
mecanismul ca n figura 3.28 identificarea
variabilelor devine o sarcin uoar. O regul
este s fie considerate doar cuplele dintre
elementele cinematice iar forma elementelor
cinematice s fie simplificat. Se poate scrie
ecuaia de poziii n complex:
3-34
_________________________________________________________________________________________________
100
a2
2
Const
a2
30
2
b1
a3
2
a1
150
K1
a3
b1
b3
150
2.a 2.a 1
K2
k
12
k.deg
Const
Za
a 2.e
K 1.cos 12
k
i . 12
k
s 43
14
ce
arg Z a
K 2.sin 12
k
i.b 1 a 1
i.a 3
3-35
150
2.b 1.a 2
_________________________________________________________________________________________________
a
k
200.
30
12
a3
v 43
.cos
12k
s 43
k
a2
14
k
14
.cos
12k
s 43
k
. .a
12 2
14
sin 12
k
14
For the acceleration analysis the above equations are differentiated with respect to time
directly/Pentru analiza acceleratiilor ecuatiile de mai sus se deriveaza in raport cu timpul/
a 2 . 12.
a 14
v 43
s 43
k
a 2 . 12. 12
a 43
.cos
12k
14 .
k
14
a3
s 43
k
.sin
12k
s 43
k
.sin
12k
14
14 . 12
k
cos 12
k
14
VA
aA
i.a 2 . 12.e
i . 12
k
2
a 2 . 12 .e
130
140
150
i . 12
k
120
110
160
VA
k
170
180
i.b 3 . 14 .e
k
i . 14
k
2
b 3 . 14 .e
k
i . 14
k
i.a 14 .b 3 .e
k
i . 14
k
100 90 80
70
702.34
60
632.1
50
561.87
40
491.64
421.4
30
351.17
280.94
20
210.7
140.47
10
70.23
0
0
190
350
200
340
210
220
230
240
250
290
300
330
320
310
3-36
14
k
v 43
s 43
k
.a .cos
3
12k
14
_________________________________________________________________________________________________
180
100 90 80
5 70
2.37 105
60
2.14 105
50
1.9 10 5
40
1.66 105
1.42 105
30
1.19 104
9.49 104
20
7.12 104
4.75 104
10
2.37 10
0
0
190
350
120
130
140
150
110
160
aA
k
170
200
340
210
220
230
240
250
290
330
320
310
300
Fig.3.29
3.3 Position, Velocity and Acceleration Analytical Calculation of Mechanisms/Calculul
Analitic al Poziiei, Vitezelor i Acceleraiilor n Mecanisme/
r r
r r
r
r1 + r2 + ... + ri + ri +1 ... + rn = 0
3-37
(3.58)
_________________________________________________________________________________________________
Fig.3.23
By projecting the eq. (3.58) on the Cartesian Prin proiectarea ecuatiei (3.58) pe axele
system xOy axes, we have:
reperului cartezian xOy se obtine,
r j sin j = 0
j
(3.59)
The unknowns are or r type and after the Necunoscutele sunt de tip si/sau r .Dupa
substitutiile
substitutions:
cos i =
sin i =
1 u i2
1 + u i2
2u i
with/cu/
u i = tg
i
2
(3.60)
1 + u i2
3-38
_________________________________________________________________________________________________
Fig.3.24
(x
) (
(3.61)
x j + y i y j = l ij2
- For the case in fig.3.25 involving a translation -Pentru situatia prezentat in figura 3.25 se pot
pune in evident dou variante.
joint, we may have:
Ecuatia ghidajului este dat sub
The guide equation is:
forma:
i
Fig.3.25
Ax + By + C = 0
tg =
B
A
(3.62)
A +B
(3.63)
=d
x cos + y sin p = 0
so that the position function is:
(3.64)
3-39
(3.65)
_________________________________________________________________________________________________
Fig.3.26
&&
x 0 , y 0 , l1 , , & ,
x 1 = x 0 + l1 cos
y1 = y 0 + l1 sin
(3.66)
Velocities
Viteze
In order to determine the links velocities we Pentru viteze se deriveaz relaiile (3.66),
may differentiate function of time, eq. (3.66)
obtinandu-se:
r
r
r
r
r
x& 1 = l1& sin
VB = x& 1 i + y& 1 j = l1& sin i cos j
y& 1 = l1& cos
r
2
2
VB = (x& 1 ) + (y& 1 ) = l1&
(3.67)
Accelerations
Acceleratii
In order to calculate the accelerations one may Pentru acceleratii se deriveaz relatiile (3.67),
differentiate eq. (3.67) in report to time:
obtinandu-se
&& sin
&x&1 = l1& 2 cos l1
&& cos
&y&1 = l1& 2 sin + l1
3-40
(3.68)
_________________________________________________________________________________________________
) (
r
r
r
r
r
a B = &x&1 i + &y&1 j = l1& 2 cos l1
&& sin i + l1& 2 sin + l1
&& cos j
r
2
2
4
&& 2
a B = &x&1 + &y&1 = l1 & +
Below an Mathcd example of calculation is Mai jos este przentat un program n Mathcad
shown:
spre exemplificare:
pas
x0
24
( pas )
y0
l1
vit
acc
Date de intrare
while i ( 2 .
i
i
pas )
pas
0 ..
2 .
pas
x0 l1.cos Phii
x1i
y1i
vitx1i
y0
2
l1.( vit ) .sin Phii
l1.sin Phii
l1.vit .cos Phii
vity1i
2
l1.( vit ) .cos Phii
accx1i
accy1 i
( pas )
Phi
x1
y1
4
Phi
5
Phi
10
vity1
vitx1
1
0
4
Phi
3-41
4
Phi
_________________________________________________________________________________________________
accx1
accy1
4
Phi
4
Phi
Fig.3.27
Now suppose the crank is translating along Element conductor n miscare de translatie,
the guide 0 as shown in Fig.3.28.
(figura 3.28).
The known variables are:
Date de intrare (cunoscute):
Fig.3.28
Positions
In order to calculate the positions of link:
Pozitii
Pentru pozitii se scriu relaiile:
x 1 = x 0 + S cos + l1 cos( + )
(3.69)
y1 = y 0 + S sin + l1 sin ( + )
Velocities
Viteze
For the calculation of velocities we may Pentru viteze se deriveaz relatiile (3.69),
deploy:
obtinandu-se:
3-42
(3.70)
_________________________________________________________________________________________________
Acelerations
Acceleratii
And by diferentiating eq. (3.70) in report to Pentru acceleratii se deriveaz relatiile (3.70),
time:
obtinandu-se
pas
0.1
x0
( pas )
y0
l1
1 s
1 vitS
Phi
while i ( s
i
i
1 Date de intrare
12
pas )
1 accS
pas
( pas )
S
i
x1i
0 ..
pas
x0 Si .cos ( Phi )
l1.cos ( Phi
vitx1i
accx1i
vity1i
accy1 i
y1i
y0
Si .sin ( Phi )
l1.sin ( Phi
2.5
2.5
x1
y1
2
1.5
0.5
S
3-43
1.5
0.5
S
_________________________________________________________________________________________________
0.708
0.708
vity1 0.707
vitx1 0.707
0.706
0.706
0
0.5
S
0.708
0.5
S
0.708
accx1 0.707
0.706
accy1 0.707
0.5
S
0.706
Fig.3.29
0.5
S
Fig.3.30
3-44
_________________________________________________________________________________________________
Positions
Pozitii
To calculate the joints positions we use:
Pentru pozitii se scriu relatiile:
x 3 = x 1 + l 2 cos
y 3 = y1 + l 2 sin
x 4 = x 1 + l 4 cos( + )
(3.72)
y 4 = y1 + l 4 sin ( + )
Velocities
By differentiating eq. (3.72) we have:
Viteze
Pentru viteze se deriveaz relatiile (3.72),
obtinandu-se:
r
r r
r
VC = x& 3 i + y& 3 j; VC =
r
r r
r
VE = x& 4 i + y& 4 j; VE =
Accelerations
By differentiating eq. (3.73) we have:
(3.73)
(x& 3 )2 + (y& 3 )2
(3.73)
(x& 4 )2 + (y& 4 )2
Acceleratii
Pentru acceleratii se deriveaz relatiile (3.73),
obtinandu-se
2
&& sin ( + ) l 4 & cos( + )
&x& 4 = &x&1 l 4
&& cos( + ) l 4 & 2 sin ( + )
&y& 4 = &y&1 + l 4
r
r r
r
2
2
a C = &x& 3 i + &y& 3 j; a C = (&x& 3 ) + (&y& 3 )
r
r r
r
2
2
a E = &x& 4 i + &y& 4 j; a E = (&x& 4 ) + (&y& 4 )
(3.74)
&& sin l 2 & 2 cos
&x& 3 = &x&1 l 2
Below an Mathcd example of calculation is Mai jos este przentat un program n Mathcad
shown:
spre exemplificare:
MathCad Solving
x0
l2
0.5
i
i
l4
0.3
l1
0.5
Date de intrare
30.deg
0 .. 360
x1
1 y0
x0
5 .i.deg
l 1 .cos i
y1
y0
l 1 .sin i
3-45
_________________________________________________________________________________________________
v x1
l 1 . 1 .sin i
a x1
2
l 1 . 1 .cos i
2
l 1 . 1 .sin i
a y1
v y1
l 1 . 1 .cos i
l 1 . .sin i
l 1 . .cos i
x3
l 2 .cos i
x1
y3
y1
l 2 .sin i
x4
x1
l 4 .cos i
l 4 .sin i
y4
y1
v x3
v y3
v x4
v y4
v y1
v x1
v y1
l 2 . .sin i
v x1
l 2 . .cos i
l 4 . .sin i
l 4 . .cos i
a x3
a x1
a y3
a y1
a x4
a x1
a y4
a y1
2
l 2 .( ) .sin i
l 2 . .cos i
l 4 . .sin i
2
l 2 .( ) .cos i
l 2 . .sin i
l 4 . .cos i
2
l 4 .( ) .cos i
2
l 4 .( ) .sin i
3-46
_________________________________________________________________________________________________
4
x3
i
y3
i
200
200
deg
deg
v x3
i
v y3
i
200
deg
deg
a x3
i
a y3
i
200
200
i
deg
200
i
deg
3.3.3 The Kinematic Analysis of a Dyad with 3 Rotation Joints Using Distance
Method/Analiza Cinematic a Grupei Structurale RRR Prin Metoda Distantelor/
The planar kinematic groups (Assur groups)
_________________________________________________________________________________________________
keeping together the elements of the groups, elementele grupei ntre ele si, cuple exterioare
and external joints for joining the group to:
care, n cadrul mecanismului, conecteaza grupa
cinematica la:
Crank,
Fig.3.31
3-48
_________________________________________________________________________________________________
Fig.3.32
Date de iesire necunoscute
The unknown vriables are:
&& 1 , 3 , & 3 ,
&& 3 ,
x 3 , y 3 , x& 3 , y& 3 , &x& 3 , &y& 3 , 1 , & 1 ,
Positions
For the calculation of the joints C position
(namely x3, y3) we may write the equations
below. After solving the system well consider
that solutions which ensure the continuity of the
motion (that solutions which are close to the
last solutions). So that:
Pozitii
Pentru a determina pozitia cuplei C, adic (x3,
y3) se scriu relatiile de mai jos. Dintre solutiile
sistemului (3.75) se adopt solutia cea mai
apropiat de solutia precedent.
Pentru a determina pozitiile elementelor:
(x 3 x 1 )2 + (y 3 y1 )2 = l 22
(x 3 x 2 )2 + (y 3 y 2 )2 = l 32
3-49
(3.75)
_________________________________________________________________________________________________
(y 3 y 1 )
(x 3 x 1 )
(y y 2 )
tg 3 = 3
(x 3 x 2 )
tg1 =
(3.76)
Velocities
By differentiating the eq. (3.75) we may have
for point C:
2(x 3 x 1 )(x& 3 x& 1 ) + 2(y 3 y1 )(y& 3 y& 1 ) = 0
Viteze
Pentru a determina componentele vitezei cuplei
C se deriveaz ecuatiile (3.75):
(x 3 x 1 )(x& 3 x& 1 ) + (y 3 y1 )(y& 3 y& 1 ) = 0
(
x 3 x 2 )(x& 3 x& 2 ) + (y 3 y 2 )(y& 3 y& 2 ) = 0
2(x 3 x 2 )(x& 3 x& 2 ) + 2(y 3 y 2 )(y& 3 y& 2 ) = 0
r
r r
r
VC = x& 3 i + y& 3 j; VC =
(x& 3 )2 + (y& 3 )2
(3.77)
In order to calculate the angular velocities we Pentru a determina vitezele unghiulare ale
must differentiate eq. (3.76):
elementelor, se deriveaz relatiile (3.76) scrise
sub forma urmtoare:
(x& 3 x& 1 ) sin 1 + & 1 (x 3 x 1 ) cos 1 (y& 3 y& 1 ) cos 1 + & 1 (y 3 y1 ) sin 1 = 0
(x& 3 x& 2 ) sin 3 + & 3 (x 3 x 2 ) cos 3 (y& 3 y& 2 ) cos 3 + & 3 (y 3 y 2 ) sin 3 = 0
(y 3 y 1 )
(x 3 x 1 ) (x 3 x 1 )sin 1 (y 3 y1 ) cos 1 = 0
(y 3 y 2 ) (x 3 x 2 ) sin 3 (y 3 y 2 ) cos 3 = 0
tg 3 =
(x 3 x 2 )
tg1 =
(3.78)
Accelerations
Acceleratii
The calculation of components of point C Pentru a determina componentele acceleratiei
acceleration may be done using the differentials cuplei C, se deriveaz relatiile (3.77),
in report to time for eq. (3.77):
obtinandu-se:
[(x 3 x 1 )(x& 3 x& 1 ) + (y 3 y1 )(y& 3 y& 1 )]' =
2
2
= (x& 3 x& 1 ) + (x 3 x 1 )(&x& 3 &x&1 ) + (y& 3 y& 1 ) + (y 3 y1 )(&y& 3 &y&1 ) = 0
[(x 3 x 2 )(x& 3 x& 2 ) + (y 3 y 2 )(y& 3 y& 2 )]' =
(3.79)
r
r r
r
a C = &x& 3 i + &y& 3 j; a C =
(&x& 3 )2 + (&y& 3 )2
In order to calculate the angular accelerations Pentru a determina acceleratiile unghiulare ale
we must differentiate eq. (3.78):
elementelor, se deriveaz relatiile (3.78),
obtinandu-se:
3-50
_________________________________________________________________________________________________
[(x& 3 x& 1 ) sin 1 + & 1 (x 3 x 1 ) cos 1 (y& 3 y& 1 ) cos 1 + & 1 (y 3 y1 ) sin 1 ]' =
2
&& 1 (x 3 x 1 ) cos 1
= (&x& 3 &x&1 ) sin 1 + 2& 1 (x& 3 x& 1 ) cos 1 & 1 (x 3 x 1 ) sin 1 +
(&y& &y& ) cos + 2& (y& y& ) sin + & 2 (y y ) cos +
&& 1 (y 3 y1 ) sin 1 = 0
3
1
1
1
3
1
1
1
3
1
1
[(x& 3 x& 2 ) sin 3 + & 3 (x 3 x 2 ) cos 3 (y& 3 y& 2 ) cos 3 + & 3 (y 3 y 2 ) sin 3 ]' =
= (&x& &x& ) sin + 2& (x& x& ) cos & 2 (x x ) sin +
&& 3 (x 3 x 2 ) cos 3
3
2
3
3
3
2
3
3
3
2
3
0.1
Pozx0
Pozx0
0 Pozy0
y0i
Pozy0
viti
a
acci
0 .. 24
12
( pas )
i
i
0
0
while i ( 2 .
i
i
i
x1i
vitx1i
pas
0 ..
2 .
pas
l1.cos Phii
x0i
pas )
( pas )
Phi
Cupla B
y1i
y0i
l1.sin Phii
vity1i
2
l1. viti .cos Phii
accy1 i
2
l1. viti .sin Phii
0.3
Pozy2
Pozx2
l3
( l1 l2) .sin
y2i
l3.sin
6
Pozitii cupla B
accx1i
x2i
pas
l2
Viteze cupla B
Acceleratii cupla B
Pozx2
Pozy2 =
Pozy2
3-51
Cupla C
_________________________________________________________________________________________________
.2
i
y33
24
x22
.2
x2i
y22
x22 = 0
y2i
x11
x1i
y11
y1i
y11 = 0
Given
( x33 x11)
( y33
y11 )
l2
( x33 x22)
( y33
y22 )
l3
0.265
0.251
x3
T
x3T
y3
0.3
T
y3T
0.3
0.25
x3
0.2
y3
0.2
0.15
0.1
4
Phi
0.1
4
Phi
0 .. 24
1i
atan
y3i
y1i
x3i
x1i
2i
3-52
atan
y3i
y2i
x3i
x2i
_________________________________________________________________________________________________
1.5
0.5
1
1
0.5
4
Phi
1.5
4
Phi
vx2
vy2
ax2
ay2
vitx2i
vx2
vitx33
i
vity33
24
x33
vity2i
vy2
accx2i
ax2
accy2 i
ay2
x3i
y33
x33 = 0.265
vitx11
vitx11 = 0
vitx1i
y3i
x22
y33 = 0.25
x2i
x22 = 0
vity11
vity1i
vity11 = 0.1
y22
y2i
y22 = 0.448
vitx22
vitx2i
vitx22 = 0
x11
x1i
x11 = 0.1
vity22
y11
y1i
y11 = 0
vity2i
vity22 = 0
Verificare alocare corecta
Given
( y33
y11 ) .( vity33
vity11 ) 0
( y33
y22 ) .( vity33
vity22 ) 0
3-53
_________________________________________________________________________________________________
0.1
vitx3
0.1
0.1
vity3
4
Phi
0.1
4
Phi
0 .. 24
vitx3i
v1i
vitx1i sin 1i
x1i cos 1i
x3i
vitx3i
v2i
y3i
vitx2i sin 2i
y1i sin 1i
vity2i cos 2i
vity3i
x2i cos 2i
x3i
vity1i cos 1i
vity3i
y3i
y1i sin 2i
0.5
50
0
v1
v2
50
0.5
4
Phi
100
4
Phi
Accelerati i
accx33
i
vitx11
24
vitx1i
vitx11 = 0
accy33
vity1i
vity11 = 0.1
vitx22
vitx2i
vitx22 = 0
vity22
vity2i
vity22 = 0
3-54
vitx33
vitx3i
vitx33 = 0.05
vity33
vity3i
vity33 = 0.067
_________________________________________________________________________________________________
x33
x3i
y33
x33 = 0.265
accx11
y3i
x22
y33 = 0.25
accx1i
y22
x22 = 0
accy11
accx11 = 0.1
x2i
accy11 = 0.1
x11
y22 = 0.448
accx22
accy1 i
y2i
vitx2i
x1i
x11 = 0.1
accy22
accx22 = 0
y11
y1i
y11 = 0
vity2i
accy22 = 0
Given
( vitx33 vitx11)
( vity33
vity11 )
( y33
y11 ) .( accy33
accy11 ) 0
( vitx33 vitx22)
( vity33
vity22 )
( y33
y22 ) .( accy33
accy22 ) 0
7.843 10
0.025
accx3
accx3
T
accx3T
accy3
T
accy3T
0.2
0.2
0.1
0.1
accy3
0.1
0.2
0
0.1
4
Phi
0.2
4
Phi
Accelerati i unghiulare
a11
i
11
a22
24
1i
22
11 = 0.987
2i
22 = 0.641
v11
v1i
v11 = 0.2
3-55
v22
v2i
v22 = 1.331
_________________________________________________________________________________________________
vitx11
vity11
vitx1i
vitx11 = 0
x33
vitx22
vity11 = 0.1
x3i
y33
x33 = 0.265
accx11
vity1i
y3i
accx1i
accx11 = 0.1
x2i
y2i
y22 = 0.448
accx22
accy1 i
accy11 = 0.1
vitx2i
vitx33
vity2i
x11
vitx3i
vitx33 = 0.05
vity22 = 0
y22
x22 = 0
accy11
vity22
vitx22 = 0
x22
y33 = 0.25
vitx2i
x1i
y11
x11 = 0.1
accy22
vity33
vity3i
vity33 = 0.067
y1i
y11 = 0
vity2i
accy22 = 0
accx22 = 0
1.41
4.232
T
a1T
a1
T
a2T
a2
4.4
2
a1
a2
4.2
4
Phi
4
Phi
Fig.3.33
3.3.4 The Kinematic Analysis of RRT or TRR Dyads using Contour method / Analiza
Cinematica a Diadei RRT-TRR prin Metoda Contururilor/
Consider a RRT or TRR dyad like in the figure Fie o diad RRT sau TRR ca mai jos unde se
below, in which we name with e the noteaza cu e excentricitatea.
eccentricity:
Daca e 0
mecanism biela
manivela excentric.
