UNIVERSITATEA DIN ORADEA

Facutatea de inginerie manageriala si tehnologica

Specializarea: Autovehicule rutiere

Proiect mecanisme II.

Aplicatia 2

Coordonator stintific: Prof Dr. Ing. Rus Alexandtru

Student: Dascal Sergiu
AR:231-B

Cuprins:
Se impune schema cinematica a mecanismului plan din.
1
1.Se cere geometria grafica a mecanismului…………………………4
2.Geometria si cinematica analitica numerica
amecanismului………………..5
2.1.Calculul vitezelor liniare si unghiulare ale elementelor cinematice
……...6
2.3.Calculul acceleratiilor liniare si unghiulare ale elementelor
cinematice…6
3.Fortele de inertie dezvoltate de elemente cinematice
………………………..6
4.Cinematica mecanismului cu
bare…………………………………………….7
5.Program de calcul pt viteze deplasari si
accelerate………………………….9
L0=0.170m m5=5.4kg
L0’=0.210m
L1=0.079m

L2=0.027m

L3=0.342m

L4=0.027m

L5=0.116m

CC’=0,265

LL’=0,560

n1=45rpm

m1=0.8kg

m2=6.5kg

m3=5kg

m4=0.8kg

2
 APLICATIA 2

Mecanismul cu bare tip R-RTR-RTT

Se considera schema cinematica a unui mecanism plan cu bare din

componenta unei masini undealta de tip Seping.

Geometria grafica a mecanismului

Geometria grafica a mecanismului se refera la construirea schemei cinematice, la o scara a
lungimilor a carei valoare se alege in mod arbitrar.
Se allege formatul A3 pentru a construieste schema cinematica a mecanismului la scara
lungimilor k=1/685,7 [m/mm]. Cunoscand lungimile caracteristice reale Liin [m] se
calculeaza lungimile corespunzatoare pe desen l i in [mm], cu formula:

li [mm] = li [m]/k1[m/mm].

l0 l1 l3 l’0 l’5 l2 l4 CC’ LL’

Li [m] 0.170 0.079 0.342 0.210 0.116 0.027 0.027 0.260 0.538

li [mm] 114 62 225 158 80 1 1 179 371

Metoda analitica

In functie de pozitia impusa a elementului conducator 1, se vor deduce expresiile analitice

pentru deplasarile, vitezele si acceleratiile elementelor cinematice conduse, in ordinea 2,3,4 si
5,
3
 Ecuatiile vectoriale de inchidere ale conturilor I, (fig.2.8.a), siII (fig.2.8.b), sunt:
⃗l 0+l⃗ 1- ⃗s2=0⃗ ;
l⃗ h-l⃗ 3+ ⃗s5=0⃗ ;
in care s-a folosit notatia lh=l0+l’0
Ecuatiile scalare in sistemul cartezian xy se obtin din cele vectoriale, mentinand semenle
din fata fiecarui termen:
S2*sinφ3=l1*sinφ1;
S2*cosφ3=l0+l1cosφ1;
S5=l3*sinφ3.

Calculul deplasarilor

Prin rezolvare a sistemelor de ecuatii scalare de mai sus, partial neliniare, se deduc
formulele pentru calculul analitic al deplasarilor liniare si unghiulare

4
ca parametric variabil in ecunoscuti:
S2=√ l02+l02+2*l0*l1*cosφ1;
φ3 =arctg(l1*sinφ1/ l0+l1*cosφ1);
s5=l3*sinφ3

Calculul vitezelor

Ecuatiile de viteze liniare (liniare si unghiulare) se obtin prin derivarea in functie de timp
a ecuatiilor de deplasare:

ṡ2*sinφ3+s2*cosφ3*φ̇ 3=l1* cosφ1*φ̇ 1

ṡ2*cosφ3-s2*sinφ3*φ̇ 3=-l1* sinφ1*φ̇ 1
ṡ5=l3* cosφ3*φ̇ 3

Rezulta:

ṡ2=v2=-l1*φ̇ 1*sin(φ1- φ3)

φ̇ 3=ω3=1/s2*l1*φ̇ 1*cos(φ1- φ3)
ṡ5=v5=l3* cosφ3*φ̇ 3

Calculul acceleratiilor

Ecuatiile de acceleratii (liniare si unghiulare) se obtin prin derivarea in functie de timp a

ecuatiilor de viteze:

