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C A
5 4 RR - RR - RTaR
(1, 2 ,3, 4 ,5 )
B F D E
Z (0) D
2
1 G 3 G B C F
A E
0
a) b)
Z ( 0 ) ( RR - RR - RTaR )(1, 2 ,3 , 4 ,5 )
c)
Fig.4.8.2. Reprezentarea schematic a mecanismului: a) schema structural;
b) schema multipolar; c) relaia structural
2
5
1 3
Tabelul 4.8.1
Tabelul 4.8.1
%
% OBIECT: Program pentru analiza cinematica a mecanismului director
% (masina de sapat gropi pentru arbusti)
%_____________________________________________________________________
clear;
var1235 = zeros(26,5); vr = zeros(26,4);pt = zeros(26,7);
fi1 = zeros(1,3);fi2 = zeros(1,3);fi3 = zeros(1,3);fi5 = zeros(1,3);
% date constructive
A = [0 0 0 0 0 0]; G = [.7835 .78748 0 0 0 0];E = [.56994 0 0 0 0 0];
ab = .784537; gf = .255711; bf = .608553; bc = .554567; cf = .053986;
d = .8;
ag1 = ab/2; gg2 = .1; eg3 = .4; cg4 = .5;bg5 = 1;
bt = 2.435267;
% alte date
n = 26;
pas = .01;
for i = 1 : n
s43(1) = s430 - (i-1)*pas;
% Calculul cinematic
[fi1,fi2,fi3,fi5,B,F,C] = A3PVA(A,G,E,s43,...
fi1,fi2,fi3,fi5,ab,gf,bf,bc,cf);
t = A1R(B,fi5,bt);
end
z,f3p(z+1),z,f3p(z+1),'ko',z,f5p(z+1),z,f5p(z+1),'kx','LineWidth',1.2)
ylabel('Unghiurile fi _1, fi_2, fi_3 si fi_5
[rad]','FontSize',12)
text(10,1.1,'*** f i_1','FontSize',10)
text(10,3.8,'+++ f i_2','FontSize',10)
text(10,2.2,'ooo f i_3','FontSize',10)
text(10,0.4,'xxx f i_5','FontSize',10)
xlabel('i','FontSize',12)
z,f3v(z+1),z,f3v(z+1),'ko',z,f5v(z+1),z,f5v(z+1),'k*','LineWidth',1.2)
xlabel('i','FontSize',12)
ylabel('Vitezele ungh. \omega_1, \omega_2, \omega_3 si \omega_5
[rad/s]','FontSize',12)
text(10,-0.01,'+++ \omega_1','FontSize',10)
text(10,0.05,'xxx \omega_2','FontSize',10)
text(10,0.005,'ooo \omega_3','FontSize',10)
text(10,-0.028,'*** \omega_5','FontSize',10)
,z,f3a(z+1),z,f3a(z+1),'ko',z,f5a(z+1),z,f5a(z+1),'k*','LineWidth',1.2)
xlabel('i','FontSize',12)
ylabel('Acc. ungh. \epsilon_1, \epsilon_2, \epsilon_3 si
\epsilon_5 [rad/s^2]','FontSize',12)
text(6,0.015,'+++ \epsilon_1','FontSize',10)
text(6,0.011,'xxx \epsilon_2','FontSize',10)
text(6,0.007,'ooo \epsilon_3','FontSize',10)
text(6,0.003,'*** \epsilon_5','FontSize',10)
%_____________________________________________________________________
Tabelul 4.8.2
Poz fi1(1)) fi2(1)) fi3(1)) fi5(1))
0 1.6523 2.8415 1.6689 0.1337
1 1.6582 2.8877 1.6740 0.1155
2 1.6631 2.9332 1.6786 0.0974
3 1.6671 2.9781 1.6825 0.0793
4 1.6701 3.0225 1.6860 0.0612
5 1.6723 3.0664 1.6888 0.0430
6 1.6735 3.1100 1.6911 0.0249
7 1.6739 3.1533 1.6928 0.0068
8 1.6734 3.1963 1.6939 -0.0114
9 1.6720 3.2393 1.6943 -0.0296
10 1.6698 3.2822 1.6942 -0.0478
11 1.6667 3.3251 1.6934 -0.0660
12 1.6628 3.3682 1.6919 -0.0842
13 1.6580 3.4114 1.6897 -0.1024
14 1.6523 3.4549 1.6867 -0.1207
15 1.6458 3.4988 1.6830 -0.1389
16 1.6383 3.5433 1.6783 -0.1572
17 1.6299 3.5884 1.6727 -0.1754
18 1.6205 3.6343 1.6661 -0.1935
19 1.6101 3.6812 1.6584 -0.2116
20 1.5987 3.7294 1.6494 -0.2297
21 1.5860 3.7792 1.6389 -0.2477
22 1.5721 3.8310 1.6268 -0.2656
23 1.5568 3.8853 1.6128 -0.2833
24 1.5397 3.9430 1.5964 -0.3009
25 1.5206 4.0052 1.5771 -0.3183
4 +++ f i2
3
ooo f i3
2
1 *** f i1
xxx f i5
0
-1
0 5 10 15 20 25
i
231
Fig.4.8.4. Diagramele unghiurilor 1 , 2 , 3 i 5
0.06
5
xxx 2
0.04
3
2
0.02
1
ooo 3
0
+++ 1
-0.02
*** 5
-0.04
0 5 10 15 20 25
i
Fig.4.8.5. Diagramele vitezelor unghiulare 1 , 2 , 3 i 5
Acc. ungh. 1, 2, 3 si 5 [rad/s2]
0.02
0.015 +++ 1
xxx 2
0.01
ooo 3
0.005
*** 5
0
-0.005
-0.01
0 5 10 15 20 25
i
Fig.4.8.6. Diagramele acceleraiilor unghiulare 1 , 2 , 3 i 5
G 5 m5 g ;
- forele de inerie: F i1 m1aG1 , F i 2 m2 aG 2 , F i3 m3 aG3 ,
F i 4 m4 aG 4 i F i5 m5 aG5 ; G3
_
- momentele rezultante ale forelor deinerie: M i1 IG1 1 ,
_ _ _ _
M i 2 IG2 2 , M i 3 IG3 3 , M i 4 IG4 3 i M i 5 IG5 5 ;
- fora tehnologic Q .