If e 0 that is the mechanism is an
eccentric slider crank mechanism,
Daca e = 0
mecanism biela
manivela centric.
If e = 0 that is the mechanism is an
Fie S=legea de miscare cutata:
centric slider crank mechanism.
Noting with S the unknown motion variable:
3-56
_________________________________________________________________________________________________
l '4 =
s; l
''
4
=e
(3.81)
Fig.3.34
We note/Notatii/:
=
l1
e
; k= .
l2
l2
l1 + l2 + l3 + l4 = 0
l1 cos 1 + l 2 cos 2 + l '4 cos '4 + l '4' cos '4' = 0;
{ 1
0
S
(3.82)
l1 sin 1 + e
'
'
''
''
sin 1 k
l1 cos 1 + l 2 cos 2 + l{4 cos 4 + l 4 cos 4 = 0 = l1 cos 1 + l 2 1
1
4
4
2
4
4
3
1
0
S
sin
4
144
4242444
3
cos
cu sin + k < 1
1
(3.83)
Se dezvolta S in serie:
1 4 1
1
2
6
cos 1 + l 2 1 ( sin 1 + k ) ( ) ( ) ...
(3.84)
8
16
2
For motion velocities and accelerations we Pentru viteze si acceleratii se deriveaza relatia
differentiate the above equation:
de mai sus:
s=l
v=
s& ; a = &s&.
3-57
_________________________________________________________________________________________________
3.3.5 The Kinematic Analysis of RTR Dyad using Contour method / Analiza Cinematica a
Diadei RRT- TRR prin Metoda Contururilor/
Fig.3.35
l1 + l3 + l4 = 0
l1 cos 1 + l 3 cos 3 + l 4 cos 4 = 0
(3.85)
O1 C
O2B
l1 cos 1
1
3
tg = tg 2 3 = tg = AB + BC = AB + BC = l sin + l
1
4
3
1
l1 sin 1 + l 4
;
3 = arctg
l1 cos 1
(3.84)
=
l
3
= l 2 + l 2 + 2l l cos + = l 2 + l 2 + 2l l sin ( )
1
4
1 4
1
1
4
1 4
1
2
4
1
4
4
4
4
4
2
4
4
4
4
3
v=
s& ; a = &s&.
3-58
_________________________________________________________________________________________________
3.3.6 The Kinematic Analysis of TRT Dyad using Contour method / Analiza Cinematica a
Mecanismului ce Contine Diada TRT prin Metoda Contururilor/
Fig.3.36
l1 + l4' + l4'' = 0
'
4
s = l = sinl
1
s = l = tgl .
2
0
1
'
'
''
''
l1 sin 1 + l 4 sin 4 + l 4 sin 4 = 0
1
0
''
4
(3.85)
'
4
s& ; a = &s&.
3.3.7 The Kinematic Analysis of RTT-TTR Dyad using Contour method /Analiza Cinematica
a Mecanismului ce Contine Diada RTT-TTR prin Metoda Contururilor/
3-59
_________________________________________________________________________________________________
Fig.3.37
l1 cos 1 +
cos 3'' = 0
'
'
''
''
l1 sin 1 + l 3 sin 3 + l 3 sin 3 = 0
1
0
l 3'
l1 +
l3'
l3''
=0
s = l = l sin
1
s = l = l cos
2
'
3
''
3
(3.86)
1
s& ; a = &s&.
3-60
_________________________________________________________________________________________________
INDEX/CUPRINS/
4.0 FOUR-BAR MECHNISMS ANALISYS/ANALIZA MECANISMELOR PATRULATERE/ _____2
4.1 INTRODUCTION/INTRODUCERE / _______________________________________________________2
4.2 DEAD-CENTRE POSITIONS OF CRANK-ROCKER MECHANISMS/POZIIA MOART A MECANIMELOR
MANIVEL-BALANSIER/ ________________________________________________________________6
4.3 TRANSMISSION ANGLE/UNGHIUL DE TRANSMISIE/ _________________________________________7
4.4 SLIDER CRANK MECHANISMS/MECANISMELE BIEL-MANIVEL/ ____________________________10
4-1
_________________________________________________________________________________________________
Fig.4.1
Application of four-bar mechanisms to Aplicaiile mecanismelor patrulatere n
machinery is numerous. Some typical industrie sunt diverse. Cteva aplicaii tipice
applications
are
given
below. sunt date n continuare.
Correlation of the angular rotations of the links
connected to the fixed link. In such applications
we would like to have a certain functional
relation such as 14 = f(12) to be realised by the
four-bar mechanism. A simple example will be
to convert a linear scale to a logarithmic scale
(Fig.4.2).
4-2
_________________________________________________________________________________________________
Fig.4.2
The four-bar mechanism used for the dump Mecanismul patrulater folosit la un ncrctor
truck (Fig.4.3 and 4.4) requires that the center (Fig.4.3 i 4.4) asigur ca centrul de greutate a
of gravity of the dumper to move on an inclined cupei ncrctorului s se mite pe o linie
straight line while it is being tilted.
dreapt cnd este nclinat.
Fig.4.3
Fig.4.4
Teorema lui Grasshof
Grasshofs Theorem
In a four-bar mechanism we can have the ntr-un mecanism patrulater pot exista trei
4-3
_________________________________________________________________________________________________
tipuri de micri:
l= length of the longest link; s= length of the l=lungimea celui mai lung element;
shortest link; p,q = length of the two s=lungimea celui mai scurt; p,q=lungimile
elementelor mai scurte dect cel mai lung i
intermediate links.
mai lungi dect cel mai scurt.
The following statements may be demonstrated Urmtoarele afirmaii pot fi demonstrate ca
adevrate:
as being valid:
1. If l + s < p + q (if the sum of the lengths of
the shortest and the longest links is less than the
sum of the two intermediate links)
Fig.4.5
Then:
a&b) Two different crank-rocker mechanisms
are possible. In each case the shortest link is the
crank, the fixed link is either of the adjacent
links (Fig.4.6).
4-4
_________________________________________________________________________________________________
Fig.4.6
c&d) One double-crank (drag-link) is possible c&d) Un mecanism cu manivel dubl poate
when the shortest link is the frame and one exist dac fie elementul cel mai scurt fie cel
double-rocker mechanism is possible when opus celui mai scurt sunt fixe (Fig.4.7).
Fig.4.7
2. If l + s > p + q (if the sum of the longest and 2. Dac l + s > p + q (suma lungimilor
the shortest link lengths is greater than the elementelor cel mai lung i cel mai scurt este
sum of the lengths of the two intermediate mai mare dect suma elementelor intermediare),
links) only double-rocker mechanisms are atunci pot fi posibile doar mecanisme cu
possible (four different mechanisms, manivel dubl funcie de care este elementul
depending on the fixed link).
fix (deci 4 posibiliti).
3. If l + s = p + q the four possible
mechanisms will result. However these 3. Dac l + s = p + q pot exista patru tipuri de
mechanisms will suffer from a condition mecanisme posibile. Exist ns o poziie
known as the change point. The center lines special n funcionare numit punct central n
of all the links are collinear at this position. care centrele tuturor elementelor sunt coliniare
The follower linkage may change the n care apar o situaie de nedeterminare.
direction of rotation. This is an
undetermined position.
4. A parallelogram linkage is a special case of 4. Dac dou elemente sunt egale ntre ele ca
lungime
mecanismul
patrulater
devine
where the opposite links are equal (Fig.4.8).
paralelogram (Fig.4.8).
4-5
_________________________________________________________________________________________________
Fig.4.8
A deltoid linkage is another special case in Un mecanism deltoid este un alt caz special la
which two equal links are connected to two care dou elemente egale ca lungime sunt
equal longer links as shown in Fig. 4.9. With conectate la alte dou egale ntre ele. Dac un
the long link as the frame a crank-rocker element mai lung este fix va rezulta un
mechanism is possible. The frame as the short mecanism manivel-balansier, dac un element
mai scurt este fix rezult un mecanism cu dubl
link may give a double-crank mechanism.
manivel.
Fig.4.9
4.2 Dead-Centre Positions of Crank-Rocker Mechanisms/Poziia moart a mecanimelor
manivel-balansier/
In crank-rocker mechanisms the rocker
oscillates between two limiting angles. The
positions of the mechanism when the rocker is
at a limit position are called the dead-centre
positions of the four-bar. Since the rocker is
moving in one direction before it reaches the
limiting angle and since it moves in opposite
direction after it passes this limit position, the
velocity of the rocker at the limiting position
must be zero. Hence, we can define a deadcenter position as the position in which the
rocker has instantaneously zero velocity.
Consider a crank-rocker mechanism at an
arbitrary position B (Fig. 4.10). Assuming that
the crank is rotating with a speed 12, the
angular velocity of the rocker is:
4-6
_________________________________________________________________________________________________
14 =
a 2 sin(12 13 )
12 = 0
a 4 sin(14 13 )
(4.1)
sin(12 13 ) = 0 12 13 = 0 sau
Fig.4.10
From this equation we can state that the rocker Din ecuaia de mai sus pentru ca 14 s fie zero
angular velocity will be zero when sin(12- trebuie ca sin(12-13)=0 sau 12-13=0 sau
13)=0 or when 12-13=0 or . Extended dead- . Dac 12-13=0 atunci poziia moart se
center position is when the crank and the numete extins iar cnd 12-13= atunci
coupler links are extended (12=13) and folded poziia moart se numete nfurat. Unghiul
dead-center position is when the crank and the balansierului care se msoar ntre cele dou
coupler are folded on top of each other poziii moarte Be i Bf se numete unghi de
(13=12+). The oscillation angle of the rocker oscilaie . Rotaia (unghiul) corespunztoare
between the dead-center positions Be and Bf la manivel pentru execuia acestui unghi
and measured from the extended dead-center to este . Uneori n loc de unghiuri se definesc
the folded dead-center position is called the intervalele de timp dintre oscilaia ntr-un sens
swing angle, . There is a corresponding (nainte) i n sens opus (napoi) a
crank rotation, . Sometimes, rather than the balansierului, cu condiia ca manivela s aib
corresponding crank angle, time-ratio between vitez unghiular constant:
the forward and reverse oscillations (strokes) is
used. If we assume that the crank is rotating at a
constant speed, we define the time ratio as:
(4.2)
=
TR =
timp oscilatie inapoi 360 0
Orice
mecanism
realitate
trebuie
_________________________________________________________________________________________________
tan =
or/sau/
(4.3)
Fig.4.11
Clearly, the optimum value of the transmission Evident unghiul optim de transmisie este =900
angle is =900 since the total force is equal to dat fiind c la aceast valoare fora aplicat
the force driving the link. Since the angle will elementului cinematic de input este egal cu
be constantly changing during the motion cycle cea transmis mai departe de elementul de
of the mechanism, there will be a position at ieire. Dar n cursul funcionrii unghiul de
which the transmission angle will deviate most transmisie variaz i va exista un unghi mult
from 900. In practice it has been found out that deviat de la unghiul optim, uneori cu valori de
if the maximum deviation of the transmission 400 sau 500 la care, funcie de aplicaie,
angle from 900 exceeds 400 or 500 (depending mecanismul se poate chiar bloca. Prin urmare
on the type of application), the mechanism will variaia unghiului de transmisie nu trebuie s
lock. In certain cases this maximum deviation depteasc 200 dar exist aplicaii ca de pild
4-8
_________________________________________________________________________________________________
must be kept within 200 (e.g. reciprocating la trenurile de aterizare ale avioanelor la care
pumps) and in certain other applications deviaia poate atinge i 700 .
maximum deviations of up to 700 may be
permissible (e.g. aircraft landing gears).
One can express the transmission angle in terms Se poate exprima unghiul de transmisie funcie
of the crank angle 12 and the link lengths as de unghiul la manivel 12 i de lungimile
elementelor astfel (Fig.4.11):
(Fig.4.11):
1
cos =
a 24 + a 32 a 12 a 22 + 2a 1a 2 cos 12
(4.4)
2a 3 a 4
The minimum and the maximum of the Dac se egaleaz prima derivat a ecuaiei (4.4)
transmission angle can be determined by taking cu zero i dac se rezolv, vor rezulta maximile
the derivative of the equation (4.4) with respect i minimile ale :
to 12 and equating to zero:
a 24 + a 32 a 12 a 22 a 1a 2
(cos )' =
+
cos 12 '
(4.5)
2a 3 a 4
a 3a 4
sin d =
a a sin 12
a 1a 2
d
= 1 2
=0
sin 12 d12
a 3a 4
d12 a 3 a 4 sin
sin 12 = 0 12 = 0 sau
The minimum and the maximum values of the Valorile minime i maxime ale unghiului de
transmission angle will be when 12=0 or transmisie se ating dac 12=0 sau (cnd
(when the crank and the fixed link are collinear manivela i elementul fix sunt coliniare):
in extended or folded positions):
2
2
2
2
1 = 90 0 min ;
(4.7)
2 = 90 0 max ;
(4.8)
max = max( 1 , 2 )
(4.9)
Fig.4.12
The critical transmission angle is either min or Unghiul de transmisie critic va fi fie min fie
max, whichever deviates most from 900.
max, oricare deviaz cel mai mult de la optimul
de 900.
4-9
_________________________________________________________________________________________________
Fig.4.13
Using the right angled triangles formed at the Dac se consider triunghiurile dreptunghiulare
dead centre positions Ae, Af, Be, Bf:
dintre poziiile moarte Ae, Af, Be, Bf:
2
2
2
s e = (a 2 + a 3 ) c 2 ; s f = (a 2 a 3 ) c(4.11)
;
Noting s =se-sf =stroke = the distance slider Dac se noteaz cu s =se-sf =curs =distana
travels between dead-centres and if we let = parcurs de cupla de translaie ntre poziiile
a2/a3 and = c/a3 , the stroke will be given by:
moarte i dac se noteaz = a2/a3 i = c/a3,
atunci cursa este:
2
2
s = a3 (1 + ) 2 a3 (1 ) 2
(4.12)
If the eccentricity, c (or a1), is zero (c = 0) the Dac excentricitatea c=0 mecanismul bielslider crank mechanism is called an in-line manivel este centric iar cursa este dublul
slider-crank and the stroke is twice the crank lungimii manivelei (s = 2a2).
length (s = 2a2).
The transmission angle can be determined from
the equation:
a3cos=a2sin12-c
(4.13)
Maximum deviation of the transmission angle Dac se egaleaz prima derivat a ecuaiei
occurs when the derivative of m with respect to (4.13) cu zero i se rezolv vor rezulta
4-10
_________________________________________________________________________________________________
= 0 12 = 90 0 sau
c a2
(4.15)
a3
If c is positive as shown below, transmission Aa cum se vede mai jos dac c>0 unghiul
angle is critical when 12=2700. If c is negative, critic de transmisie este la 12=2700 iar cnd
then the most critical transmission angle is at c<0 la 12=900.
12=900.
cos max,min =
Fig.4.14
If the eccentricity, c, is zero, maximum value of Dac c=0 atunci acesta este:
the transmission angle is:
a2
cos max,min =
(4.16)
a3
4-11
_________________________________________________________________________________________________
INDEX/CUPRINS/
5.0 FORCE ANALISYS IN MECHANISMS/ANALIZA DINAMIC A MECANISMELOR/ _______2
5.1 INTRODUCTION/INTRODUCERE / _______________________________________________________2
5.1.1 Principles of Dynamics/Pricipiile dinamicii/ _________________________________________2
5.1.2 Forces and Couples/Fore i Momente/ _____________________________________________3
5.2 FORCES IN MECHANISMS/FORELE DIN MECANISME/ _______________________________________7
5.2.1 Static Equilibrium/Analiza static / _______________________________________________10
5.3 STATIC FORCE ANALYSIS OF MACHINERY/ANLIZA STATIC A MECANISMELOR/ _________________12
5.3.1 Systems without Resisting Force/Sisteme fr fore rezistente/ __________________________12
5.3.2 Principle of Superposition/Metoda Superpoziiei/ ____________________________________16
5.3.3 Systems with Resisting Force/Mecanisme cu fore rezistente/ ___________________________22
5.4 DYNAMIC FORCE ANALYSIS/ANALZA DNAMC/ ________________________________________40
5.4.1 Center of Mass and Moment of Inertia of a Rigid Body/Centrul de mas si momentul de inerie al
rigidului/ ________________________________________________________________________40
5.4.2 Newton's Second Law of Motion for a Rigid Body/Legea a doua a dinamicii aplicat micrii
rigidului/ ________________________________________________________________________42
5.4.3 D'Alambert's Principle/Principiul lui DAlambert/ ___________________________________46
5.5 DYNAMIC FORCE ANALYSIS OF MACHNERY/ANALZA DNAMC A MECANSMELOR/_____________48
5.6 DYNAMIC FORCE ANALYSIS OF A FOUR-BAR MECHANISM/ANALZA DNAMC A UNU MECANSM
PATRULATER/ _______________________________________________________________________53
5-1
_________________________________________________________________________________________________
_________________________________________________________________________________________________
p = mv Momentum/Impulsul/
dp
= F Second Law/Legea a doua/
dt
dp d(mv)
dv
F=
=
=m
= ma
dt
dt
dt
(5.1)
where v is the velocity of the body and where a unde v este viteza corpului i a este acceleraia
is the acceleration of the body imposed thru impus corpului de ctre fora F.
force F.