S̈2=a2=-l1* φ̇ 12*cos(φ1-φ3)+s2*φ̇ 32

5
 φ 3=ε3=(l1*φ̇ 12*sin(φ1-φ3)+2* ṡ2*φ̇ 3)/s2
s̈5=a5=-l3*φ̇ 32*sinφ3+l3*φ̈ 3*cosφ3

Calculul forţelor şi cuplurilor de inerţie

Torsorul forţei de inerţie al elementului cinematicj, cu mişcare plană, are trei

componente:

x y z
Fij =−m j⋅x Gj ''; Fij =−m j⋅y Gj ''; M ij=−J Gj⋅ϕ j ''

Aceste componenete se calculează pentru fiecare bară, a cărui masă se

consideră concentrată în centrul de masă:

Pentru manivela 1:

Fix1=−m1⋅x G1 ''
Fiy1=−m1⋅y G 1 ''
x
M i1 =−J G1⋅ϕ 1 ''=0

Pentru biela 2:
6
 Fix2=−m 2⋅x G 2 ''
Fiy2=−m 2⋅y G 2 ''
x
M i2 =−J G 2⋅ϕ 2 ''

Pentru balansierul 3:

Fix3=−m3⋅x G 3 ''
Fiy3=−m3⋅y G 3 ''
z
M i3 =−J G 3⋅ϕ 3 ''

Pentru patina 4:

Fix4 =−m4⋅x G 4 ''

Fiy4 =−m4⋅y G 4 ''
M zi 4 =−J G 4⋅ϕ 4 ''

Pentru glisiera translantă 5:

Fix5=−m 5⋅x G 5 ''