Fi 5
G5 Fi 2 Q
G2
M i5 M i2
G5 G4
M i4 G2
Fi1 Fi 4
G1 G4 Fi 4
M i1 G3 M i4
G1 Fi 3 M i3
G3
F5Y R 45 Y R 25 Y
R15 Y F2 Y R
25 X
F5 X R 45 X
R 02 Y
G5 CM 2 F2 X
R15 X CM 5 F 4 Y G2
G4 R 02 X
CM 4 F4 X
F1Y CR 34
F1 X F3Y R34
CM 3 P 34
G1
CM1 F3 X
R03Y G3
R 01 Y
R 01 X R03 X
P v F e3 s4 ( F i1 G 1 ) vG1 ( F i 2 G 2 ) vG 2 ( F i3 G 3 ) vG3
( F i 4 G 4 ) vG 4 ( F i 5 G 5 ) vG 5 Q vTY M i1 1
M i 2 2 ( M i 3 M i 4 ) 3 M i 5 5 0
z,f3v(z+1),z,f3v(z+1),'ko',z,f5v(z+1),z,f5v(z+1),'k*','LineWidth',1.2)
xlabel('i','FontSize',12)
ylabel('Vitezele ungh. \omega_1, \omega_2, \omega_3 si \omega_5
[rad/s]','FontSize',12)
236
text(10,-0.01,'+++ \omega_1','FontSize',10)
text(10,0.05,'xxx \omega_2','FontSize',10)
text(10,0.005,'ooo \omega_3','FontSize',10)
text(10,-0.028,'*** \omega_5','FontSize',10)
% Diagramele de variatie a acceleratiilor unghiulare 1,2,3,5 functie
de i
figure(3)
z=linspace(0,25,26);
plot(z,f1a(z+1),z,f1a(z+1),'k+',z,f2a(z+1),z,f2a(z+1),'kx'...
,z,f3a(z+1),z,f3a(z+1),'ko',z,f5a(z+1),z,f5a(z+1),'k*','LineWidth',1.2)
xlabel('i','FontSize',12)
ylabel('Acc. ungh. \epsilon_1, \epsilon_2, \epsilon_3 si
\epsilon_5 [rad/s^2]','FontSize',12)
text(6,0.015,'+++ \epsilon_1','FontSize',10)
text(6,0.011,'xxx \epsilon_2','FontSize',10)
text(6,0.007,'ooo \epsilon_3','FontSize',10)
text(6,0.003,'*** \epsilon_5','FontSize',10)
% Hodograful de reactiuni in A
figure(4)
z=linspace(0,25,26);
plot(rax,ray,rax,ray,'k+','LineWidth',1.2)
xlabel('R01X [N]','FontSize',12)
ylabel('R01Y [N]','FontSize',12)
text(rax(1)+20,ray(1),' \leftarrow 0','FontSize',10)
text(rax(26)-250,ray(26)+5,'25 \rightarrow ','FontSize',10)
% Hodograful de reactiuni in G
figure(5)
plot(rgx,rgy,rgx,rgy,'k+','LineWidth',1.2)
xlabel('R02X [N]','FontSize',12)
ylabel('R02Y [N]','FontSize',12)
text(rgx(1)+20,rgy(1),'\leftarrow 0','FontSize',10)
text(rgx(26),rgy(26)+10,' \leftarrow 25','FontSize',10)
% Hodograful de reactiuni in D
figure(6)
plot(rex,rey,rex,rey,'k+','LineWidth',1.2)
xlabel('R03X [N]','FontSize',12)
ylabel('R03Y [N]','FontSize',12)
text(rex(1)-100,rey(1),' 0 \rightarrow','FontSize',10)
text(rex(26),rey(26),'\leftarrow 25','FontSize',10)
% Diagrama fortei motoare din cilindru hidraulic
figure(7)
z=linspace(0,25,26);
plot(z,Fe(z+1),z,Fe(z+1),'ko','LineWidth',1.2)
xlabel('i','FontSize',12)
ylabel('Forta motoare [N]','FontSize',12)
% tablouri numerice ale parametrilor cinematici si cinetostatici
xlswrite('EX-8elem1235.xls',var1235)
xlswrite('EX-8pt.xls',pt)
xlswrite('EX-8react.xls',react)
xlswrite('EX-8fortmot.xls',fmot)
%_____________________________________________________________________
0
R02Y [N]
R01Y [N]
8300
-100
8200 0
-200
8100 25 -300 25
-1000 -500 0 500 -400 -300 -200 -100 0
R01X [N] R02X [N]
Fig. 4.8.9. Hodograful reaciunilor Fig. 4.8.10. Hodograful reaciunilor
din cupla A din cupla G
239
-7800 -8200
25
-8200 -8600
-8400 0 -8800
-8600 -9000
-500 0 500 1000 0 5 10 15 20 25
R03X [N] i
Fig. 4.8.11. Hodograful reaciunilor Fig. 4.8.12. Diagrama forei motoare
din cupla E