3. To every action of a force there is an equal 3. Fiecrei aciuni i corespunde o reaciune
egal i de sens contrar.
and opposite reaction.
The basic quantities of dynamics are force, Aadar mrimile de baz ale dinamicii vor fi
mass and time. Only intuitive definitions to fora, masa i timpul. Asupra lor se pot da
definiii intuitive ca mai jos.
these words can be given.
Fora se poate defini n termenii primei legi a
dinamicii ca fiind acea aciune care tinde s
schimbe starea de repaos sau caracteristicile
micrii ale unui corp. O definiie cantitativ ar
fi c fora este acea aciune care modific
acceleraia unui corp standard de 1 kilogram,
cu 1 m/s2.
Mass of a body can be defined by using Masa se poate interpreta dup legea a doua ca
Newton's second law as the ratio of the force fiind acea constant a unui corp care rezult ca
acting on the body to the resulting acceleration. raport dintre o for care acioneaz asupra lui
i acceleraia care rezult n urma aplicrii
forei.
Time is a concept for ordering the flow of
Timpul este acel concept care ordoneaz
events in Universe.
desfurarea evenimentelor n Univers.
Force can be defined in terms of Newton's first
law as an action that tends to change the motion
of a body. The concept of a force can be made
quantitative by defining it as a quantity that
produces unit acceleration of (1 m/s2) upon a 1
kg standard body.
_________________________________________________________________________________________________
Fig.5.1
Different forms of representing a planar force O for n plan poate fi reprezentat vectorial n
are shown below :
mai multe moduri, ca mai jos:
Fig.5.2
Addition and subtraction of concurrent forces Adunarea i scderea unor fore concurente (ale
(forces whose lines of action intersect at one cror direcii se intersecteaz ntr-un punct), se
point) obey the parallelogram law of addition face dup regula paralelogramului, aa cum
that is schematically shown below Fig.5.3. The se vede n Fig.5.3. Adunarea se poate face
addition can be carried out graphically by grafic fie prin punerea vectorilor n sistem capplacing the force vectors one after the other in coad, unul dup cellalt, fie prin ducerea de
head-to-tail fashion, in which case half of the drepte paralele prin vrfurile fiecrui vector la
parallelogram is drawn.
direcia celuilalt, diagonala paralelogramului
rezultat fiind fora rezultant.
5-4
_________________________________________________________________________________________________
Fig.5.3
For a system of concurrent forces, the Pentru un sistem de mai multe fore concurente
parallelogram law of addition can be applied regula paralelogramului se poate aplica doar la
for the forces in pairs. Alternatively the perechi de fore. Mai simplu se poate construi
resultant of the system of forces can be poligonul forelor ca mai jos Fig.5.4. Dac
determined using a force polygon Fig.5.4. If all forele compuse sunt coplanare rezultanta va fi
the forces lie in a plane, then the resulting force aezat n acelai plan, iar dac forele sunt n
polygon is also in plane; otherwise a spatial spaiu rezultanta va fi deasemenea n spaiu.
force polygon will result.
Fig.5.4
If there are two equal and opposite forces Dac exist dou fore egale i de sens opus
whose lines of action are parallel to each other, avnd direcii paralele, acest sistem de fore se
the resultant of these two forces is known as a va numi cuplu.
couple.
The arm of a couple is defined as the Braul cuplului de fore este definit ca fiind
perpendicular distance, h, between the two lines distana h dintre cele dou direcii ale forelor.
of action. The moment of the couple is another Momentul cuplului este definit ca fiind un alt
vector M that is normal to the plane of the vector M care este perpendicular pe planul care
couple and is in accordance with the right-hand conine cele dou fore i a crui direcie se
rule. The magnitude of the moment is given by determin cu regula minii drepte. Mrimea
the product: M=hF. The moment vector can be acestui nou vector este dat de produsul M=hF.
determined by the vectorial product: (M=rxF), Vectorul M se determin prin produsul
where r is the position vector from a point on vectorial M=rxF , unde r este vectorul de
the line of action of F to another point on the poziie dus de la un punct al direciei unei fore
line of action of F (Fig.5.5). Note that:
ctre un alt punct al direciei celeilalte fore a
cuplului de fore (Fig.5.5). Se poate observa c:
The moment vector M does not have a
Vectorul moment M nu are un anumit
point of application. Hence, it is a free
punct de aplicare, deci este un vector
vector.
liber,
The relative position vector, r, is in
Vectorul de poziie r poate fi dus ntre
between any two points on the lines of
oricare dou puncte ale direciilor
action of the forces forming the couple.
forelor cuplului,
The force couple that creates a moment
Cuplul de fore care creaz un vector
moment M nu este unic, exist o
M is not unique, e.g. there are other
5-5
_________________________________________________________________________________________________
Fig.5.5
In case of non-concurrent force systems, the Dac exist un sistem de fore neconcurente,
system of forces can be reduced to a force acest sistem fa de un punct oarecare, poate fi
acting at an arbitrary point and a moment redus la for rezultant i un moment rezultant
(Fig.5.6.).
(Fig.5.6.).
Fig.5.6
The resultant force and moment are given by Fora i momentul rezultant sunt date de
the equations:
relaiile:
r
r
F = Fi
i
r
r r
M = ri Fi
(5.2)
5-6
_________________________________________________________________________________________________
r
r
R = Fi
i
r r r
r r
r R = M = ri Fi
(5.3)
Fig.5.7
5.2 Forces in Mechanisms/Forele din Mecanisme/
5-7
_________________________________________________________________________________________________
d) Inertial Forces. Are the forces due to the d) Forele de inerie sunt cauzate de ineria
rigidului.
inertia of the rigid bodies involved.
5-8
_________________________________________________________________________________________________
Fig.5.8
Fig.5.9
5-9
_________________________________________________________________________________________________
Fig.5.10
In performing the static and dynamic force Pentru analiza static, cinetostatic i dinamic
analysis of machinery, almost always the free- a unui mecanism de regul aceste scheme sunt
body diagram of each rigid body is drawn and trasate pentru fiecare element n parte i sunt
the known forces are identified. One has to identificate forele cunoscute i cele
solve for the remaining unknown.
necunoscute.
5.2.1 Static Equilibrium/Analiza static /
From Newton's First Law, a body is in static Prima lege a dinamicii arat c un rigid este n
equilibrium if the resultant of all the forces echilibru static dac rezultanta tuturor forelor
(excluding the inertia forces) acting on a rigid care acioneaz asupra sa (excluznd forele de
body is zero. This condition results in two inerie) este zero. Aceast condiie se scrie
vector equations:
vectorial:
r
r
(5.4)
F = 0; M = 0
In space, these two vector equations yield six
n spaiu ecuaiile vectoriale de mai sus
scalar equations:
genereaz 6 ecuaii scalare:
Fx = 0; Fy = 0; Fz = 0;
M x = 0; M y = 0; M z = 0;
In case of coplanar force systems, there are
three scalar equations:
(5.5)
n cazul bidimensional:
Fx = 0; Fy = 0; M z = 0;
(5.6)
_________________________________________________________________________________________________
In coplanar force systems under which the body n cazurile bidimensionale sistemele de fore
acted on is in equilibrium, we can have the care pot fi calculate cu ecuaia (5.6) sunt:
following force systems:
a) Two-force member: A rigid body acted on
by two forces is in static equilibrium only when
the two forces are collinear and equal in
magnitude but in opposite sense (Fig.5.11.). If
the point of application of the two forces are
known (points A and B), the direction of these
forces will be along the line joining the points
of application.
Fig.5.11
b) Two force and one moment member: A b) Dou fore i un moment. Dac asupra unui
rigid body acted on by two forces and a rigid acvioneaz dou fore i un moment
moment (Fig.5.12) is in static equilibrium only (Fig.5.12), acesta va fi n echilibru static dac
when the two forces form a couple whose cele dou fore formeaz un cuplu al crui
moment is equal in magnitude but in opposite moment este egal i de sens contrar
sense to the applied moment.
momentului aplicat.
Fig.5.12
c) Three-force member: A rigid body acted on c) Sistem cu trei fore. Un rigid asupra cruia
by three forces is in equilibrium only if the acioneaz trei fore simultan este n echilibru
forces are concurrent (intersect at one point). doar dac forele sunt concurente. Fie ca n
Let the force (Fig.5.13) FA be completely Fig.5.13 fora FA cunoscut complet (mrime,
specified. The line of action of FB and the point direcie, sens, punct aplicare). Se mai cunosc
of application of FC be known (in plane there direcia i punctul de aplicare a forei FB i
are three equilibrium equations and one must punctul de aplicare a forei FC . Dac se scrie
have three unknowns to be able to solve the ecuaia momentelor ale forelor MO=0 fa de
equilibrium equations). When the moment punctul O de intersecie dintre direciile forelor
equilibrium equation is written for the sum of FA i FB , cum FA i FB trec prin O nu vor
moments about the point of MO=0, the genera moment, rmnnd ca i momentul dat
intersection of the line of action of FA and FB de FC fa de O s fie zero i deci FC trebuie s
5-11
_________________________________________________________________________________________________
Fig.5.13
5.3 Static Force Analysis of Machinery/Anliza static a mecanismelor/
5.3.1 Systems without Resisting Force/Sisteme fr fore rezistente/
Initially, we shall neglect the forces associated ntr-o prim abordare vor fi neglijate forele
with the inertia of the links and the resisting precum cele de inerie i rezistente.
forces.
Fig.5.14
The system is in equilibrium under the action of Mecanismul este n echilibru sub aciunea
the external force F14 and T12. T12 may be the forelor externe F14 i T12. T12 este momentul
torque delivered by the electrical motor to the impus la elemental de intrare de ctre motorul
inlet link. The magnitude and direction () of electric de exemplu. Se cunosc mrimea,
the force delivered by the system further to the direcia () i punctul de aplicare al forei utile
machine, F14 are known. We are to determine necesare mai departe n maina din care face
T12 needed to balance the force F14 and the parte mecanismul, F14. Se caut stabilirea
5-12
_________________________________________________________________________________________________
forces acting at the joints. In free-body momentului T12 necesar s echilibreze fora F14
diagrams of the moving links are shown.
i forele care acioneaz n cuple. Schemele
pentru fiecare element n parte sunt date mai
jos:
Fig.5.15
On the free-body diagrams the unknown joint Pe schemele elementelor de mai sus
force components (Fijx and Fijy) are all shown componentele necunoscute ale forelor ce
acting in the positive x and y directions. We trebuie s fie calculate sunt (Fijx i Fijy) i
took all the components direction for acioneaz n sensul pozitiv sau negative al
simplification. If a negative value is obtained in axelor de coordinate. Pe schem se iau
the result, it means that force component is in sensurile tuturor componentelor forelor
positive pentru simplificare. Dac dup
the opposite direction.
efectuarea calculelor rezultatul calculate este
In the example shown the equilibrium equations negativ, nseamn c n realitate sensul
and the equalities due to Newton's third law componentei forei este opus celui considerat n
(Fijx = -Fjix ) result with 13 scalar equations in schema de calcul.
13 unknowns (T12,F32x, F32y, F23x, F23y, F43x, n exemplul considerat innd cont de egalitatea
Fijx = -Fjix vor rezulta 13 ecuaii scalare cu 13
F43y, F34x, F34y, G12x, G12y , G14x, G14y).
necunoscute T12,F32x, F32y, F23x, F23y, F43x, F43y,
F34x, F34y, G12x, G12y , G14x, G14y .
For link 2:
Pentru elementul 2:
(Fy= 0) F32y + G12y = 0;
(Fx= 0) F32x + G12y = 0
(5.7)
(MA0= 0) F32ya2cos(12) - F32xa2sin(12) + T12= 0
For link 3:
Pentru elementul 3:
(5.8)
Pentru elementul 4:
_________________________________________________________________________________________________
and due to action-reaction (Newtons third i egalitile datorate legii a treia a dinamicii:
law):
F32y = - F23y; F32x =- F23x ; F43y = - F34y ; F43x = - F34x
(5.10)
Fig.5.16
In this case to simplify the calculations we note Se poate vedea c Fij = -Fji pentru forele care
that Fij = -Fji for the joint forces. Furthermore, acioneaz n cuple. Mai mult de veme ce
since link 3 is a two-force member, F23 and F43 forele care acioneaz asupra elementului 3
are equal, opposite and their line of action is sunt egale i opuse de-a lungul liniei de aciune
along AB. Also link 2 is a two-force plus a AB. Deasemenea la elementul 2 fiindc avem
dou fore i un moment, trebuie ca:
moment member. Therefore:
F32 = - G12
Hence/Deci/:
(5.11)
Now, one can solve for the unknown forces if Acum trebuie ca pentru rezolvare s se scrie 3
we write the 3 equilibrium equations for link 4 ecuaii de echilibru pentru elementul 4 i una
and one moment equilibrium equation for link de moment pentru elementul 2:
2, which are:
5-14
_________________________________________________________________________________________________
or /sau/
or/sau/
(F32 = - F34)
(5.12)
There are four equations with four unknowns Rezult astfel 4 ecuaii cu 4 necunoscute F34,
T12, G14, sau F34, T12, G14x, G14y .
(F34, T12, G14, or F34, T12, G14x, G14y).
Another simplification in the solution of
moment equilibrium equations will result if we
use unit vector in the direction of the forces and
write a force vector in the form F = Fv where F
is the magnitude of F and v is a unit vector in
the direction of the force F.
r = ru
(5.13)
Fig.5.17
M = rxF = ruxFv = rF(uxv)
Since/Dar/
u = 1 < = cos i + sin j ;
5-15
_________________________________________________________________________________________________
(5.14)
u x v = (sin cos - cos sin ) k
Or/sau/:
u x v = sin (- ) k
Hence/Deci/
M = rxF = r F sin ( - ) k
Now, the free-body diagrams of the previous Dac se redeseneaz schema mecanismului:
example are redrawn
Fig.5.18
Ecuaia de echililbru a momentelor:
(MB0 = 0 )
(MA0 = 0 )
(5.15)
Care va da:
a4 F34 sin(13 -14 ) - r4 F14 sin( -14 ) = 0
-a2 F32 sin(13 -12 ) + T12 =0
(5.16)
(5.17)
5-16
_________________________________________________________________________________________________
Fig.5.19
5-17
_________________________________________________________________________________________________
Example 5.2
without
the
principle
Exemplul 5.2
Fig.5.20
The free-body diagrams of the moving links are Schema mecanismului este dat mai sus. Cele 3
shown above. The three equilibrium equations ecuaii de echilibru pentru elementul 4 sunt:
for link 4 are:
(Fx= 0) F34x + G14x - F14 cos200 = 0 (1)
(Fy= 0) F34y + G14y - F14 sin200 = 0 (2)
(MB0= 0) -F34x a4 sin14 + F34ya4 cos14 - F14 b4 sin(200-14 ) = 0 (3)
There are four unknowns in three equations, Aa cum se vede avem 4 necunoscute i trei
therefore the equations obtained from one free- ecuaii ca atare ecuaiile obinute nu sunt
body diagram is not enough to solve for the suficiente pentru aflarea necunoscutelor. Prima
unknowns. Equations 1 and 2 can be used to i a doua ecuaie de mai sus pot fi folosite la
solve for G14x and G14y, only when F34x and F34y calcularea lui G14x i G14y, doar dac se cunosc
are determined. The three equilibrium equations F34x i F34y. Pentru elementul 3 vom avea la
5-18
_________________________________________________________________________________________________
for link 3 must also be written (note that F34 echilibru (F34 i F43 sunt egale):
and F43 are of equal magnitude).
(Fx= 0) F23x - F34x - F13cos(500) = 0 (4)
(Fy= 0) F23y - F34y -F13sin(500) = 0 (5)
(MA= 0) -F34x a4 sin14 + F34ya4 cos14 - F14 b4 sin(200-14 ) =0 (6)
0
= 52.62 (using the cosine theorem for the = 52.620 din teorema cosinusului aplicat
triunghiului ABC.
triangle ABC).
Equations 4 and 5 above can be used to Din ecuaiile 4 i 5 de mai sus se pot determina
determine F23x and F23y. Equations 3 and 6 must F23x and F23y. Ecuaiile 3 i 6 se vor rezolva
be used simultaneously to solve for F34x and simultan i vor rezulta F34x i F34y. Inlocuind n
F34y. Substituting the known values into 3 i 6 vom avea:
equations 3 and 6 results:
-119.25 F34x - 13.38 F34y + 8748 =0
49.97 F34x - 86.62 F34y + 1886= 0
Simultaneous solution of the two equations Dup rezolvarea sistemului de mai sus:
yield:
F34x = 66.60 N
F34y = 60.20
F34 = 89.78 N
G14y = 26.00 N
G14 = 37.75 N
F23y = 98.50 N
F23 = 139.46 N
Now, link 2 can be treated as a two force and a n fine elementul 2 poate fi tratat ca fiind
moment member (G12=-F32=F23). The moment ncrcat cu 2 fore i un moment. tiind c
(G12=-F32=F23), ecuaia de echilibru al
equilibrium (about A0):
momentelor fa de origine:
T12 -F23a2 sin(47.340-600) =0
(b) Solution
superposition
using
the
principle
or
5-19
_________________________________________________________________________________________________
a.
b.
Fig.5.21
Fig.5.22
Due to F14, the moment equilibrium for link 4 Pentru elementul 4 la echilibru vom avea:
yields:
_________________________________________________________________________________________________
Since F34'= - F43' = F23' = - F32' = G12 we have Cum F34'= - F43' = F23' = - F32' = G12 se poate
to write the moment equilibrium for link 2 only: scrie doar ecuaia de echilibru a momentelor
peste elementul 2:
T12'- F32' a2sin((13-12) = 0
from which T12'= -3184 N-mm = 3.18 N-m CW.