Fiy5=−m 5⋅y G 5 ''=0
M zi5 =−J G 5⋅ϕ 5 ''=0

7
 1. Analiza cinematica pentru viteze deplasari si
acceleratii

fi1 fi3 s2 s5

ans =

0 0 21.0000 0

0.0698 0.0366 20.9872 0.4753

0.1396 0.0731 20.9490 0.9500

0.2094 0.1097 20.8852 1.4236

0.2793 0.1463 20.7961 1.8954

0.3491 0.1829 20.6817 2.3648

0.4189 0.2196 20.5422 2.8314

0.4887 0.2562 20.3776 3.2945

0.5585 0.2929 20.1884 3.7536

0.6283 0.3296 19.9746 4.2080

0.6981 0.3664 19.7365 4.6573

0.7679 0.4032 19.4745 5.1008

0.8378 0.4401 19.1888 5.5381

0.9076 0.4770 18.8798 5.9686

0.9774 0.5140 18.5478 6.3917

1.0472 0.5511 18.1934 6.8070

1.1170 0.5883 17.8169 7.2138

1.1868 0.6255 17.4188 7.6117

1.2566 0.6629 16.9995 8.0003

1.3265 0.7004 16.5597 8.3789

1.3963 0.7381 16.0998 8.7472

8
 1.4661 0.7759 15.6204 9.1046

1.5359 0.8139 15.1221 9.4506

1.6057 0.8521 14.6056 9.7848

1.6755 0.8906 14.0714 10.1068

1.7453 0.9294 13.5203 10.4160

1.8151 0.9684 12.9529 10.7121

1.8850 1.0079 12.3700 10.9945

1.9548 1.0479 11.7723 11.2627

2.0246 1.0884 11.1606 11.5162

2.0944 1.1295 10.5357 11.7545

2.1642 1.1714 9.8984 11.9770

2.2340 1.2143 9.2496 12.1828

2.3038 1.2585 8.5902 12.3711

2.3736 1.3041 7.9212 12.5406

2.4435 1.3518 7.2436 12.6896

2.5133 1.4022 6.5587 12.8156

2.5831 1.4561 5.8677 12.9146

2.6529 1.5152 5.1722 12.9799

2.7227 -1.5598 4.4744 -12.9992

2.7925 -1.4816 3.7773 -12.9483

2.8623 -1.3837 3.0858 -12.7732

2.9322 -1.2501 2.4099 -12.3373

3.0020 -1.0428 1.7723 -11.2294

3.0718 -0.6677 1.2393 -8.0489

3.1416 -0.0000 1.0000 -0.0000

3.2114 0.6677 1.2393 8.0489

3.2812 1.0428 1.7723 11.2294

3.3510 1.2501 2.4099 12.3373

3.4208 1.3837 3.0858 12.7732

9
 3.4907 1.4816 3.7773 12.9483

3.5605 1.5598 4.4744 12.9992

3.6303 -1.5152 5.1722 -12.9799

3.7001 -1.4561 5.8677 -12.9146

3.7699 -1.4022 6.5587 -12.8156

3.8397 -1.3518 7.2436 -12.6896

3.9095 -1.3041 7.9212 -12.5406

3.9794 -1.2585 8.5902 -12.3711

4.0492 -1.2143 9.2496 -12.1828

4.1190 -1.1714 9.8984 -11.9770

4.1888 -1.1295 10.5357 -11.7545

4.2586 -1.0884 11.1606 -11.5162

4.3284 -1.0479 11.7723 -11.2627

4.3982 -1.0079 12.3700 -10.9945

4.4680 -0.9684 12.9529 -10.7121

4.5379 -0.9294 13.5203 -10.4160

4.6077 -0.8906 14.0714 -10.1068

4.6775 -0.8521 14.6056 -9.7848

4.7473 -0.8139 15.1221 -9.4506

4.8171 -0.7759 15.6204 -9.1046

4.8869 -0.7381 16.0998 -8.7472

4.9567 -0.7004 16.5597 -8.3789

5.0265 -0.6629 16.9995 -8.0003

5.0964 -0.6255 17.4188 -7.6117

5.1662 -0.5883 17.8169 -7.2138

5.2360 -0.5511 18.1934 -6.8070

5.3058 -0.5140 18.5478 -6.3917

5.3756 -0.4770 18.8798 -5.9686

5.4454 -0.4401 19.1888 -5.5381

10
 5.5152 -0.4032 19.4745 -5.1008

5.5851 -0.3664 19.7365 -4.6573

5.6549 -0.3296 19.9746 -4.2080

5.7247 -0.2929 20.1884 -3.7536

5.7945 -0.2562 20.3776 -3.2945

5.8643 -0.2196 20.5422 -2.8314