For the second problem, (for F13 only):
Fig.5.23
Link 4 is a two-force member, link 3 is a three Elementul 4 va fi ncrcat de dou fore, 3 de
force member while link 2 is a two-force and a trei fore iar 2 de dou fore i un moment.
moment member as before. The moment Ecuaia de echilibru a momentelor peste
elementul 3 este:
equilibrium equation for link 3 yields:
F43"a3sin(14-13)-F13b3sin(500-13)=0
from which F43"= -20.57 N < 96.400 (=14) or F34"= -F43"= 20.57 N < 96.400
F23x" and F23y" can be determined using the F23x" i F23y" se pot calcula folosind ecuaia de
force equilibrium equations for link 3:
echilibru a forelor pentru elemental 3:
5-21
_________________________________________________________________________________________________
There are different types of resisting forces in Exist tipuri diferite de fore rezistente n
mecanisme:
machinery:
1. Static Frictional Force is the force that is
necessary to slide one body relative to the
other. This force is along the contact surface
and it is related by the normal force (F32) acting
at the contacting surfaces by the equation:
5-22
_________________________________________________________________________________________________
(5.19)
R32= - F32
The proportionality constant is known as the Constanta de proporionalitate se numete
coefficient of static friction. The negative sign coeficient de frecare static. Semnul minus
is used simply to denote that R32 tends to arat c R32 tinde s se opun micrii.
oppose the motion.
2. Sliding Frictional Force is the force
necessary to keep the relative motion of two
sliding bodies continuously. It is also given by
the equation R32= - F32, but, in this case, is
the coefficient of sliding friction, which is less
than the coefficient of static friction. Sliding
friction is also known as Coulomb friction.
R32 = -cv2/3
(5.20)
where c is the coefficient of viscous damping unde c este coeficientul de amortizare vscoas
iar v2/3 este viteza liniar relativ.
and v2/3 is the relative linear velocity.
In prismatic joints, the reaction force R
between the two links in contact will not be
perpendicular to the slider axis if resisting force
is taken into account. The resultant reaction
force will be inclined as shown in Fig.5.24. The
angle which is known as the friction angle is:
tan = =R32/F32
Fig.5.24
5-23
(5.21)
_________________________________________________________________________________________________
R23= - F23
(5.22)
Fig.5.25
R23 is in the opposite direction of the relative R23 va avea sensul opus sensului de micare
motion as shown. The sum of the resisting and relativ aa cum se vede mai sus. Suma dintre
the reaction force will give the total reaction fora de reaciune i de rezisten va genera
force F23R:
reactiunea total F23R:
F23R= R23+ F23
(5.23)
The line of action of F23R will not pass through Dircia forei F23R nu va mai trece prin centrul
the centre of the joint but will be tangent to a cuplei ci va fi tangent la un cerc numit cerc de
circle, which is known as the friction circle. frecare. Raza acestui cerc rf este:
The radius, rf , of this circle is equal to:
rf=rsin
(5.24)
r is the radius of the revolute joint. For small unde r este raza cuplei de rotaie. Pentru
angles sin=tan:
unghiuri mici vom avea sin=tan:
rf=rsinrtan=r
The reaction force tangent to the friction circle
can be replaced by a force passing through the
centre of the joint and a moment (friction
torque) which is in opposite direction of the
relative motion and which has the magnitude:
(5.25)
M32=rf F23R
5-24
(5.26)
_________________________________________________________________________________________________
Example 5.3
Exemplul 5.3
Fig.5.26
If the procedure is to be carried out analytically, Dac soluiile se calculeaz analitic n locul
rather than the friction circles at the revolute cercului de frecare din Fig.5.27 se folosete
joints Fig.5.27, one must place the friction momentul de frecare ca n Fig.5.28. Acest
moments on the free body diagrams Fig.5.28. moment de frecare este opus micrii relative.
These friction moments must always oppose the
relative motion.
5-25
_________________________________________________________________________________________________
Fig.5.27
F14+F34+G14=0
For link 4/Elementul 4/:
-F34cos()-G14-F14=0
( Fx=0)
-F34sin()+G14 = 0
( Fy=0)
r34F34- sG14-aG14=0
( MB=0)
(i)
-F34sin()+G14= 0
(ii)
5F34- sG14-5G14 =0
(M in N mm)
(iii)
5-26
_________________________________________________________________________________________________
Fig.5.28
(iv)
(v)
_________________________________________________________________________________________________
sin(13) = -30/800
= 13 -2.1490 = 168.1830-2.1490 = 166.0340
From equations/Din ecuaiile/ (i-iii) :
F34 = 105.674N < -13.9660
G14 = 25.504N < 900 R14 = G14< 1800= 2.55 N <1800, G14R = 25.63 N < 95.710
s = 15.7 mm (towards left for CW moment/Spre stnga pentru momente n sens orar/)
Example 5.4
In this second example the same centric slidercrank mechanism of the previous example is
considered. However, in addition to F14 two
additional forces F13 and F12 act on the
mechanism links.
Exemplul 5.4
The free body diagrams of the links are shown Schema elementelor cinematice este dat mai
jos.
below.
The force equilibrium equations for link 4/Elementul 4/:
F34x - F14 - G14=0 or/sau/
F34y - G14=0
or/sau/
5-28
(i)
(ii)
(iii)
_________________________________________________________________________________________________
Fig.5.29
1/ 2
(iv)
5-29
(v)
(vi)
_________________________________________________________________________________________________
(vii)
and/i/
2
2
F23= F23
x + F23 y
1/ 2
(viii)
2
2
G12= G 12
x + G 12 y
1/ 2
(xi)
(xii)
(ix)
(x)
(xiii)
5-30
_________________________________________________________________________________________________
TABLE 5.3
l. Step/Pas1/ 2.Step/Pas2/ 3.Step/Pas3/ 4.Step/Pas4/
G14(eq. xiii) ( G140= F34y)
265.872
278.484
278.854
278.865
126.587
127.848
127.885
127.886
F34y(eq. iv)
294.469
306.429
306.780
306.791
F23x(eq. v)
256.491
257.752
257.789
257.790
-190.872 -203.484
-203.854
-203.865
328.652
328.659
319.718
328.393
After this iterative method of finding F34 , G14, Dup aplicarea procedurii iterative de mai sus
and F23, one can than solve for the other i gsirea valorilor lui F34 , G14, i F23 , se poate
trece la calcului restului de ecuaii:
unknowns from the remaining equations:
s = 0.96 mm (eq. iii),
Fie
mecanism folosit la acionarea unui
compresor. Excentricul se rotete cu 600 rpm n
sens orar. Se presupune c elementele i
cuplele au mas neglijabil i frecarea din toate
cuplele cu excepia excentricului, poate fi
neglijat. Coeficientul de frecare este =0.1.
5-31
_________________________________________________________________________________________________
of the mechanism.
Fig.5.30
The free-body diagrams of the links are shown Schema mecanismului este dat mai jos. Cum
in. Since the friction at the revolute joints is frecarea n toate cuplele cu excepia
neglected, links 4 and 5 are two force members excentricului este neglijat, pe elementele 4 i 5
actioneaz dou fore (F35 i F34 ca fore
(F35 and F34 are the resultant forces of both the
rezultante n urma nsumrii forelor normale n
normal joint force and the friction force). Link cuple cu forele de frecare). Asupra
2 is a two force and a moment member. Link 3 Elementului 2 actioneaz 2 fore i un moment
is a three force and a moment member. One iar asupra elementului 3 acioneaz 3 fore i un
must use the signum functions () which have moment. Pentru a putea fi modelate toate
the values of either -1 or +1 depending on the cazurile posibile, se va folosi funcia semn
value of the velocities thus taking care of all the care are valoarea 1 sau -1 funcie de valoarea
vitezelor. Rezolvarea se va face folosind
cases possible. The analytical solution is carried MathCad ca mai jos:
using MathCad and the following equations are
written in the form used by Mathcad:
5-32
_________________________________________________________________________________________________
Fig.5.31
Define constants/Definire constante/
conv
0.1 c 6 25
f
180
d6
120
a2
70
d5
100
c1
350
a1
atan ( )
250
b1
480
250
r 23
n .conv
ys
a1
n
n
s3
n
s5
n
xn
xs
b1
a 2 .sin 2
n
xs
ys
2
n
a 2 .cos 2
n
angle x s , y s
n
n
a 2 .sin 2
n
sin n
a 2 .cos 2
n
s 5 .cos n
n
5-33
350
_________________________________________________________________________________________________
450
430
410
390
370
x
350
330
310
290
270
250
600.
30
a2
.cos
2.
n
s3
n
2
n
a 2 . 2 .sin 2
n
ss 3
n
ss 5
n
sin n
xxn
. a . .cos
2n
2 2
2 .a 2 .sin 2
n
s 5 . n .cos n
n
s 5 . n .sin n
n
ss 5 .cos n
n
if xxn > 0 , 1 , 1
23
if n
s5
if ss 5 > 0 , 1 , 1
n
s3
2 > 0, 1, 1
4
1 10
8500
7000
5500
4000
xx
2500
1000
500
2000
3500
5000
5-34
if ss 3 > 0 , 1 , 1
n
_________________________________________________________________________________________________
5000
4000
3000
2000
1000
ss 5
n
0
1000
2000
3000
4000
5000
20
14
8
2
4
10
16
22
28
34
40
max( x)
min( x)
417.083
282.917
which occur when the crank angle is 160 (TDC- point 3 on p-v diagram)
and 1640 (BDC - point 1 on p-v diagram).
5-35
_________________________________________________________________________________________________
Using pv1.4=2.618, when p=1 Mpa v = 0.103 10-3 m3and when p=0.1 Mpa, v4=5.335
10-4 m3 or v = change in volume from TDC = 4.3048 10-4 m3 which corresponds to
38.06 mm displacement of the piston. Therefore at point 4 x=320.98 mm. Since
x70=320.109 and x71=321.484 , we can assume that point 4 is when 12 710.
Similarly, using pv1.4=12.397 , when p=0.1 Mpa v=1.62 10-3 m3 and when p=1 Mpa
v2=3.1277 10-4 m3 or v = change in volume from TDC = 2.0977 10-4 m3 which
corresponds to 18.55 mm displacement of the piston. Therefore at point 2 x=301.465
mm. Since x329=301.756 and x330=301.077 , we can assume that point 2 is when 12
3290.
Using the above results the force acting on link 6 can be determined for every crank
angle as:
V0
1.03.10
A = 0.011
m2
. 2.
d 6 10
4
0 .. 16
m1
330.. 360
16.. 70
m3
m4
Fm
Fm
Fm
6
1 .10 .A
6
1 .10 .A
2.618
A.
A . xm
V0
x16 .10
1.4
70.. 164
Fm
m5
5
1 .10 .A
164.. 329
Fm
12.397
A.
V0
A . xm
x16 .10
1.4
7500
6000
4500
3000
1500
0
100
200
n
5-36
300
400
_________________________________________________________________________________________________
n
n . s5 . f
n
Kn
cos n .c 1
. sin n
( 2 .x) n
n . .d 6
.d 6
xn
Fn .sin n .
G 161
. c
1
2
Kn
Fn .c 1
F 56
Kn
c1
Fn .sin n .
G 162
.d 6
2
Kn
(Note that G16' and G16" are denoted by G121 and G122 respectively.)
The above values are positive if they are in the direction shown on the free-body
diagrams.
Check:
F 56 .sin n
Un
G 161
1 10
8 10
6 10
4 10
2 10
U
n
2 10
4 10
6 10
8 10
1 10
G 162
11
12
12
12
12
12
12
12
12
11
0
100
200
300
400
F 43
F 56
s5
n
sin n
s3
n sin s3 . f
n
F 32x
F 56 .cos n
F 43 .cos
F 32y
F 56 .sin n
F 43 .sin n
F 32
F 32x
F 32y
5-37
s3 . f
n
s3 . f
n
_________________________________________________________________________________________________
F 431
. 23 .r 23.F 32
n
n
s 3 .sin s3 . f
n
n
Recalculate F23:
F 321x
F 56 .cos n
F 431 .cos
F 321y
F 56 .sin n
F 431 .sin n
F 321
F 321x
F 321y
s3 . f
n
s3 . f
n
F 432
. 23 .r 23.F 321
n
n
s 3 .sin s3 . f
n
n
F 322x
F 56 .cos n
F 432 .cos
F 322y
F 56 .sin n
F 432 .sin n
F 322
F 322x
F 322y
s3 . f
n
s3 . f
n
F 433
F 56 .s 5 .sin n
n
n
. 23 .r 23.F 322
n
n
s 3 .sin s3 . f
n
n
F 323x
F 56 .cos n
F 433 .cos
F 323y
F 56 .sin n
F 433 .sin n
5-38
s3 . f
n
s3 . f
n
_________________________________________________________________________________________________
F 323
F 323x
F 323y
F 434
. 23 .r 23.F 323
n
n
s 3 .sin s3 . f
n
n
F 324x
F 56 .cos n
F 434 .cos
F 324y
F 56 .sin n
F 434 .sin n
F 324
F 324x
23
n
F 324y
s3 . f
n
s3 . f
n
F 324
n
F 323
n
F 324
n
0.0018
0.0015
0.0012
4
9 10
6 10
3 10
4
4
0
100
200
n
300
400
As can be seen, the difference between the last two iterations can be considered as
negligible (the maximum error is less than 0.003% of the magnitude of the force).
Therefore, the result is assumed to be sufficiently correct.
F 32
F 324
The joint forces can now be plotted as a function of input crank angle
The input torque required can be determined from the moment equilibrium of link 2
M 12
F 32 .a 2 .sin 23
n
n
5-39
_________________________________________________________________________________________________
2000
1700
1400
1100
800
M 12
n
500
200
100
400
700
1000
100
200
n
300
400
4
2.6 10
F 56
n
G 161
G 162
F 43
n
F 32
n
4
1.2 10
2000
4
1.6 10
4
3 10
100
200
300
400
5-40
_________________________________________________________________________________________________
Fig.5.32
Center of Mass, G, is commonly known as the Centrul de mas G (sau centrul de greutate)
center of gravity, and is defined as a point on este n fapt un punct al sistemului de particule a
the rigid body whose position is given by :
crui poziie este dat de:
r
ri m i
r
rG = i
(5.27)
m
Where m = mi , total mass of the rigid body Unde m = mi este masa rigidului format din i
particule.
comprising i particles.
In cartesian coordinates:
ncoordonate carteziene:
xG = ( ximi)/m
yG = ( yimi) /m
(5.28)
)m = r
and by definition:
i prin definiie:
k0 =
2
i mi
I0
m
(5.29)
(5.30)
where k0 is known as the radius of gyration of unde k0 este raza de giraie a rigidului fa de
the rigid body with respect to an axis passing axa care trece prin origine.
through O.
The moment of inertia of the rigid body with Momentul de inerie a rigidului fa de centrul
respect to the center of gravity will be given by: de greutate este:
I G = u i2 + v i2 m i
(5.31)
i
We can write I0 as:
Astfel I0 se poate scrie:
I G = (x G + u i ) + (y G + v i ) m i
i
I G = u i2 + v i2 m i + x G2 + y G2
i
) m
i
(5.32)
5-41
+ 2x G u i m i + 2 y G v i m i
i
_________________________________________________________________________________________________
Since ui and vi are the coordinates of the Cum ui i vi sunt coordonatele particulei i fa
particle i with respect to the center of gravity de centrul de greutate, uimi = vimi = 0 i
uimi = vimi = 0. Therefore:
deci:
I 0 = I G + mrG2 = m k G2 + rG2
(5.33)
5.4.2 Newton's Second Law of Motion for a Rigid Body/Legea a doua a dinamicii aplicat
micrii rigidului/
According to Newton's second law the rate of Dup legea a doua a dinamicii rata variaiei
change of momentum of a particle is impulsului unei particule este proporional cu
proportional to the resultant external force rezultanta forelor aplicate particulei. Dac o
acting on the particle. For a particle in the rigid asemenea particul de mas mi aparine unui
body of constant mass mi , Newton's second rigid, pentru aceasta legea a doua este:
law becomes:
r
r
r
d 2 (m i ri )
r
Fi + Fji = m i a i =
(5.34)
dt 2
j
5-42
_________________________________________________________________________________________________
Table 5.2
5-43
_________________________________________________________________________________________________
d 2 m i ri
r
r
r
i
Fi + Fji = m i a i = dt 2
i
i
j
i
Noting that/observnd c/:
r
r
Fi = F
i
the sum of all the external forces acting on the rigid body/suma forelor externe care
actioneaz asupra rigidului/ .
r
Fji = 0
(5.35)
i
since/cum/ Fij + Fji = 0 due to Newton's third law/datorit legii 2 a lui Newton/
and/i/
r
r
m i ri = mrG
i
We thus have Newton's Second Law of motion Avem astfel n final formularea legii a doua a
for Linear momentum for a rigid body, which dinamicii pentru impulsul liniar al unui rigid:
is:
r d 2 (mrrG ) d(mvr G )
r
F = dt 2 = dt = ma G (5.36)
Now if we take the moment of the forces in Dac se ia impulsul forelor din ecuaia (5.34)
equation (5.34) with respect to point O, we fa de punctul O, se obine:
obtain:
r r
rr
r r
ri Fi + ri Fji = m i (ri a i )
(5.37)
j
The acceleration of point i, ai, can be written in Acceleraia particulei i, ai, poate fi scris
terms of the acceleration of point O and relative funcie de acceleraia punctului O i
accelerations as:
acceleraiile relative astfel:
ai = a0 + ai/0 = a0 + ai/0 n+ ai/0t
(5.38)
r r
ri
(5.39)
r
ai/0 n= 2 ri
where and are the angular acceleration and Unde i sunt acceleraia i viteza
velocity of the rigid body respectively.
unghiular ale rigidului.
5-44
_________________________________________________________________________________________________
( (
))
(5.40)
= sum of the moment acting along an axis passing through O (perpendicular to the
plane)
/=suma momentelor care aciineaz fa de o ax care trece prin O (perpendicular pe
plan)/
r r
ri Fij = 0
(since Fij = -Fji and these forces have same line of action. The summation will be composed
of terms:
/de vreme ce Fij = -Fji iar aceste fore au o direcie comun. Suma va fi alctuit din termen:/
r r r
ri rj Fij = 0
((
The terms on the right hand side of equation Termenii din partea dreapta a ecuaiei (5.40)
(5.40) can be written as:
pot fi scrii ca:
r r
r r
r
r r r
r
r
r r
ri a 0 + ri 2 ri m i = (m i ri ri ) 2 (ri m i ri ) + (m i ri a 0 )
( (
))
Now/Acum/ :
r r
r r
(m i ri a 0 ) = mrG a 0
i
(5.41)
(m i ri ri ) = ri2 m i = I 0
i
r
r
(ri m i ri ) = 0
i
r
r
r
r
In general M 0 I 0 . The first term on the n general M 0 I 0 . Primul termen al
right-hand side of equation (5.41) will vanish if membrului din dreapta al ecuaiei (5.41) va
a0=0 or rG=0 or if both are parallel. The deveni zero dac a0=0 sau rG=0 ori dac cele
acceleration of point O is zero if point O is the dou sunt paralele. Acceleraia punctului O este
acceleration pole or if the rigid body is in a nul dac O este polul acceleraiei sau dac
rotation about point O.
rigidul efectueaz o micare de rotaie n lurul
lui O.
rG = 0 means that point O coincides with the
rG = 0 semnific faptul c punctul O coincide
center of gravity G and a0 will be parallel to rG
cu centrul de greutate G i a0 va deveni paralel
only in very special cases. However in any
cu rG doar n anumite situaii speciale. n orice
general case the center of gravity can be made
caz, centrul de greutate poate fi stabilit ca fiind
coincident with the center of the reference axis.
centrul sistemului de referin. Astfel se poate
We thus have Newton's Second Law of
defini legea a doua a dinamicii pentru impulsul
5-45
_________________________________________________________________________________________________
(5.42)
=
0
G G
r
r
Now the term ma G has the magnitude of a Termenul ma G are dimensiunile unui vector.
force. Equation (5.36) is a vector equation Ecuaia (5.36) este o ecuaie vectorial care
which states that the vector sum of all the arat c suma vectorial a tuuror forelor
external forces plus the fictitious (nonexistant) externe plus o anumit for fictiv de
r
r
force of magnitude and direction ma G are mrime i direcie ma G este zero. Fora
r
r
zero. The fictitious force ma G is known as the fictiv ma G este cunoscut sub numele de
inertia force which will be denoted by Fi:
for de inerie i se va nota cu Fi :
ri
r
F = ma G
(5.44)
Fi has the same line of action of aG but is in Fi are aceai direcie cu acceleraia aG dar este
opposite direction.
orientat n sens opus.
r
r
Similarly, the term I G has the magnitude of Asemntor termenul I G are dimensiunile
a moment and equation (5.42) is a vector unui moment i ecuaia (5.42) este o ecuaie
equation which states that the vector sum of all vectorial care arat c suma vectorial a
the external moments about the center of tuturor momentelor externe n raport cu centrul
gravity plus a fictitious moment of magnitude de greutate plus un moment fictiv de mrime i
r
r
and direction I G are zero. This fictitious direcie I G este zero. Acest moment este
moment is known as the inertia torque and it numit moment de inerie i se va nota cu Ti :
will be denoted by Ti :
r
r
T i = I G
(5.45)
Ti is in opposite sense of the angular Ti are sens opus acceleraiei unghiulare .
acceleration . Using inertia force and inertia Folosind rezultatele deduse mai sus, legea a
torque Newton's Second Law of Motion for a doua a dinamicii se poate scrie astfel:
rigid body results with the equations:
r r
F + Fi = 0
and/i/
(5.46)
r
ri
M
+
T
=
0
G
We can as well treat the inertia terms as if they Termenii ineriali definii mai sus pot fi tratai
were another external force or moment acting ca fiind la rndul lor fore sau momente
on the rigid body, in which case:
externe drept care:
5-46
_________________________________________________________________________________________________
F = 0
and/i/
r
MG = 0
(5.47)
D'Alambert's principle is very useful in the Principiul lui DAlambert este foarte folositor
dynamic force analysis of machinery. In great n analiza dinamic a mecanismelor. n
many problems we know the acceleration majoritatea cazurilor se cunosc sau se pot
characteristics of the members in the machine calcula acceleraiile elementelor cinematice i
structure and we can determine the inertia astfel se pot determina forele i momentele de
forces and torques. These inertia forces and inerie. Aceste componente dinamice ineriale
torques can be treated as if they are external pot fi tratate ca fiind fore externe i atunci
forces and the procedure of static force analysis analiza dinamic se reduce la o analiz de
can be carried out for this dynamic case.
echilibru static.
Consider a rigid body with aG as the Fie un rigid cu aG i cunoscute ca n
acceleration of its center of gravity and as its Fig.5.33-a. Componentele ineriale vor aprea
angular acceleration (Figure.5.33-a). The inertia ca n Fig.5.33-b. Fora de inerie i momentul
force and torque will be as shown in de inerie pot fi combinate ntr-o singur for
Figure.5.33-b. The inertia force and torque can rezultant Ri ca n Fig.5.33-c dac:
be combined into a single resultant, Ri (Figure
c) , if:
r
r
R i = Fi
(5.48)
r ri ri
rR =T
where r is a position vector from the center of unde r este vectorul de poziie de la centrul de
gravity to a point on the line of action of Ri. In greutate la un punct de pe direcia lui Ri. n
such a case the resultant Ri has the magnitude acest caz Ri are mrimea i direcia forei de
and direction of the inertia force Fi and is inerie Fi i este deplasat fa de centrul de
displaced from the center of gravity by a greutate cu o distan hG n sens perpendicular:
perpendicular distance hG such that:
I k2
hG = G = G
(5.49)
ma G
aG
This fictitious force Ri will then replace the For fictiv Ri va nlocui astfel aciunea
effect of the inertia force and torque.
componentelor ineriale.
5-47
_________________________________________________________________________________________________
Fig.5.33
5.5 Dynamc Force Analyss of Machinery/Analiza dinamic a mecanismelor/
5-48
_________________________________________________________________________________________________
Example 5.6
Exemplul 5.6
Fig.5.34
x + a 3 e i = iy
Equating the real and imaginary parts:
_________________________________________________________________________________________________
Differentiation of the above equations give us Dac se deriveaz ecuaiile de mai sus n raport
the velocity:
cu timpul:
):
In the second step, we must determine the n al doilea pas de calcul se determin forele i
inertia forces and torques. From Table 5.2 for a momentele de inerie. Din tabelul 5.2 pentru o
bar subire (r=0):
thin rod (r=0):
= 25.97 N 900
865 N-mm (CW)
These forces are as shown in Fig.5.35-a. If a
graphical solution is to be performed, inertia
force and torque can be replaced by a single
resultant (Fig.5.35-b), which is at a distance h
from the center of gravity. h is given by:
5-50
_________________________________________________________________________________________________
Fig.5.35
For the force analysis we proceed as if the Mai departe forele de inerie sunt tratate ca i
inertia forces were external forces and apply the cum ar fi fore externe aplicnd metodele
methods that were described before for a force echilibrului static al mecanismului.
analysis.
Graphical Method.
Fig.5.36
Metoda grafic
5-51
_________________________________________________________________________________________________
Fig.5.37
Analytical Method
Metoda analitic
Since/Cu:m/
F43=F43 1800
F3i= 25.97 N 900
For link 3 the equilibrium equations are/Pentru elementul 3 ecuaia de echilibru este/:
F43 - F23x = 0
F3i - F23y = 0
and the moment equilibrium about point A is/i momentul fa de punctul A este/:
500F43sin(180-113.578) + 250(25.97)sin(90-113.578)-865 = 0
or/sau/
458.258 F43 = 3461.981
F43 = 7.555 N 1800
F32= -F23 = 27.04 N 106.220
F23x = 7.555 N 00
F12 = 7.555 N 00
5-52
G14 = F43
_________________________________________________________________________________________________
E
Fig.5.38
(Note that rcos and rsin terms must be solved (S se observe c termenii care conin rcos i
for r and simultaneously and the correct rsin trebuie
rezolvai
simultan
pentru
quadrant must be ensured. The function signum determinarea lui r i . Funcia semn este =
is = 1 depending on whether the mechanism 1 dup cum mecanismul este n configuraie
is of open or cross configuration.)
deschis sau ncruciat.)
5-53
_________________________________________________________________________________________________
The above equations can be written in different forms/Ecuaiile de mai sus pot fi scrise n
forme diferite/
Acceleration of the centers of gravity/Acceleriile centrelor de greutate/
Using the above equations, one can determine Folosind ecuaiile de mai sus se pot determina
the angular acceleration of the links and the acceleraiile unghiulare ale elementelor i ale
linear accelerations of the centers of gravity for centrelor lor de greutate pentru orice valori de
5-54
_________________________________________________________________________________________________
Fig.5.39
Note that:
F2i=-m2aG2 , F3i=-m3aG3, F4i=-m4aG4
and
T2i=-IG212 , T3i=-IG3G3 , T4i=-IG414
The free body diagrams of each moving link Mai jos se deseneneaz schemele fiecrui
can be drawn and the equilibrium equations can element n parte i se scriu ecuaiile de
be written:
echilibru:
Fig.5.40
For link 4/Elementul 4/
F34x +G14x+F14cos4-m4aG4x=0
F34y +G14y+F14sin4-m4aG4y=0
5-55
(1)
(2)
_________________________________________________________________________________________________
(4)
F23y -F34y+F13sin3-m3aG3y=0
(5)
Fig.5.47
Fig.5.41
For link 2/Elementul 2/
-F23x +G12x - m2aG2x=0
(7)
-F23y +G12y - m2aG2y=0
(8)
F23xa2sin(-12) + F23ya2sin(-/2-12) + T12 - I212
- m2aG2xg2sin(-12-2)-m2aG2yg2sin(/2-12-2) = 0 (9)
Hence, we obtain nine linear equations in n final se observ c s-au scirs 9 ecuaii
nine unknowns (Gl4x, Gl4y, F34x, F34y, F23x, F23y, liniare cu 9 necunoscute (Gl4x, Gl4y, F34x, F34y,
Gl2x, Gl2y and T12). If a computer subroutine for F23x, F23y, Gl2x, Gl2y and T12). Dac exist
the matrix solution is available, these equations programe de computer dedicate se pot calcula
can be solved directly for the unknowns. direct necunoscutele. Mai simplu ar fi s se
However, it is much simpler to solve equations rezolve simultan ecuaiile (3) i (6) pentru
(3) and (6) simultaneously for F34y and F34x and aflarea lui F34y i F34x apoi se vor rezolva restul
then solve for each unknown from the de ecuaii.
remaining equations.
5-56
_________________________________________________________________________________________________
Fig.5.42
5-57
_________________________________________________________________________________________________
Link dimensions:
a1
410
b1
370
conv
a2
85
a3
235
a4
180
550
0 .. 180
2 .i .conv
12
2 .i
mi
x1
si
x1
acos
14
a4
a3
2 .a 4 .s i
13
acos
14
b1
angle x 1 , y 1
i
i
si
a 2 .sin 12
i
y1
y1
a1
a3
a4
si
2 .a 4 .a 3
150
135
14
i
conv
120
105
90
13
i
75
conv
60
i
45
conv
30
15
0
13
i
14
i
12.
12.
a2
a3
a2
a4
40
80
sin 12
i
14
sin 14
i
13
i
i
sin 12
i
13
sin 14
i
13
5-58
_________________________________________________________________________________________________
13
2
a 2 . 12 .cos 12
i
2
a 3 . 13 .cos 14
i
i
14
a 3 .sin 14
i
2
a 2 . 12 .cos 12
i
14
13
13
2
a 4 . 14 .cos 14
i
i
a 4 .sin 14
i
a 4 . 14
i
13
13
a 3 . 13
i
13
40
32
24
16
13
i
14
i
8
0
8
16
24
32
40
40
4000
3000
2000
1000
13
i
14
i
0
1000
2000
3000
4000
5000
6000
40
231
a G3x
i
a G3y
1 .conv
g4
305
7 .conv
2
a 2 . 12 .cos 12
i
2
g 3 . 13 .cos 13
i
i
2
a 2 . 12 .sin 12
i
2
g 3 . 13 .sin 13
i
i
5-59
3
3
g 3 . 13 .sin 13
i
i
g 3 . 13 .cos 13
i
i
_________________________________________________________________________________________________
a G4x
2
g 4 . 14 .cos 14
i
i
g 4 . 14 .sin 14
i
i
a G4y
2
g 4 . 14 .sin 14
i
i
g 4 . 14 .cos 14
i
i
k4
k2
100
424
m3
10
k3
268
m4
5.1
F ext
7.5.conv
475
f4
.
25.6353conv
495
62.. 78
F ext
2000
2000
F ext
i
200
m
i
400
Ai
Bi
m 4 .g 4 . a G4y .cos 14
i
i
2
m 3 .k 3 . 13
F 34x
m 3 .g 3 . a G3y .cos 13
A i .a 3 .cos 13
i
Bi .a 4 .cos 14
i
a 4 .a 3 .cos 13
i
14
a G4x .sin 14
i
i
.C
5-60
a G3x .sin 13
i
f 4 .F ext .
cos 14
i
f 3 .F ext .
i
cos 13
i
C
_________________________________________________________________________________________________
A i .a 3 .sin 13
i
F 34y
Bi .a 4 .sin 14
i
a 4 .a 3 .sin 13
i
G 14x
G 14y
m 4 .a G4y .C
F 34x
F 23y
F 34y
C.m 3 .a G3y
F ext
C. F 23y .a 2 .cos 12
i
i
T 12
F ext
C.m 3 .a G3x
F 23x
F 34y
.C
m 4 .a G4x .C
F 34x
14
F 23x .a 2 .sin 12
i
i
4 10
3.2 10
2.4 10
1.6 10
8000
T 12
i
0
8000
4
1.6 10
2.4 10
3.2 10
4 10
F 23x
F 34
F 34x
F 34y
G 14
23
i
F 23y
34
i
G 14x
G 14y
5-61
14
i
_________________________________________________________________________________________________
5
5 10
5
4.5 10
5
4 10
5
3.5 10
5
3 10
F 23
i
5
2.5 10
5
2 10
5
1.5 10
5
1 10
4
5 10
0
5 10
4.5 10
4 10
3.5 10
3 10
F 34
i
2.5 10
2 10
1.5 10
1 10
5 10
5
5
5
5
5
5
5
5
5
4
0
5
5 10
5
4.5 10
5
4 10
5
3.5 10
5
3 10
G 14
i
5
2.5 10
5
2 10
5
1.5 10
5
1 10
4
5 10
0
5-62
_________________________________________________________________________________________________
INDEX/CUPRINS/
6.0 GEAR TRAINS/TRENURI DE ROI DINATE/ ________________________________________2
6.1 GENERAL ISSUES, CLASIFICATION/GENERALITAI, CLASIFICRI/______________________________2
6.2 THE FUDAMENTAL LAW OF GEARING/LEGEA FUNDAMENTAL A ANGRENRII/ __________________4
6.3 Curves to be Used for Teeth Profiles Generation /Curbele Folosite Pentru Construcia Profilului
Danturii Roilor Dinate/ _____________________________________________________________7
6.4 The Gear Basic Rack/Cremaliera de Referin/ ________________________________________9
6.5 GEOMETRICAL CHARACTERISTICS OF THE SIMPLE GEARS/ ELEMENTELE GEOMETRICE ALE ROILOR
DINATE CILINDRICE CU DINI DREPI/ _________________________________________________10
6.6 SIMPLE GEAR TRAINS/ TRENURI DE ROI DINATE CILINDRICE/ ______________________________12
6.7 PLANETARY GEAR TRAINS/TRENURI DE ROI DINATE PLANETARE/ __________________________16
6.8 GEAR TRAINS WITH BEVEL GEARS/TRENURI DE ROI DINATE CONICE/________________________22
6-1
_________________________________________________________________________________________________
The Gear is a cinematic link with equally Roata Dintaa este un element cinematic, care
deployed teeth at its circular boundary. A gear are la periferia sa dini dispui n mod regulat
pe o suprafa de revoluie. O roat dinat se
has three areas:
compune din trei pri:
_________________________________________________________________________________________________
criteria:
a) Considering the relative positions of
the axles axes one may define:
Parallel gearing (Fig.6.1.a);
Concurent gearing (Fig.6.1.b);
Crossed gearing (Fig.6.1c).
Planetary gearing (Fig.6.3)
6-3
_________________________________________________________________________________________________
Fig.6.1
b) Dup profilul dinilor angrenajelor, pot
c) Taking into account the teeth profile one
fi:
may define:
Cylindrical gears;
Bevel gears;
Worm gearing (Fig.6.1c).
Fig.6.2
Fig.6.3
M 1 (1)
M 2 ( 2)
6-4
_________________________________________________________________________________________________
Fig.6.4
v M 2 = v M1 + v M 2M1
MO2 MO1
tt
'
(6.1)
v M1 = O1 M 1
It is common sense to say that the velocities of Plecnd de la observaia c vitezele punctelor
the superposed points M1 M2, on the common suprapuse M1 M2, n momentul considerat al
perpendicular direction (n n) are equal, then: micrii pe normala comun (n n) sunt egale,
se poate scrie relaia:
prnn ' (v M1 ) = prnn ' (v M 2 ) v M1 cos 1 = v M 2 cos 2
1O1 M 1 cos 1 = 2 O 2 M 2 cos 2
1
424
3
1424
3
v M1
(6.2)
vM 2
For/Deoarece/: O1 M 1 cos 1 = O1 K 1
O 2 M 2 cos 2 = O 2 K 2
6-5
_________________________________________________________________________________________________
i12 =
1 O 2 C
=
= ct.
2 O1C
(6.4)
rW
1 n 1
z
=
= 2 = 2 = ct. (6.5)
2 n 2
rW1
z1
where the positive sign is for the internal n care semnul plus se ia pentru angrenarea
interioar i semnul minus pentru angrenarea
gearing and minus for external gearing.
exterioar.
Observaii:
Notes:
i 12 =
Equation (6.5) works for any type of Relaia (6.5) se aplic tuturor mecanismelor
cu roi dinate avnd axele fixe,
gearings with fixed shafts;
The relative velocity v
of the Viteza relativ de alunecare v M 2 M1 dintre
M 2 M1
v M M sunt:
1 2
_________________________________________________________________________________________________
The polar coordinates inv and (r) of the Coordonatele polare inv i (r) ale evolventei,
involute depends on the pressure angle as n funcie de parametrul (unghi de presiune)
6-7
_________________________________________________________________________________________________
follows:
Fig.6.5
arc(M 0 T ) = rb (inv + )
= inv = tg
arc(M 0 T ) = MT = rb tg
= tg = inv = ev
(6.6)
rb
cos
The cartesian coordinates x, y of involute are/Coordonatele carteziene x, y ale evolventei sunt/:
r=
Ty OT
Ty OT
MT arcM 0 T
y = OT + M T = r cos(180 o inv. ) +
y
y y
b
MT arcM 0 T
(6.7)
x = rb [sin( tg ) tg cos( tg )]
(6.8)
y = rb [cos( tg ) + tg sin( tg )]
Length S of involute arc can be calculated with/Lungimea (S) a arcului de evolvent se obine din
relaia/:
dS = dx 2 + dy 2
tg
dx = rb
sin( tg ) d
cos 2
tg
dy = rb
cos( tg ) d
cos 2
(6.9)
tg
tg
cos 2
1
S = rb
d = rb tg 2
2 6-8
2
cos
0
(6.10)
_________________________________________________________________________________________________
The involute arc S is proportional to the square of pressure angles tangent/Deci arcul de evolvent
(S) crete cu ptratul tangentei unghiului/:
inv. + = tg
(6.11)
It may be demonstrated that the curvature radius/Se poate demonstra ca raza de curbur/
3/ 2
dx 2 dy 2
+
d
d
(6.12)
MT
=
dx d 2 y dy d 2 x
d d 2 d d 2
The way to generate the involute and its Modul de generare a evolventei i ecuaiile ei
pun n eviden cteva proprieti:
equations shows some conclusions:
M = MT
M0 = 0
(6.13)
Dreapta perpendicular n M pe D,
nfoar evolventa, deci evolventa
poate fi prelucrat i cu o scul cu
profil rectiliniu.