5.9341 -0.1829 20.6817 -2.3648

6.0039 -0.1463 20.7961 -1.8954

6.0737 -0.1097 20.8852 -1.4236

6.1436 -0.0731 20.9490 -0.9500

6.2134 -0.0366 20.9872 -0.4753

6.2832 -0.0000 21.0000 -0.0000

Variatia lui fi2, s2, s5 in functie de fi1
20

10
fi2, s2, s5

-10

-20
0 1 2 3 4 5 6 7
fi1

fi1 omega3 v2 v5

ans =

1.0e+03 *

0 0.0037 0 -0.0478

0.0001 0.0037 -0.0026 -0.0477

0.0001 0.0037 -0.0051 -0.0477

0.0002 0.0037 -0.0077 -0.0475

11
 0.0003 0.0037 -0.0102 -0.0473

0.0003 0.0037 -0.0128 -0.0470

0.0004 0.0037 -0.0153 -0.0467

0.0005 0.0037 -0.0178 -0.0463

0.0006 0.0037 -0.0203 -0.0459

0.0006 0.0037 -0.0227 -0.0454

0.0007 0.0037 -0.0251 -0.0449

0.0008 0.0037 -0.0275 -0.0443

0.0008 0.0037 -0.0299 -0.0436

0.0009 0.0037 -0.0322 -0.0429

0.0010 0.0037 -0.0345 -0.0421

0.0010 0.0037 -0.0367 -0.0413

0.0011 0.0037 -0.0389 -0.0404

0.0012 0.0038 -0.0411 -0.0395

0.0013 0.0038 -0.0432 -0.0386

0.0013 0.0038 -0.0452 -0.0375

0.0014 0.0038 -0.0472 -0.0365

0.0015 0.0038 -0.0491 -0.0354

0.0015 0.0038 -0.0510 -0.0342

0.0016 0.0039 -0.0528 -0.0330

0.0017 0.0039 -0.0545 -0.0317

0.0017 0.0039 -0.0562 -0.0304

0.0018 0.0039 -0.0578 -0.0291

0.0019 0.0040 -0.0593 -0.0277

0.0020 0.0040 -0.0608 -0.0262

0.0020 0.0041 -0.0622 -0.0247

0.0021 0.0042 -0.0634 -0.0232

0.0022 0.0043 -0.0646 -0.0215

0.0022 0.0044 -0.0658 -0.0198

12
 0.0023 0.0045 -0.0668 -0.0180

0.0024 0.0047 -0.0677 -0.0160

0.0024 0.0049 -0.0685 -0.0139

0.0025 0.0052 -0.0692 -0.0114

0.0026 0.0056 -0.0697 -0.0084

0.0027 0.0063 -0.0701 -0.0045

0.0027 -0.0072 0.0702 0.0010

0.0028 -0.0087 0.0699 0.0100

0.0029 -0.0112 0.0689 0.0272

0.0029 -0.0162 0.0666 0.0664

0.0030 -0.0270 0.0606 0.1766

0.0031 -0.0515 0.0434 0.5255

0.0031 -0.0772 0.0000 1.0033

0.0032 -0.0515 -0.0434 0.5255

0.0033 -0.0270 -0.0606 0.1766

0.0034 -0.0162 -0.0666 0.0664

0.0034 -0.0112 -0.0689 0.0272

0.0035 -0.0087 -0.0699 0.0100

0.0036 -0.0072 -0.0702 0.0010

0.0036 0.0063 0.0701 -0.0045

0.0037 0.0056 0.0697 -0.0084

0.0038 0.0052 0.0692 -0.0114

0.0038 0.0049 0.0685 -0.0139

0.0039 0.0047 0.0677 -0.0160

0.0040 0.0045 0.0668 -0.0180

0.0040 0.0044 0.0658 -0.0198

0.0041 0.0043 0.0646 -0.0215

0.0042 0.0042 0.0634 -0.0232

0.0043 0.0041 0.0622 -0.0247

13
 0.0043 0.0040 0.0608 -0.0262

0.0044 0.0040 0.0593 -0.0277

0.0045 0.0039 0.0578 -0.0291

0.0045 0.0039 0.0562 -0.0304

0.0046 0.0039 0.0545 -0.0317

0.0047 0.0039 0.0528 -0.0330

0.0047 0.0038 0.0510 -0.0342

0.0048 0.0038 0.0491 -0.0354

0.0049 0.0038 0.0472 -0.0365

0.0050 0.0038 0.0452 -0.0375

0.0050 0.0038 0.0432 -0.0386

0.0051 0.0038 0.0411 -0.0395

0.0052 0.0037 0.0389 -0.0404

0.0052 0.0037 0.0367 -0.0413

0.0053 0.0037 0.0345 -0.0421

0.0054 0.0037 0.0322 -0.0429

0.0054 0.0037 0.0299 -0.0436

0.0055 0.0037 0.0275 -0.0443