Cnd rb evolventa degenereaz
ntr-o dreapt.
6-9
_________________________________________________________________________________________________
c *0 =
c0
c Base clearence/jocul de referin ( joc de cap ); p0 pitch/pasul de referin;
= 0,25 0
m
h *0a =
h 0a
= 1,0
m
Fig.6.6
h0a addendum/nlimea capului de referin;
r0 = 0.38 m
h *0f =
h 0f
= 1,25
m
(6.14)
h 0 = h 0a + h 0f
m=
-(root/raza de racordare);
p0
Module-standardised/modulul standardizat /
6.5 Geometrical characteristics of the simple gears/ Elementele Geometrice ale Roilor
Dinate Cilindrice cu Dini Drepi/
a=
d1 d 2 m
+
= (z 1 + z 2 )
2
2
2
6-10
_________________________________________________________________________________________________
6-11
(6.16)
_________________________________________________________________________________________________
13 n 13
=
12 n 12
where n1j is the angular speed of link j with unde n1j este turaia rotii j fa de elementul fix
respect to the fixed link 1 expressed in rpm. 1 (batiu) n rpm. Viteza punctului P este:
Velocity of point P is:
VP = VP 3 = VP 2 = 13 r3 = 12 r2
Hence/Deci/:
(6.16)
13 n 13 r2 d 2
R 23 =
=
= =
12 n 12 r3 d 3
Fig.6.8
where dj and rj are the diameters and radii of the unde dj i rj sunt diametrele/razele cercurilor de
divizare ale roilor dinate.
pitch circles of the gears.
From the law of gearing for the gears to be in Din legea angrenrii este necesar ca pentru
mesh, the diametral pitch, which is the ratio of angrenare s avem pasul diametral care este
the number of teeth over the pitch diameter raportul dintre numrul de dini i diametrul de
divizare, s fie acelai pentru ambele roi:
must be the same for two mating gears: e.g.:
T
T
(6.17)
PD = 3 = 2 = Diametral pitch/Pas diametral/
d3 d2
where Tj is the number of teeth on gear j. In unde Tj este numrul de dini ai rotii j. n
European countries rather than the diametral Europa n locul pasului diametral se folosete
pitch, Module, m, which is the ratio of the pitch Modulul m care este raportul dintre
circumference to the number of tooth (pdj/Tj), is circumferina cercului de divizare i numrul
6-12
_________________________________________________________________________________________________
Fig.6.9
Therefore, the gear ratio of a gear train with one Aadar raportul de transmitere pentru un tren
gear pair can be expressed as:
de roi dinate format dintr-o pereche de roi:
13 n 13
r
d
T
R 23 =
=
= 2 = 2 = 2
(6.18)
12 n 12
r3
d3
T3
+ if internal/angrenare interioar/,
- if external mesh/angrenare exterioar/.
Fig.6.10
Simplest gear trains have one gear pair on each Cel mai simplu tren de roi dinate are n
link. A simple example is, shown in Fig. 6.10. compunere 3 roi ca n Fig.6.10. Raportul total
The overall gear ratio of the gear train, R24, will de transmitere R24 va fi:
be:
n 13
T
= 2
n 12
T3
T2
R 24 = R 23 R 34 =
T
n
T3
= 14 = 3
n 13
T4
R 23 =
R 34
6-13
T3
T4
T2
=
T4
(6.19)
_________________________________________________________________________________________________
Fig.6.11
A gear train is called a compound gear train if Un tren de roi dinate se numete compus dac
there is more than one gear on each link. An exist mai mult de 3 roi dinate in angrenare.
example is shown above. The gear ratio for the Ca i mai sus, raportul general de transmitere se
whole gear train can be determined by face considernd raportul de transmitere pentru
considering the gear ratio for each gear pair. fiecare pereche de roi dinate n parte:
We can write:
n
T
R 23 = 13 = 2
n 12
T3
R 34 =
T
n 14
= 3
n 13
T4
R 45 =
n 15
T '
= 4
n 14
T5 '
n 16
T '
= 5
n 54
T6 '
Then /Deci
R 56 =
n 13 n 14 n 15 n 16
T T 'T '
4 T T T ' T '
= R 23 R 34 R 45 R 56 = ( 1) 2 3 4 5 = 2 4 5
(6.20)
n 12 n 13 n 14 n 54
T3 T4 T5 ' T6 ' T4 T5 ' T6 '
Note that the gears that appear in the numerator Se poate observa c la numrtorul relaiei de
are all driving gears and those that appear in the mai sus apar numrul de dini ai roilor dinate
denominator are all driven gears. Also, each conductoare i la numitor al celor conduse.
external gear mesh changes the sign of the gear Fiecare pereche de roti dinate schimb semnul
ratio once. If the number of external gear raportului final. Dac numrul de perechi este
meshes is odd, the gear ratio will be negative; if impar raportul final va fi negativ, dac este par
it is even, the gear ratio is positive. We can va fi pozitiv. Relaia de mai sus poate fi
generalise the above result and define the gear generalizat astfel:
ratio for any simple compound gear train as:
R 26 =
6-14
_________________________________________________________________________________________________
R ij =
n1j
n 1i
= ( 1)
The gear ratio is a constant. Therefore, the Raportul de transmitere este constant.
angular displacements and the angular Deplasarea unghiular i acceleraia unghiular
accelerations are also related with the same sunt legate de raportul de transmitere. Dac
gear ratio. If link i is rotated by 1i the roata/elementul i se rotete cu ughiul 1i
corresponding angular rotation of link j, 1j, atunci unghiul de rotaie al rotii j , 1j, este:
is:
1j=Rij1i
(6.22)
Another type of simple gear train is the gear
train that is used to change the output speed for
a constant input speed. Most common examples
are the transmission boxes in cars or in machine
tools. In general, they are called speed-change
gear trains and they are made up of compound
gear trains in which the output speed can be
changed by meshing different gears in the train.
For each speed ratio one can treat the gear train
as a different compound gear train and thus
obtain the gear ratio for that particular
arrangement. One example is given below; a
four speed manual gear box is shown. Five
speed gear boxes can also be seen in most cars
that use the same principle (to increase the fuel
efficiency). Using the gear shift lever one of the
gears is engaged to the output shaft with one of
three clutches.
6-15
_________________________________________________________________________________________________
Fig.6.12
6.7 Planetary Gear Trains/Trenuri de roi dinate planetare/
6-16
_________________________________________________________________________________________________
Fig.6.13
Fig.6.14
Fig.6.15
Planetary gear trains are also called "Epicyclic Trenurile de roi planetare se numesc i trenuri
Gear Train" from the fact that a point on the epiciloide sau hipocicloide dat fiind c un punct
planet will describe an algebraic curve which is aflat pe roata planet descrie o curb numit
an epicycloid or hypocycloid. This curve can be epicicloid sau hipociloid. Aceste curbe scrise
represented in parametric form as:
parametric, au ecuaiile:
x = a1cos +a2cosR
y = a1 sin +a2sinR
(6.23)
or in complex numbers/sau n numere complexe/:
(6.24)
z = a 1 e i + a 2 e R
where is the variable parameter (usually the unde este parametrul variabil (de regul
angle of rotation of the arm) a1, a2 and R are unghiul descris de bra), a1, a2 i R sunt
constants (R is a function of the gear ratio, a1 constante (R este funcie de raportul de
and a2 are the link lengths of the arm and the transmitere al angrenajului, a1 i a2 sunt
position of the point relative to the moving lungimea braului i respectiv, poziia punctului
pivot of the planet respectively).
de coordonate x, y fa de centrul rotii planet.
6-17
_________________________________________________________________________________________________
Fig.6.16
For large force transmission, there is usually La angrenajele planetare care transmit fore
more than one planet located symmetrically mari se folosesc dou sau mai multe roi
around the sun gear as shown in Fig. 6.17-18.
planet aezate simetric fa de roata soare cum
se vede n Fig. 6.17-18.
Fig.6.17
Fig.6.18
6-18
_________________________________________________________________________________________________
coincident points Pi and Pj (coincident in P) are pur dintre roile angrenate, vitezele punctelor
equal. The velocity of point P can be expressed coincidente n P, i anume Pi i Pj , sunt egale.
Viteza punctului P este:
as:
VP=VPi = VPj = VA + VP/A
(6.25)
Fig.6.19
VPj = VPi = 1j rj
VA = 1k(rjri)
VP/A=1iri
Where ri and rj are the radii of the gears. Then/unde ri i rj sunt razele roilor/ :
1j rj=1k(rjri) 1iri
or/sau/:
1 j 1k
ri
=
r j 1i 1k
(6.26)
_________________________________________________________________________________________________
(6.28)
1iRij + 1k(1-Rij)-lj = 0
If the number of teeth on each gear is known, Dac se cunoate numrul de dinti pentru
there are three unknowns (1j, 1i, and 1k ). If fiecare roat atunci rmn doar trei
any two of the angular speeds are given, one necunoscute de calculat (1j, 1i, and 1k).
can
solve
for
the
third
speed. Dac una dintre cele trei viteze unghiulare este
dat se poate afla oricare din celelalte dou.
In simple gear trains the speed ratio, 1j/1i, La angrenajele simple raportul vitezelor
1j/1i, era egal cu raportul
and the gear ratio, Ti/Tj were the same. The unghiulare
symbol Rij was used to represent both of these numrului de dini Ti/Tj i egale cu Rij. La
ratios. In planetary gear trains these two ratios angrenajele planetare cele dou rapoarte nu mai
are not the same. Therefore, the symbol Rij = sunt egale i deci Rij = Ti/Tj se va folosi pentru
Ti/Tj will be used as the gear ratio and the raportul dintilor i Nij =1j/1i pentru raportul
symbol Nij will be used as the speed ratio: Nij = vitezelor unghiulare.
1j/ 1i.
As a simple example (Fig.6.20), consider an Fie un angrenaj planetar epiciclic (Fig.6.20), la
epicyclic gear train shown below. The sun gear care roata soare are 60 de dini i planeta 22 de
has 60 teeth and the planet has 22 teeth. The dinti. Braul se rotete cu 100 rpm n sens
arm rotates at 100 rpm counter clockwise and trigonometric i roata soare cu 150 rpm n sens
the sun gear rotates at 150 rpm clockwise. orar. Considernd micarea trigonometric ca
Denoting the counter clockwise rotation as avnd semn pozitiv, vom avea:
positive we obtain:
100
60
60
= 13
13 = 250
+ 100 = 782
22
22 150 100
Fig.6.20
6-20
_________________________________________________________________________________________________
As another example (Fig.6.21), consider the Fie alt exemplu (Fig.6.21). Se poate scrie:
planetary gear train shown below in side view,
We can write:
R ij =
R pj =
R ip =
1 j 1k
1i 1k
1 j 1k
1p 1k
1p 1k
1i 1k
kj
ki
=
=
kj
kp
R ij
R pj
Since/Cum/
1
k T j Ti
= R jp ; R ip = R ij R jp = ( 1)
R pj
T ' j Tp
Fig.6.21
Hence the gear ratio has the same meaning as in Deci se vede c raportul angrenajului are
aceeai semnificaie ca i la angrenajele simple.
the simple gear trains.
Example 6.1
Exemplul 6.1
Determine the output speed of the compound in S se determine turaia de ieire i direcia
Fig.6.22, and the direction of rotation when the rotaiei a trenului compus din Fig.6.22, tiind
c turaia de intrare este 3000 rpm.
input speed is 3000 rpm.
Link 3 does not have a fixed axis of rotation. Elementul 3 nu are o ax fix de rotaie deci
6-21
_________________________________________________________________________________________________
Therefore it is a planet. Link 2 is connected to este o roat planet. Elementul 2 este un bra.
link 3 by a revolute joint. Therefore it is the Angrenajul planetar va avea:
arm. For this planetary system:
R 45 = ( 1)
38 42 n 15 n 12
=
40 36 n 14 n 12
or
n 15 n 12 =
133
(n 14 n 12 )
120
Fig.6.22
For the remaining portion of the gear train all Toate celelalte angrenaje au roi dinate cu axe
the gears have a fixed axis of rotation .
fixe deci sunt angrenaje simple:
R 46 = N 46 =
12 n 16
=
54 n 14
R 56 = N 56 =
120 n 16
=
54 n 15
9
9
n 14 = n 16 ; n 15 = n 16 ;
2
20
substituting into the first equation and solving for n16 yields/nlocuind n prima ecuaie i rezolvnd
dup n16 /:
26
n 16 =
n 12
1305
and for/pentru/ n12=3000 rpm: n16=-59.8 rpm (in opposite direction of the input speed/n sens
opus turaiei de intrare).
6.8 Gear Trains with Bevel Gears/Trenuri de roi dinate conice/
If the motion is to be transmitted between non- Dac micarea trebuie s fie transmis ntre
parallel shafts, bevel gears are often used. arbori neparaleli atunci se pot folosi rotile
6-22
_________________________________________________________________________________________________
Fig.6.23
Fig.6.24
=+
13
12
r2
r
T
OP
= 2 = 2 =
r3 T3 r3
OP
(6.29)
13 sin
=
= R 23
12 sin
Example 6.2
Exemplul 6.2
6-23
_________________________________________________________________________________________________
Fig.6.25
We have/Avem/:
13 20
18
= R 34
=
= R 23 ; 14 =
13 60
12 80
R 24 =
14 20 18 3
=
=
12 80 60 40
Example 6.3
Exemplul 6.3
Consider the planetary gear train shown. We Fie un tren planetar cu roi conice ca mai jos.
can write the gear ratio between links 1 and 4, Se poate scrie raportul de transmitere dintre 1 i
when the arm (link 2) is considered fixed as:
4 (elementul 2 este braul fix) astfel:
R 24 =
14
3
=
= 0.075
12 40
Fig.6.26
tiind c n11 = 0, avem:
6-24
_________________________________________________________________________________________________
14
n 14 = 1 n 12
3
n
11
N 24 = 14 =
n 12
3
where (-) sign states that link 2 (arm) and link 4 Unde semnul minus arat c braul 2 i
rotate in opposite direction relative to each elementul 4 se mic n direcii relative opuse.
other.
6-25
Cams/Came/
_________________________________________________________________________________________________
INDEX/CUPRINS/
7.0 CAMS/CAME/ _____________________________________________________________________2
7.1 CAM TYPES AND CLASSIFICATION OF CAMS/TIPURI DE CAME I CLASIFICAREA LOR/ _______________3
7.2 CAM DESIGN/PROIECTAREA CAMELOR/ _________________________________________________4
7.3 BASIC CAM MOTION CURVES/CURBE FOLOSITE LA PROFILELE CAMELOR/ _______________________8
7.3.1 Linear motion/Curba micrii liniare/ ______________________________________________8
7.3.2 Simple Harmonic Motion (SHM)/Curba armonic simpl/ _____________________________11
7.3.3 Parabolic or Constant Acceleration Motion Curve/Curba parabolic sau de acceleraie
constant/ _______________________________________________________________________11
7.3.4 Cycloidal Motion Curve/Curba cicloidal/ _________________________________________15
7.3.5 Combined Straight Line-Circular arc motion curve/Curba combinat Linie dreapt-Arc circular/
________________________________________________________________________________18
7.3.8 Cubic or Constant Pulse Motion Curve/Curba cubic sau de impuls constant/ _____________20
7.3.9 Double Harmonic motion curve/Curba dublu armonic/_______________________________22
7.3.10 Polynomial Motion Curves/Curbele polinomiale/ ___________________________________24
7.4 CAM SIZE DETERMINATION/DETERMINAREA MRIMII CAMEI/ _______________________________27
7.4.1 Pressure angle/Unghiul de presiune/ ______________________________________________28
7.4.2 Cam Curvature/Curbura camei/__________________________________________________33
7.5 CONSTRUCTION OF THE CAM PROFILE/CONSTRUCIA PROFILULUI CAMEI/ ______________________37
7-1
Cams/Came/
_________________________________________________________________________________________________
7.0 Cams/Came/
Cam is a higher kinematic pair which is used to
transmit motion from one link to another. In
everyday usage, a cam is a rigid body with a
curved surface that is in contact with another
rigid body named follower (usually the second
rigid body is of simple shape such as a flat face
or a cylinder).
Fig.7.1
7-2
Cams/Came/
_________________________________________________________________________________________________
According the shape cams are radial, face, Dup forma camei acestea pot fi radiale, plane,
pan,
cilindrice,
sferice,
conice,
wedge, cylindrical, spherical, helical, conical, 3 tip
tridimensionale
etc.
(Fig.7.2-3).
dimensional, etc. (Fig.7.2-3).
Fig.7.2
7-3
Cams/Came/
_________________________________________________________________________________________________
.
Fig.7.3
Perechea cam-tachet poate fi inut n contact
fie pri aplicarea unei fore fie prin forma lor
specific. Cele inute n contact prin aplicarea
unei fore sunt cele mai rspndite fiind mai
ieftine dect cele cu contact prin form.
Followers, in general, are classified in one of Tacheii n general sunt clasificai astfel:
two ways:
Cam pairs are classified as force closed or
form closed. Force closed cam pairs are more
common since it is expensive to manufacture
form closed cams.
Cams/Came/
_________________________________________________________________________________________________
Fig.7.4
In most cam applications the motion curve for n majoritatea aplicaiilor curba de micare
the whole cycle must be exactly defined. What pentru ntregul cilclu trebuie perfect definit. Se
is usually required is in certain parts of the cam cere de regul ca pe o anumit poriune din
rotation the output must remain stationary. This ciclu tachetul s nu se mite. Aceast condiie
este faza inactiv a mecanismului.
condition is known as the dwell.
Usually the dwell periods must be kept as large
as possible and the rise and return portions in
between the dwells must be as fast as possible.
However if the rise and return portion of the
cycle is small, the displacement curve in
7-5
Cams/Came/
_________________________________________________________________________________________________
between the two dwells will get steep hence the profilului camei va fi mai mare i deci vitezele
i acceleraiile n faza de ridicare-coborre vor
velocity and the acceleration will increase
fi mai mari.
Assuming constant velocity of the input, the Dac se presupune c turaia de input a camei
angular rotation of the cam, , is proportional este constant atunci unghiul de rotaie al camei
este proporional cu timpul.
to the elapsed time.
The cam motion curve can have the following Curbele de micare ale camelor pot fi clasificate
astfel:
global characteristics:
a.
b.
c.
Fig.7.5
Note that if the global characteristics of the Se poate observa c din analiza funciei s() din
motion curve is as shown in Fig 7.6, there will Fig.7.6 care definete curba de funcionare i
be no single function s() that defines the profilul camei, de vreme ce de pild s4=s9 exist
motion curve since for instance s4=s9. Instead mai multe valori ale parametrului care ntorc
for each portion of the cycle we will have aceeai deplasare a tachetului. Ca atare pentru
fiecare poriune a ciclului se pot defini funcii
different functions.
diferite.
For example for the dwell portions we will n acest sens se poate vedea c pentru poriunile
have s= 0 or s= H and s& = 0; &s& = 0 . The motion de faz inactiv putem avea funciile s= 0 sau
curves for the rise and return portions has been s= H i s& = 0; &s& = 0 . Pentru fazele de ridicare i
selected as some basic mathematical functions de coborre se pot alege funcii matematice
so that the motion characteristics can be astfel nct caracteristicile cinematice ale
micrii tachetului s fie controlate.
controlled.
Let us consider Fig.7.7 explain the general Pentru explicarea procedurii generale de
procedure of graphical determination of the determinare grafic a profilului camei se
consider Fig.7.7.
cam profile.
7-6
Cams/Came/
_________________________________________________________________________________________________
Fig.7.6
Assume a motion curve as shown in Fig. 7.7 is Dac se d curba de funcionare a camei se
given. We would like to realize this motion poate determina profilul camei care s realizeze
curve using a radial cam with an inline aceast micare impus de curb. Se determin
translating roller follower. We must first mai nti raza rolei (rr) i raza cercului de baz
determine the roller radius (rr) and the base (rb) pe care se va aplica profilul camei.
circle radius (rb) onto which the cam profile
will be applied.
7-7
Cams/Came/
_________________________________________________________________________________________________
Fig.7.7
7.3 Basic Cam Motion Curves/Curbe folosite la profilele camelor/
Equation (7.1) is describing a linear motion Ecuaia (7.1) descrie micarea liniar a unui
with respect to time is:
tachet funcie de timp:
s= a1 t +a0
7-8
(7.1)
Cams/Came/
_________________________________________________________________________________________________
este
constant
(7.2)
s = a1 + a 0
Let H= Total follower rise (Stroke) Fie H = este cursa total a tachetului i
= angular rotation of the cam corresponding =rotaia unghiular a camei corespunztoare
to the total rise of the follower.
cursei de ridicare a tachetului.
Fig.7.8
Also assume when s = 0 at = 0 (rise is to Deasemenea se presupune c s = 0 la = 0
start when t=0). This assumption leads to s = H (ridicarea ncepe cnd t=0). Deci fcnd
, = . When these boundary conditions are ipotezele de mai sus avem s = H , = . Dac
applied to the linear equation: a0=0 and sunt aplicate aceste condiii la limit ecuaiei de
a1=H(/). The linear motion curve is
mai sus, avem a0=0 i a1=H(/).
0 .. 120
i.deg
1
si
121.. 180
rb
120.deg
H.
i
1
7-9
vi
50
H.
rb
50
Rise
Cams/Came/
_________________________________________________________________________________________________
j.deg
sj
181.. 300
k .deg
rb
301.. 360
l.deg
vj
Dwell
300.deg
2
sk
rb
H.
sl
rb
vl
H.
vk
Return
Dwell
m 0 .. 360
rb
50
m
100
150
94
130
88
110
82
90
76
s
70
70
64
50
30
58
10
52
10
46
40
30
0.8
1.6
2.4
3.2
4.8
5.6
6.4
7.2
0.8
1.6
110
130
140
150
160
m
rb
2.4
3.2
120
50
170
180
100 90 80
100
90
80
70
60
50
40
30
20
10
0
70
60
50
40
30
20
10
0
190
350
200
340
210
330
220
320
230
310
240
250
Fig.7.9
7-10
290
300
4.8
5.6
6.4
7.2
Cams/Came/
_________________________________________________________________________________________________
Fig.7.10
Simple harmonic motion curve is widely used Curba armonic simpl este des ntlnit n
since it is simple to design. The curve is the practic dat fiind proiectarea sa relative simpl.
projection of a circle about the vertical axis as Curba este rezultat prin proiectarea unui cerc
shown in the figure 7.10. The equations peste axa vertical cum se vede n Fig.7.10.
relating the follower displacement, velocity and Ecuaiile care leag deplasarea, viteza,
acceleration to the cam rotation angle are:
acceleraia tachetului cu unghiul ei de rotire
sunt:
2
1
1
1
cos ;
s = H1 cos ; v = s' = H
sin ; a = v' = H
2
2
2
(7.4)
In figure below the displacement, velocity and
acceleration curves are shown in MathCad
(Fig.7.11). The maximum velocity and
acceleration values are given by equations
(7.5). Note that even though the velocity and
acceleration is finite, the
maximum
acceleration is discontinuous at the start and
end of the rise period. This curve will not be
suitable for high or moderate speeds.
v max =
1
1
H
; a max = H
2
2
(7.5)
7-11
Cams/Came/
_________________________________________________________________________________________________
0 .. 120
i.deg
si
121.. 180
181.. 300
k .deg
rb
301.. 360
l.deg
0 .. 360
m
rb
. i
H . . .
sin
2 1
1
vi
rb
50
H . .
ai
.cos
. i
1
vj
aj
Return
300.deg
2
H.
rb
. i
cos
sj
sk
50
Dwell
j.deg
Rise
H.
rb
120.deg
cos
. k
2
H . .
vk
2 2
.sin
. k
2
ak
H.
4.8
.cos
. k
2
Dwell
sl
rb
vl
al
50
m
200
100
160
94
120
88
80
82
40
76
s
70
64
80
58
120
52
160
46
40
0
40
200
0
0.8
1.6
2.4
3.2
4.8
5.6
6.4
7.2
0.8
1.6
2.4
3.2
7-12
5.6
6.4
7.2
Cams/Came/
_________________________________________________________________________________________________
120
110
130
140
2000
150
1600
s
1200
800
rb
400
a
m
160
170
180
70
60
50
40
30
20
10
0
190
350
200
400
340
210
800
330
220
1200
320
230
1600
2000
100 90 80
100
90
80
70
60
50
40
30
20
10
0
310
240
0.8
1.6
2.4
3.2
4.8
5.6
6.4
7.2
250
290
300
Fig.7.11
Fig.7.12
The
equations
relating
the
follower Ecuaiile deplasrilor, vitezelor i acceleraiilor
displacement, velocity and acceleration to the sunt date mai jos:
cam rotation angle are:
s = 2H
v = s' = 4H 2
s = H 1 21
v = s' = 4H 1
a = v' = 4H
a = v' = 4H
(7.6)
7-13
Cams/Came/
_________________________________________________________________________________________________
below. This motion curve has the lowest MathCad. n orice caz acceleraia asigurat de
possible acceleration.
acest tip de cam este cea mai mic posibil de
realizat tehnic.
i
0 .. 120
i.deg
120.deg
2 . . i
1.
sin
2
1
.
H . i
rb
ai
2
2 . . i
2 .H . . .
sin
2
1
1
121.. 180
sj
181.. 300
k .deg
sk
s 180
vi
H.
1
rb
vj
aj
rb
50
. 1
cos
2 . . i
1
Return
2
.
H . k
300.deg
2 . . k
1.
sin
2
2
vk
2
2 . . k
2 .H . . .
sin
2
2
2
ak
Dwell
j.deg
50
Rise
si
301.. 360
l.deg
Dwell
sl
rb
vl
al
m 0 .. 360
rb
50
m
7-14
H.
. 1
cos
2 . . k
2
Cams/Came/
_________________________________________________________________________________________________
100
94
500
88
400
82
300
76
200
100
70
64
100
58
200
52
300
46
40
400
0.8
1.6
2.4
3.2
4.8
5.6
6.4
7.2
500
0.8
1.6
120
110
130
140
150
2000
1600
160
m
rb
m
1200
800
170
180
4.8
5.6
6.4
7.2
100 90 80
100
90
80
70
60
50
40
30
20
10
0
70
60
50
40
30
20
10
0
350
340
210
330
220
800
320
230
1200
310
240
1600
0
0.8
1.6
2.4
3.2
4.8
5.6
6.4
7.2
200
0
400
2000
3.2
190
400
a
m
2.4
250
290
300
Fig.7.13
The
equations
relating
the
follower Ecuaiile care leag deplasarea, viteza i
displacement, velocity and acceleration to the acceleraia tachetului de unghiul de rotaie
sunt:
cam rotation angle are:
7-15
Cams/Came/
_________________________________________________________________________________________________
Fig.7.14
s=
0 .. 120
i.deg
120.deg
ai
2
2 . . i
2 .H . . .
sin
2
1
1
121.. 180
a = v' =
2
2H2
sin
2
50
rb
(7.7)
50
vi
H.
1
. 1
cos
2 . . i
1
Dwell
j.deg
sj
181.. 300
k .deg
sk
s 180
ak
2
H
1 cos
2 . . i
1.
sin
2
1
.
H . i
rb
v = s' =
Rise
si
H 1 2
sin
2
rb
aj
Return
2
.
H . k
vj
300.deg
2 . . k
1.
sin
2
2
vk
2
2 . . k
2 .H . . .
sin
2
2
2
7-16
H.
. 1
cos
2 . . k
2
Cams/Came/
_________________________________________________________________________________________________
301.. 360
l.deg
Dwell
sl
rb
vl
al
m 0 .. 360
rb
50
m
m
100
100
80
94
60
88
40
82
20
76
s
v
m
70
64
20
58
40
52
60
46
80
40
100
0.8
1.6
2.4
3.2
4.8
5.6
6.4
7.2
0.8
1.6
2.4
120
110
130
140
150
2000
1600
1200
160
m
170
rb
180
800
4.8
5.6
6.4
7.2
100 90 80
100
90
80
70
60
50
40
30
20
10
0
70
60
50
40
30
20
10
0
350
200
340
210
400
330
220
800
320
230
1200
310
240
1600
2000
4
m
190
400
a
m
3.2
0.8
1.6
2.4
3.2
4.8
5.6
6.4
7.2
250
290
300
Fig.7.15
Within the curves we have thus far seen, Dintre toate curbele posibile, curbele cicloidale
cycloidal motion curve has the best dynamic au cele mai bune proprieti dinamice.
characteristics. The acceleration is finite at all Acceleraia este finit mereu iar la capetele
times and the starting and ending acceleration fazelor acceleraia este zero. n consecin
is zero. It will yield a cam mechanism with the aceste curbe genereaz profile de came cu cele
lowest vibration, stress, noise and shock mai mici vibraii n funcionare, fore/tensiuni
characteristics. Hence for high speed mici, zgomot i ocuri mici. Deci pentru
applications
this
motion
curve
is aplicaii cu turaii mari aceast curb este cea
recommended. The maximum velocity and mai recomandat. Viteza i acceleraia maxim
acceleration values are given below.
se calculeaz ca mai jos.
H
v max =
(7.8)
2H2
a max =
2
7-17
Cams/Came/
_________________________________________________________________________________________________
7.3.5 Combined Straight Line-Circular arc motion curve/Curba combinat Linie dreaptArc circular/
This curve is an improvement to the linear Aceast curb este o soluie mbuntit a
motion curve. To avoid infinite acceleration at profilului liniar. Pentru evitarea acceleraiilor
the ends of the rise motion, circles are drawn as infinite la capetele fazelor, profilul este rotunjit
shown. Although the acceleration is finite, it cu arce de cerc (Fig.7.16). Dei finit
acceleraia la capetele intervalului va fi oricum
will be of a high magnitude.
mare.
Instead of circular arc the initial and final n locul arcului de cerc se pot folosi alte curbe
motions can be simple harmonic or constant precum cele armonice simple sau de acceleraie
acceleration as well as it will be shown in the constant, aa cum se va vedea n exemplul
following example. Straight line motion results urmtor. Linia dreapt a profilului are
in constant velocity. If we are to perform an caracteristic viteza constant care poate fi
operation such as cutting steel plates, during cerut de anumite procese tehnologice precum
the cam rise, constant velocity is the required tierea tablelor de oel.
motion characteristics.
Fig.7.16
Example 7.1
Exemplul 7.1
Fig.7.17
7-18
Cams/Came/
_________________________________________________________________________________________________
Within the range 0 < <1 constant acceleration Pentru unghiul de rotire al camei 0 < <1 se
results with a second order motion curve (a alege ca profil al camei o parabol de
acceleratie constant. Aceast curb este:
parabola). This curve can be written as:
s=c0+c1+c2 2
The boundary conditions is when
velocity);
and when =1, s=10 mm and
s& = 200mm / s .
Using the conditions for =0 results c0=c1=0. Prin nlocuirea n ecuaia de mai sus rezult
The condition for =1 results with the pentru =0 constantele c0=c1=0. Pentru =1
avem ca mai jos:
equations:
2
c21 = H1 = 10mm
2c21 = 200mm/s
Solving the two equations we obtain/rezolvand ecuaiile de sus/:
1 = /6 (=300 ) and c2=360/2 .
For the deceleration period 2 < < again we Pentru decelerare 2 < < avem curba
have a second order algebraic curve
s=c0+c1+c2 2 . Cnd = 2 = /2 s=50 mm,
2
s=c0+c1+c2 for the motion. When = 2 = avem s& = 200mm / s i cnd = , s=H=60 mm
/2 s=50 mm, s& = 200mm / s and when = , avem s& = 0 .
s=H=60 mm and s& = 0 . Using these boundary
7-19
Cams/Came/
_________________________________________________________________________________________________
conditions
se
360 2
720
1200
720 2
; v = s& = 2 =
mm/sec; a = v& =
= 2000mm / s 2
2
(7.9)
7.3.8 Cubic or Constant Pulse Motion Curve/Curba cubic sau de impuls constant/
The acceleration of cubic curves is a Acceleraia curbelor cubice este o linie continu
continuous line with a negative slope. There is cu pant negativ. Dei la capetele curbei
a finite acceleration at the ends which result acceleraia este finit, sritura sau derivata
with a step change. Jerk will be infinite at these acceleraiei este infinit. Caracteristicile acestei
points. Its characteristics is very similar to the clase de curbe sunt foarte asemntoare
harmonic motion curve. The displacement, caracteristicilor curbei armonice. Ecuaiile
velocity and acceleration equations are (7.10): deplasrii, vitezei i acceleraiei sunt (7.10):
7-20
Cams/Came/
_________________________________________________________________________________________________
s = H
0 .. 120
i.deg
ai
6. H .
121.. 180
. 3
1
2
50
vi
6. H.
rb
1 2 ;
(7.10)
50
2.
i
1
. i .
1
1 1
i
1
2 .i
. 1
Dwell
j.deg
sj
181.. 300
k .deg
ak
H.
s 180
120.deg
Rise
rb
sk
3 2 ; v = s& = 6H 1 ; a = v& = 6H
si
rb
6. H .
aj
Return
300.deg
2
H.
vj
. 3
. 1
2.
2 . k
301.. 360
l.deg
0 .. 360
vk
6. H.
Dwell
sl
rb
rb
vl
50
7-21
al
. 1
Cams/Came/
_________________________________________________________________________________________________
100
200
94
160
88
120
82
80
76
s
40
70
v
m
64
58
80
52
120
46
40
0
40
160
0.8
1.6
2.4
3.2
4.8
5.6
6.4
7.2
200
0.8
1.6
2.4
120
110
130
140
2000
150
1600
1200
800
400
a
m
160
m
170
rb
m
180
4.8
5.6
6.4
7.2
100 90 80
100
90
80
70
60
50
40
30
20
10
0
70
60
50
40
30
20
10
0
350
200
340
210
800
330
220
1200
320
230
310
240
1600
0
0.8
1.6
2.4
3.2
4.8
5.6
6.4
7.2
190
400
2000
3.2
250
290
300
Fig.7.18
s=
2
1
1
H 1 cos 1 cos
2
4
v = s& =
1 1 2
sin sin
H
2 2
2
2
1
cos cos
a = v& = H
2
7-22
(7.11)
Cams/Came/
_________________________________________________________________________________________________
0 .. 120
i .deg
H.
rb
ai
1 . . .
H
2
1
121.. 180
j
j .deg
.i
cos
1 .
1
4
1
.i
. cos
sj
181.. 300
k .deg
sk
s 180
rb
50
2 . .i
vi
2 . .i
1 .
sin
2
1
.i
1 . . . .
H
sin
2
1
1
2 . .i
cos
cos
rb
vj
aj
1 .
1
4
300.deg
2
H .
1
2
cos
1 . . .
H
2
2
301.. 360
l.deg
0 .. 360
Return
. k
2
. k
1 . . . .
H
sin
2
2
2
ak
Dwell
vk
50
Rise
si
120.deg
. cos
. k
cos
2 . . k
2
2 . . k
1 .
sin
2
2
al
cos
2 . . k
2
Dwell
sl
rb
rb
vl
50
100
94
400
88
320
82
240
160
76
s
80
70
64
0
80
58
160
52
240
46
40
320
0.8
1.6
2.4
3.2
4.8
5.6
6.4
7.2
400
0.8
1.6
2.4
3.2
7-23
4.8
5.6
6.4
7.2
Cams/Came/
_________________________________________________________________________________________________
120
130
4000
140
3200
150
2400
s
1600
800
a
m
160
m
170
rb
m
180
100 90 80
100
90
80
70
60
50
40
30
20
10
0
70
60
50
40
30
20
10
0
190
800
350
200
1600
340
210
330
220
2400
320
230
3200
4000
110
310
240
0.8
1.6
2.4
3.2
4.8
5.6
6.4
7.2
250
290
300
Fig.7.19
7.3.10 Polynomial Motion Curves/Curbele polinomiale/
The general expression for a polynomial is Expresia general a unei curbe polinomiale
given by:
este:
s= c0 + c1 + c22 + c33 +.+cnn
(7.12)
where/unde/
s= displacement of the follower/deplasarea tachetului/
= cam rotation angle/unghiul de rotire al camei/
ci = constants/contante/ (i= 0,,,n)
n= order of the polynomial/gradul polinomului/
For a polynomial of order n we have n+1 Pentru un polinom de grad n vom avea n+1
unknown constant coefficient. These constant coeficieni constani necunoscui. Aceste
can be determined by considering the end constante pot fi determinate dac se consider
conditions. For cam motion we at least want to condiiile la limit. Pentru o cam trebuie s
have continuity in displacement, velocity and existe continuitatea deplasrii, vitezei i
acceleration which results with the boundary acceleraiei la capetele curbei i deci:
conditions:
For/pentru/ =0
for/pentru/ =
s=0
s=H
Since there are 6 boundary conditions, one can Astfel avem 6 condiii la limit i deci putem
evaluate the value of 6 constants Hence the calcula 6 constante. n consecin gradul maxim
polynomial must be of fifth order. The al polinomului este 5. n acest caz avem:
function and its derivatives are:
s= c0 + c1 + c22 + c33 + c44+c55
s&
= c1 + 2c2 + 3c32 + 4c43+5c54
&s&
= 2c2 + 6c3 + 12c42+20c53
7-24
Cams/Came/
_________________________________________________________________________________________________
Below (7.14-15) are given the equations for a Mai jos sunt date ecuaiile unui polinom de grad
5th order polynomial and the MathCad program 5 (7.14-15) i programul MathCad de calcul.
for generating the solutions.
s = H
2
2
2
10 15 + 6 ; v = s& = 30H 1 2 + ;
a = v& = 60H
2
1 3 + 2 ;
(7.14)
(7.15)
7-25
Cams/Came/
_________________________________________________________________________________________________
0 .. 120
i .deg
H.