0.0056 0.0037 0.0251 -0.0449

0.0057 0.0037 0.0227 -0.0454

0.0057 0.0037 0.0203 -0.0459

0.0058 0.0037 0.0178 -0.0463

0.0059 0.0037 0.0153 -0.0467

0.0059 0.0037 0.0128 -0.0470

0.0060 0.0037 0.0102 -0.0473

0.0061 0.0037 0.0077 -0.0475

0.0061 0.0037 0.0051 -0.0477

0.0062 0.0037 0.0026 -0.0477

0.0063 0.0037 0.0000 -0.0478

14
 Variatia omega 3, v2, v5 in functie de fi1
1200

1000
omega 3, v2, v5
800

600

400

200

-200
0 1 2 3 4 5 6 7
fi1

fi1 epsilon3 a2 a5

ans =

1.0e+04 *

0 0 -0.0258 0

0.0000 0.0000 -0.0258 -0.0006

0.0000 0.0000 -0.0257 -0.0012

0.0000 0.0000 -0.0256 -0.0018

0.0000 0.0000 -0.0255 -0.0023

0.0000 0.0000 -0.0254 -0.0029

0.0000 0.0000 -0.0252 -0.0035

0.0000 0.0000 -0.0250 -0.0041

0.0001 0.0000 -0.0248 -0.0047

0.0001 0.0000 -0.0245 -0.0052

0.0001 0.0000 -0.0242 -0.0058

0.0001 0.0001 -0.0239 -0.0063

0.0001 0.0001 -0.0235 -0.0069

0.0001 0.0001 -0.0232 -0.0074

0.0001 0.0001 -0.0227 -0.0080

0.0001 0.0001 -0.0223 -0.0085

15
 0.0001 0.0001 -0.0218 -0.0090

0.0001 0.0001 -0.0213 -0.0095

0.0001 0.0001 -0.0208 -0.0100

0.0001 0.0001 -0.0203 -0.0105

0.0001 0.0002 -0.0197 -0.0110

0.0001 0.0002 -0.0191 -0.0115

0.0002 0.0002 -0.0185 -0.0119

0.0002 0.0002 -0.0178 -0.0124

0.0002 0.0003 -0.0171 -0.0129

0.0002 0.0003 -0.0164 -0.0133

0.0002 0.0004 -0.0157 -0.0138

0.0002 0.0005 -0.0149 -0.0143

0.0002 0.0005 -0.0142 -0.0148

0.0002 0.0007 -0.0133 -0.0154

0.0002 0.0008 -0.0125 -0.0160

0.0002 0.0010 -0.0116 -0.0168

0.0002 0.0012 -0.0107 -0.0177

0.0002 0.0016 -0.0097 -0.0189

0.0002 0.0020 -0.0087 -0.0206

0.0002 0.0027 -0.0075 -0.0231

0.0003 0.0036 -0.0061 -0.0270

0.0003 0.0051 -0.0045 -0.0336

0.0003 0.0075 -0.0024 -0.0455

0.0003 0.0335 0.0457 0.0719

0.0003 0.0451 0.0514 0.1496

0.0003 0.0659 0.0634 0.3209

0.0003 0.1089 0.0906 0.7696

0.0003 0.2084 0.1624 2.1813

0.0003 0.3854 0.3731 6.0674

16
 0.0003 0.0000 0.6498 0.0000

0.0003 -0.3854 0.3731 -6.0674

0.0003 -0.2084 0.1624 -2.1813

0.0003 -0.1089 0.0906 -0.7696

0.0003 -0.0659 0.0634 -0.3209

0.0003 -0.0451 0.0514 -0.1496

0.0004 -0.0335 0.0457 -0.0719

0.0004 -0.0075 -0.0024 0.0455

0.0004 -0.0051 -0.0045 0.0336

0.0004 -0.0036 -0.0061 0.0270

0.0004 -0.0027 -0.0075 0.0231

0.0004 -0.0020 -0.0087 0.0206

0.0004 -0.0016 -0.0097 0.0189

0.0004 -0.0012 -0.0107 0.0177

0.0004 -0.0010 -0.0116 0.0168

0.0004 -0.0008 -0.0125 0.0160

0.0004 -0.0007 -0.0133 0.0154

0.0004 -0.0005 -0.0142 0.0148

0.0004 -0.0005 -0.0149 0.0143

0.0004 -0.0004 -0.0157 0.0138

0.0005 -0.0003 -0.0164 0.0133

0.0005 -0.0003 -0.0171 0.0129

0.0005 -0.0002 -0.0178 0.0124

0.0005 -0.0002 -0.0185 0.0119

0.0005 -0.0002 -0.0191 0.0115

0.0005 -0.0002 -0.0197 0.0110

0.0005 -0.0001 -0.0203 0.0105

0.0005 -0.0001 -0.0208 0.0100

0.0005 -0.0001 -0.0213 0.0095

17
 0.0005 -0.0001 -0.0218 0.0090

0.0005 -0.0001 -0.0223 0.0085

0.0005 -0.0001 -0.0227 0.0080

0.0005 -0.0001 -0.0232 0.0074

0.0005 -0.0001 -0.0235 0.0069

0.0006 -0.0001 -0.0239 0.0063

0.0006 -0.0000 -0.0242 0.0058

0.0006 -0.0000 -0.0245 0.0052

0.0006 -0.0000 -0.0248 0.0047

0.0006 -0.0000 -0.0250 0.0041

0.0006 -0.0000 -0.0252 0.0035

0.0006 -0.0000 -0.0254 0.0029

0.0006 -0.0000 -0.0255 0.0023

0.0006 -0.0000 -0.0256 0.0018

0.0006 -0.0000 -0.0257 0.0012

0.0006 -0.0000 -0.0258 0.0006

0.0006 -0.0000 -0.0258 0.0000

104 Variatia lui epsilon 3, a2, a5 in functie de fi1

6

4
epsilon 3, a2, a5

-2

-4

-6
0 1 2 3 4 5 6 7
fi1

Cinetostatica mecanismului cu bare

18
 Cinetostatica mecanismului cu bare urmăreşte: calculul reacţiunilor din
cuplele cinematice fără frecare, calculul forţelor şi cuplurilor de frecare din
cuplele cinematice şi calculul momentului motor ca moment de echilibru dinamic.
Se cunosc forţele de greutate, forţa de rezistenţă tehnologică, precum şi forţele\
cuplurile de inerţie.

Forţa de rezistenţă tehnologică se calculează, observând diagrama din

fig.1.18:

Fig4.1

4.1 Calculul reacţiunilor din cuplele cinematice

19
 (fără frecare)

Formula structural-topologică a mecanismului este

MM=MF(0,1)+LD(2,3)+LD(4,5)

Deoarece forţa de rezistenţă tehnologică Fr5 acţionează pe elementul

cinematic condus 5, iar LD este static determinat, calculul cinetostatic se
efectuează în ordinea inversă celui cinematic.

Fig4.2

20
 Cinetostatica LD(4,5)

Se consideră schema cinematică a LD(4,5) ca structură izolată, aflată în

echilibru cinetostatic (fig.1.19.a), încărcată cu toate forţele exterioare (greutate,
forţa de rezistenţă tehnologică, forţele\cuplurile de inerţie) şi cu reacţiunile din
cuple.

Se scriu ecuaţiile de echilibru cinetostatic (două de proiecţii şi una de

momente) pentru unul din cele două elemente 4 sau 5 şi pentru întreaga grupă:

∑ (F x )gr=0 : R 24 sin (α+ϕ2 )+F xi4 +Fix5+F r =0 ;

∑ (F y )gr =0 : R24 cos(α+ϕ2 )+R05 +F i4y +Fiy5−G4−G5=0 ;
∑ (F x )5=0; x x
−R54 + F i 5 + F r =0

∑ (F y )5=0; y
R05−R54 −G5 =0

∑ (M C )4=0; z
R24⋅h 4 + M i 4 =0

∑ (M C )5=0; −R05⋅h5 +G5⋅g 5=0

Sistemul de 6 ecuaţii liniare cu 6 necunoscute se poate rezolva, fie cu metoda

Cramer, fie prin decuplarea unor ecuaţii prin metoda substituţiei.

Rezultă:

21
 F ix4 + F ix5 + Fr
R24 =−
sin(α + ϕ 2 )
y
( G 4 + G 5 )−( F i4 + F iy5 ) 2( Fix4 + F i5
x
)
R05 = +
cos ( α+ ϕ 2 ) sin(α +ϕ 2 )
x
R54 =F r + Fix5
y
R54 =R 05+G 5
M zi 4
h 4 =−
R24
G 5⋅0,3 s 5
h5 =
R05

Cinetostatica LD(2,3)

Prin izolarea lanţului cinematic diadic format din elementele 2 şi 3 (fig.1.19.b)

se introduc în punctul C reacţiunea R24 calculată anterior, iar în punctele A şi B0
(reprezentând cuplele potenţiale) se introduc componentele reacţiunilor dinspre
elementele 1 respectiv 0.