120.deg
. 10
ai
2
. i .
.
.
1
60 H
1
1
121.. 180
j .deg
sj
181.. 300
k .deg
s 180
rb
rb
3.
6.
50
vi
2.
. i .
30. H .
1
1 1
i
1
H.
ak
l
301.. 360
l .deg
0 .. 360
aj
300.deg
. 10 15.
60. H .
vj
Return
2
30. H .
vk
Dwell
sk
15.
rb
50
Rise
si
. 1
2.
6.
. 1
3.
al
Dwell
sl
rb
rb
vl
50
7-26
2.
2.
Cams/Came/
_________________________________________________________________________________________________
100
400
94
320
88
240
82
160
76
s
80
70
64
80
58
160
52
240
46
320
40
0.8
1.6
2.4
3.2
4.8
5.6
6.4
7.2
400
0.8
1.6
2.4
Fig.7.20
120
110
130
140
150
2000
1600
1200
800
160
m
rb
400
a
m
170
180
4.8
5.6
6.4
7.2
100 90 80
100
90
80
70
60
50
40
30
20
10
0
70
60
50
40
30
20
10
0
350
200
340
210
800
330
220
1200
320
230
310
240
1600
0
0.8
1.6
2.4
3.2
4.8
5.6
6.4
7.2
190
400
2000
3.2
250
290
300
Fig.7.21
7.4 Cam Size Determination/Determinarea mrimii camei/
7-27
Cams/Came/
_________________________________________________________________________________________________
tan =
(7.19)
7-28
Cams/Came/
_________________________________________________________________________________________________
Fig.7.22
Consider an inline translating roller follower Fie o cam ca n Fig.7.23. Unghiul de presiune
radial cam (Fig.7.23). The pressure angle is a este funcie de unghiul de rotaie al camei i de
function of cam rotation and the amount of rise, mrimea cursei s (care este i ea funcie de
s (which is also a function of the cam rotation unghiul de rotaie al camei). La un moment dat
angle). At the instant considered, velocity of viteza n punctul B a tachetului (elementul 3) va
point B on link 3 (follower) will be vB3 along fi vB3 cu direcia de-a lungul axei tachetului.
the slider axis (vertical). The velocity of a point Viteza punctului B ca aparinnd de ast dat
B on link 2 (cam) at this instant is vB2 camei (elementul 2) este vB2 care este paralel
perpendicular to the line OB. These two cu linia OB. Aceste ecuaii sunt legate ntre ele
velocities are related by the equation:
cu relaia:
Fig.7.23
vB3 = vB2 + vB3/B2
(7.16)
Cams/Came/
_________________________________________________________________________________________________
ds
d max
=
H
+ rb + rr
2
(7.17)
H 2
H
; j max = C j 3 3 ;
2
vmax=1.5*H(/) , amax=6*H(/)2.
7-30
Cams/Came/
_________________________________________________________________________________________________
Table 7.1
Since (ds / d)max = C v (H / ) ) , this value can Cum (ds / d)max = C v (H / ) ) , aceasta poate fi
easily be determined for a given motion curve. calculat pentru o anumit curb dat a
Usually rr is determined from strength profilului camei.
considerations. The designer selects an De regul rr se determin din considerente de
acceptable maximum pressure angle and solves rezisten. Proiectantul alege o valoare
the above expression for the base circle radius acceptabil a ughiului de presiune i rezolv
rb.
ecuaia (7.17) pentru o valoare a razei ceruclui
Maximum pressure angle usually depends on de baz rb.
the speed, load and place of application of the Unghiul maxim de presiune depinde de turaia
cam mechanism. In the literature as a rule of camei i solicitrile la care este supus cama.
7-31
Cams/Came/
_________________________________________________________________________________________________
Orientativ avem:
thumb:
If the follower is eccentric then the pressure Dac tachetul este excentric unghiul de presiune
este dat de:
angle is given by the equation:
ds
(7.18)
d
tan = ;
s() + c
c = rb2 e 2 rb = c + e 2
Where e is the eccentricity /Unde e este exentricitatea/
Example 7.2
Exemplul 7.2
Supposing the rise is in cycloidal motion, Cv=2. Se presupune c profilul camei este cicloidal cu
Cv=2 i deci:
Hence:
H
40
120
ds
=
= 38.2mm
= Cv = 2
2
max
3
Hence/Deci/:
(rb+H/2+rr ) tanmax= 38.20 or/sau rb+20+rr =38.20 /tan(260)= 78.32 mm
rb+rr =58.32 mm
If the roller radius is 10 mm (rr=10 mm) then a Dac rola are o raz de rr=10 mm atunci raza
base circle radius of 50 mm (rb=50 mm) will be cercului de baz poate fi aleas rb=50 mm.
an acceptable choice for the cam. Pentru un tachet oscilant:
In case of oscillating roller followers, The
pressure angle is given by:
1
1 a
1
= sin + tan
R2
a 2 R 2 l2
R
2
2Ra sin
la sin '
d
' =
; () = 0 + ()
d
Where =+1 or -1 if the cam is rotating away Unde =+1 dup cum cama se rotete nspre
or towards the follower arm pivot. For braul tachetului sau =-1 dac invers. Dac de
7-32
Cams/Came/
_________________________________________________________________________________________________
example, for a counter clockwise rotating cam pild n exemplul nostru, cama se rotete n
=1.
sens orar atunci =1.
R = l 2 + a 2 2al cos
a 2 + R 2 l2
= cos 1
2Ra
f() is the motion curve and 0 is the value of the angle when the roller is on the base circle/f()
este curba de micare iar 0 este valoarea unghiului cand rola evolueaz pe cercul de baz/ :
2
1 rb
0 = cos
l2 a 2
2la
Fig.7.24
7.4.2 Cam Curvature/Curbura camei/
In practice for roller followers it is common to
determine the cam size using the maximum
pressure angle criteria and then check that the
cam curvature is satisfactory. In case of flat
faced followers, the cam curvature is the
determining criteria for the cam size.
Graphically when laying out the cam profile,
first the successive positions of the follower
according to the cam motion curve is drawn
while keeping the cam fixed.
7-33
Cams/Came/
_________________________________________________________________________________________________
Fig.7.25
A similar case is shown in case of flat faced Un caz similar poate avea loc pentru tacheii
followers (Fig.7.26). The cam profile is not plai (Fig.7.26) la care profilul camei este
tangent to all the successive positions of the posibil s nu fie tangent la toate poziiile
follower.
successive ale tachetului.
Fig.7.26
The radius of curvature of a curve in plane is Raza de curbur a camei n coordinate polare
given in polar coordinates as:
este:
2 dr 2
r +
d
3/ 2
d2r
dr
r 2 + 2 r 2
d
d
7-34
(7.19)
Cams/Came/
_________________________________________________________________________________________________
For a radial cam with roller follower the radius Pentru o cam radial cu tachet cu rol raza de
of curvature of the pitch curve (the curve curbur a curbei descris de centrul rolei este
described by the centre of the roller follower, dat de:
when the cam is fixed) will be given by:
p =
ds
2
(rb + rr + s ) +
d
3/ 2
(7.20)
d 2s
d 2
d
As a rule of thumb for roller followers the Ca o regul, la rola tachetului, pentru a evita
following recommendations are made to avoid fenomenul de subtiere, trebuie ca:
undercutting:
(rb + rr + s )2 + 2 ds
(rb + rr + s )
p =
ds
2
(rb + s ) +
d
3/ 2
(7.21)
d 2s
d 2
d
The Location of the contact point P for flat Poziia punctului de contact P pe tachet se poate
faced follower (Fig.7.27) on the follower can scrie (pentru un tachet plan-Fig.7.27) n numere
be written in complex numbers as:
complexe astfel :
(rb + s )2 + 2 ds
(rb + s )
r
OP = X + (rb + s )i
or/sau/
r
OP = OC + i = rC cos( + ) + i[rC sin ( + ) + ]
Equating the real and imaginary parts/egalnd prile imaginare i reale ntre ele/:
X = rC cos( + ); (rb + s ) = rC sin ( + ) +
(7.22)
Noting that the centre of curvature does not
change for an infinitesimal motion, the first
rates of change of rC and a with respect to is
dr
zero ( C = 0 ). Taking the derivative of OP
d
with respect to yields:
7-35
Cams/Came/
_________________________________________________________________________________________________
dX ds
+
i = rC sin ( + ) + irC cos( + )
d d
or/sau/
dX/d = -rCsin(+)
ds/d = rCcos(+)
Also/Deasemenea/:
X= ds/d
Differentiating/Derivnd/:
dX d 2 s
=
= rC sin ( + )
d d 2
d 2s
d 2s
rb + s = 2 + = rb + s + 2
d
d
(7.23)
Fig.7.27
Xmax=(ds/d)max
and Xmin=(ds/d)min
which is the maximum/minimum velocity
during the return motion allow to calculate
the length of the follower L=Xmax-Xmin.
7-36
Cams/Came/
_________________________________________________________________________________________________
7-37
Cams/Came/
_________________________________________________________________________________________________
Fig.7.28
(x-c)2+y2=r2
The above equation ise equation of a circle
with radius r (constant) and center (c, 0), since
c is the parameter for each value of c we have a
different circle (Fig.7.29). Hence we have a
family of circles.
(7.24)
Fig.7.29
7-38
Cams/Came/
_________________________________________________________________________________________________
df
df
dy
dx
df
df dx df dy
= dx + dy = 0
+
=0
dx
dy
df dx
dx dc dy dc
dy
This slope relation is valid for any member
within the family. If another curve (the
envelope) is tangent to a member of the family
at a single point, its slope, likewise, must
satisfy the above equation (7.25).
(7.25)
The total derivative of the function f(x,y,c)=0 Derivata parial a funciei f(x,y,c)=0 pentru
toate variabilele x, y, c este:
is:
f
f
f
f dx f dy f
dx +
dy + dc = 0
+
+
=0
x
y
c
x dc y dc c
Since the sum of the first two terms is equal to zero from the slope relationship (7.25)/Cum suma
primipor doi termeni este egal cu zero conform ecuaiei (7.25)/:
f
= fc = 0
c
Hence the envelope must satisfy f(x, y, c) = 0 equation and/Deci nfurtoarea trebuie s satisfac
ecuaia f(x, y, c) = 0 i n plus/:
f
= fc = 0
c
(7.26)
Sometimes the family of curves is given in Uneori familia de curbe este dat n forma
parametric form as:
parametric:
x = (s , c )
(7.27)
y = (s, c)
where s is the curve parameter. For example unde s este parametrul curbei. Ca exemplu
the family of circles can be written in familia de cercuri dat mai sus poate fi scris n
parametric form as x=c+rcos(s), y=rsin(s)) The form parametric x=c+rcos(s), y=rsin(s). Dac
envelope is obtained by the elimination of c se elimin c ntre aceste ecuaii se poate obine
ecuaia nfurtorii:
from these eqations and:
7-39
Cams/Came/
_________________________________________________________________________________________________
=0
s c
c s
Example 7.3
(7.28)
Exemplul 7.3
f(x,y,c)=(x-c)2+y2-1=0
Using the above equation and its partial Dac se folosete aceasta ecuaie i derivata
parial funcie de c:
derivative with respect to c:
fc=-2(x-c)=0
fc=-2(x-c)=0
y=1
Fig.7.30
Example 7.4
Exemplul 7.4
7-40
Cams/Came/
_________________________________________________________________________________________________
) (
One can also write the coordinates of point P in Se pot scrie coordonatele punctului P i cu
numere complexe:
complex numbers as:
z = x p + iy p = ce i + i(k + s)e i
z = x p + iy p = ce i + i(k + s)e i
The real and imaginary parts of this complex Partea imaginar i real a acestui numr
number will yield xp and yp coordinates as complex sunt date mai jos:
given in equation below:
x p = (k + s ) sin + c cos
y p = (k + s ) cos c sin
k=
(rb + rr )2 c 2
f ( x , y, ) = x x p
) + (y y )
2
rr2 = 0
(3)
If we take the partial derivative of f(x,y,) with respect to /Dac se calculeaz derivatele pariale
ale f(x,y,) fa de /
x p
y p
f ( x , y, )
= 2( x x p )
2( y y p )
=0
7-41
(4)
Cams/Came/
_________________________________________________________________________________________________
x p
ds
=
c sin + (k + s) cos
d
y p ds
=
c cos (k + s) sin
d
(5)
Fig.7.31
We obtain the envelope equation in parametric Se poate obine ecuaia nfurtoarei n form
form by eliminating y from the two equations parametric prin eliminarea lui y din cele dou
(solve for (y-yp) from equation 4 in terms of (x- ecuaii (se scoate (y-yp) din ecuaia 4 funcie de
xp) and substitute into equation 3) we obtain:
(x-xp) i se nlocuiete n ecuaia 3), se obine:
x = xp
rr
1 +
x p
y p
y = yp x x p
y p
The envelope is the cam profile. Note that we Infurtoarea este profilul camei. Se va
have not obtained an explicit expression for the observa c nu s-a obinut o expresie explicit
7-42
Cams/Came/
_________________________________________________________________________________________________
Example 7.5
Exemplul 7.5
Fig.7.32
7-43
Cams/Came/
_________________________________________________________________________________________________
i.
si
180
50. 1
rb
cos 3 .
i
75 .
sin 3 .
2
2
vi
Rise
121.. 180
j.
sj
180
150
vj
Dwell
Return
181.. 300
k.
sk
180
50. 1
s 180
cos 3 .
k
75 .
sin 3 .
2
2
vk
301.. 360
s l 50
vl 0
Dwell
180
The displacement and velocity diagrams are shownbelow.
(we assume =1 s-1, therefore v=ds/d )
The coordinates of the centre of the roller and their derivatives
m 0 , 1 .. 360
with respect to cam angle , m is the dummy index ( m=0,1.360)
rb
50
l.
40
150
32
140
24
130
16
120
110
s
v
m
100
90
16
80
24
70
32
60
50
0
8
40
0
40
80
120
160
200
m
240
280
320
360
130
140
120
400
110
150
s
160
m
rb
m
170
180
40
80
100 90 80
70
150
60
135
50
120
40
105
90
30
75
60
20
45
30
10
15
0
0
190
350
200
340
210
220
230
330
240
250
7-44
290
300
320
310
120
160
200
m
240
280
320
360
400
Cams/Came/
_________________________________________________________________________________________________
rb
K
rb
rr
sp
m
sm
rb
130
140
sp
m
s
rb
50
120
110
150
160
170
180
50
100 90 80
70
217.08
60
195.37
50
173.67
40
151.96
130.25
30
108.54
86.83
20
65.12
43.42
10
21.71
0
0
190
350
200
340
210
220
230
330
240
250
290
7-45
300
320
310
Cams/Came/
_________________________________________________________________________________________________
xp
yp
sm
K .sin m
c .cos m
sm
K .cos m
c .sin m
xp
yp
c .sin m
vm
c .cos m
vm
s m .cos m
s m .sin m
dxp and dyp are the partial derivatives of xp and yp with respect to
xp
um
yp
rr
pm
1
x1
xp
y1
xp
um
pm
x2
p m .u m
y2
xp
xp
pm
p m .u m
Note that x1, y1 and x2, y2 gives us two pairs of cam profile coordinates
depending on the + or - sign in the equation for x. x1, y1 and x2,y2
will be on the inner envelope or on the outer envelope for certain portions
of the curve (one cannot state that x1, y1 is on the inner or outer envelope.
x1, y1 will lie on the outer envelope for a certain range of and will lie
on the inner envelope for the other range of ). If we want to draw the cam
profile in external contact with the roller follower, we can convert the cam
profile coordinates to polar form and select the coordinate closer to the
origin:
1
x1
y1
x2
y2
if 1 < 2 , 1 , 2
m
m
m
m
xm
if 1 < 2 , x 1 , x 2
m
m
m
m
ym
angle xm , y m
7-46
if 1 < 2 , y 1 , y 2
m
m
m
m
Cams/Came/
_________________________________________________________________________________________________
300
270
240
150
170
m
180
100 90 80
70
277.25
60
249.53
50
221.8
40
194.08
166.35
30
138.63
110.9
20
83.18
55.45
10
27.73
0
0
190
150
120
350
200
340
210
90
60
30
0
110
160
210
180
120
220
230
330
240
250
290
300
320
310
angle x p
m
m
m
m .
xm , y p
ym
180
The variation of the pressure angle within one cycle is shown below.
Note that with c=20 mm the pressure angle during the rise is
within -160 < < 110 and during the return motion max=340.
The pressure angle curve when the eccentricity is zero is also
shown..The maximum pressure angle is 22.30 for both rise and
return periods. By employing eccentricity, the maximum pressure
angle during the rise portion is decreased at the expense of the maximum
pressure angle during the return motion (which is less critical).
7-47
Cams/Came/
_________________________________________________________________________________________________
150
130
110
90
70
50
30
10
10
30
50
7-48
Bibliografie
___________________________________________________________________________
BIBLIOGRAFIE
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1986
3.CONIU,TR.: Culegere de probleme din teoria mecanismelor i a
mainilor, Editura
Tehnic,Bucureti 1967.
4.DEMIAN,T.: Elemente Constructive de Mecanica Fin, Editura Didactica i Pedagogic,Bucureti
1980.
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11.POPOVICI,M.,.a: Mecanic tehnic pentru muncitori Vol.II, Editura Tehnic, Bucureti,1982.
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14.RDULESCU GH.,.a: ndrumar de proiectare n construcia de maini Vol.III, Editura Tehnic,
Bucureti,1986.
15. RZMERI,I .a: Mecanic i organe de maini- Aplicaii, vol.I, Universitatea din Galai, 1983.
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17.TUTUNARU,D.,s.a: Teoria mecanismelor i organelor de maini, Editura Didactic i Pedagogic,
Bucureti 1962.
18.ZIDARU ,N: Angrenaje cilindrice, Editura Printech, Bucureti 2002.
19. ZIDARU ,N: Organe de maini. Transmisii mecanice Vol.I.Angrenaje, Editura Printech, Bucureti
2004.
20. ZIDARU ,N: Angrenaje Conice,Melcate,Hipoide, Editura Printech, Bucureti 2004
Bibliografie
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21. MANUALUL INGINERULUI MECANIC : Mecanisme, organe de maini, dinamica mainilor,
Editura Tehnic, Bucureti 1980.
Tiparul executat n
Tipografia
UNIVERSITII MARITIME
Constana