Ecuaţiile de echilibru cinetostatic pentru fiecare din cele două elemente

cinematice 2 şi 3 sunr două de proiecţii şi una de momente:

∑ ( F x )2=0 : R12x + Fix2−R 24⋅sin(α +ϕ2 )+ R32x =0 ;

∑ ( F y )2=0 : Ri12
y
+ F i2y −G2 + R24⋅cos(α +ϕ 2 )+ R 32
y
=0 ;
∑ ( M A )2=0 :
x y z x y
F i 2⋅g 2⋅sin ϕ2 −( F i2 −G2 )g 2⋅cos ϕ 2 + M i2 −R24⋅l 4 + R32⋅l 2 sin ϕ 2 −R32⋅l 2 cos ϕ2 =0 ;
∑ ( F 3x )3=0 : R03x + F xi3−R32x =0 ;
∑ ( F 3y )3=0 : R03y −R 32y + F iy3−G3=0 ;
∑ ( M B )3 =0 :
0
x y z x y
Fi 3⋅g3⋅sin ϕ 3 −( F i 3 −G 3 )⋅g3⋅cos ϕ3 + M i 3 −R32⋅l 3⋅sin ϕ 3 + R32⋅l 3⋅cos ϕ 3 =0

22
 Sistemul format de cele 6 ecuaţii liniare se rezolvă prin decuplarea unor
ecuaţii şi prin metoda substituţiei.

Rezultă:

x
A⋅l 3 cos ϕ 3 + B⋅l 2 cos ϕ 2
R32 =
l 2 l 3 sin( ϕ2 −ϕ3 )
y
A⋅l 3 sin ϕ 3 + B⋅l 2 sin ϕ 2
R32 =
l 2 l 3 sin( ϕ2 −ϕ3 )

unde:

A=F ix2⋅0,1⋅l 2 sin ϕ 2 −( F i2

y
−G 2 )⋅0,1⋅l 2 cos ϕ2 + M i 2 −R24⋅s 4
B=F xi3⋅0,2⋅l 3 sin ϕ 3 −( F i3
y
−G 3 )⋅0,2⋅l 3 cos ϕ 3 + M i3
x
R12 =−F xi2 + R 24 sin (α+ ϕ2 )−R x32
y y y
R12 =−F i2 −R24 cos( α+ϕ 2 )−R32 +G2
x x x
R03 =−F i3 + R32
y y y
R03 =−F i3 + R32 +G 3

Cinetostatica manivelei 1

Se izolează manivela 1 (fig.1.19.c) şi se introduc componentele reacţiunii

necunoscute din articulaţia A0, ale reacţiunii cunoscute din articulaţia A, precum şi
cuplul necunoscut de echilibru cinetostatic ce acţionează asupra elementului
conducător.
23
 Ecuaţiile de echilibru cinestostatic al barei 1 sunt:

∑ F 1x =0 : R01x −R12x + F xi1 =0 ;

x
R01 =R x12−F i1
x

∑ F 1y =0 : R01y −Riy2+ F i1y =0 ;

y y
R01 =R 12−F i1y
x y
M e 1 =R12⋅l1⋅sin ϕ1 + R 12⋅l1⋅cos ϕ1 −G 1⋅a1⋅sin ϕ 1

fi1 R54

ans =

1.0e+05 *

0 0.0200

0.0000 0.0196

0.0000 0.0192

0.0000 0.0188

0.0000 0.0184

0.0000 0.0180

0.0000 0.0176

0.0000 0.0172

0.0000 0.0168

0.0000 0.0164

0.0000 0.0161

0.0000 0.0157

0.0000 0.0153

0.0000 0.0150

0.0000 0.0146

24
 0.0000 0.0142

0.0000 0.0139

0.0000 0.0135

0.0000 0.0132

0.0000 0.0129

0.0000 0.0125

0.0000 0.0122

0.0000 0.0119

0.0000 0.0116

0.0000 0.0113

0.0000 0.0109

0.0000 0.0106

0.0000 0.0103

0.0000 0.0099

0.0000 0.0095

0.0000 0.0091

0.0000 0.0086

0.0000 0.0080

0.0000 0.0071

0.0000 0.0060

0.0000 0.0043

0.0000 0.0016

0.0000 -0.0029

0.0000 -0.0109

0.0000 0.0689

0.0000 0.1217

0.0000 0.2382

0.0000 0.5434

0.0000 1.5033
25
 0.0000 4.1458

0.0000 0.0200

0.0000 -4.1058

0.0000 -1.4633

0.0000 -0.5034

0.0000 -0.1982

0.0000 -0.0817

0.0000 -0.0289

0.0000 0.0509

0.0000 0.0429

0.0000 0.0384

0.0000 0.0357

0.0000 0.0340

0.0000 0.0329

0.0000 0.0320

0.0000 0.0314

0.0000 0.0309

0.0000 0.0305

0.0000 0.0301

0.0000 0.0297

0.0000 0.0294

0.0000 0.0291

0.0000 0.0287

0.0000 0.0284

0.0000 0.0281

0.0000 0.0278

0.0000 0.0275

0.0000 0.0271

0.0001 0.0268
26
 0.0001 0.0265

0.0001 0.0261

0.0001 0.0258

0.0001 0.0254

0.0001 0.0250

0.0001 0.0247

0.0001 0.0243

0.0001 0.0239

0.0001 0.0236

0.0001 0.0232

0.0001 0.0228

0.0001 0.0224

0.0001 0.0220

0.0001 0.0216

0.0001 0.0212

0.0001 0.0208

0.0001 0.0204

0.0001 0.0200

105 Variatia lui R54 in functie de fi1

5
R54

-5
0 1 2 3 4 5 6 7
fi1

fi1 R34x R34y

ans =

27
 1.0e+05 *

0 -0.0200 0.0000

0.0000 -0.0196 0.0000

0.0000 -0.0192 0.0000

0.0000 -0.0188 0.0000

0.0000 -0.0184 0.0000

0.0000 -0.0180 0.0001

0.0000 -0.0176 0.0001

0.0000 -0.0172 0.0001

0.0000 -0.0168 0.0001

0.0000 -0.0165 0.0001

0.0000 -0.0161 0.0001

0.0000 -0.0157 0.0001

0.0000 -0.0153 0.0001

0.0000 -0.0150 0.0001

0.0000 -0.0146 0.0001

0.0000 -0.0143 0.0001

0.0000 -0.0139 0.0001

0.0000 -0.0136 0.0001

0.0000 -0.0132 0.0001

0.0000 -0.0129 0.0001

0.0000 -0.0126 0.0001

0.0000 -0.0122 0.0001

0.0000 -0.0119 0.0001

0.0000 -0.0116 0.0001

0.0000 -0.0113 0.0001

0.0000 -0.0110 0.0001

0.0000 -0.0106 0.0001

28
 0.0000 -0.0103 0.0001

0.0000 -0.0100 0.0001

0.0000 -0.0096 0.0001

0.0000 -0.0091 0.0001

0.0000 -0.0086 0.0001

0.0000 -0.0080 0.0001

0.0000 -0.0072 0.0001

0.0000 -0.0060 0.0001

0.0000 -0.0043 0.0002

0.0000 -0.0017 0.0002

0.0000 0.0028 0.0002

0.0000 0.0108 0.0003

0.0000 -0.0688 -0.0009

0.0000 -0.1214 -0.0013

0.0000 -0.2374 -0.0019

0.0000 -0.5416 -0.0033

0.0000 -1.4982 -0.0064

0.0000 -4.1318 -0.0133

0.0000 -0.0200 -0.0178

0.0000 4.0918 -0.0133

0.0000 1.4582 -0.0064

0.0000 0.5016 -0.0033

0.0000 0.1974 -0.0019

0.0000 0.0814 -0.0013

0.0000 0.0288 -0.0009

0.0000 -0.0508 0.0003

0.0000 -0.0428 0.0002

0.0000 -0.0383 0.0002

0.0000 -0.0357 0.0002

29
 0.0000 -0.0340 0.0001

0.0000 -0.0328 0.0001

0.0000 -0.0320 0.0001

0.0000 -0.0314 0.0001

0.0000 -0.0309 0.0001

0.0000 -0.0304 0.0001

0.0000 -0.0300 0.0001

0.0000 -0.0297 0.0001

0.0000 -0.0294 0.0001

0.0000 -0.0290 0.0001

0.0000 -0.0287 0.0001

0.0000 -0.0284 0.0001

0.0000 -0.0281 0.0001

0.0000 -0.0278 0.0001

0.0000 -0.0274 0.0001

0.0000 -0.0271 0.0001

0.0001 -0.0268 0.0001

0.0001 -0.0264 0.0001

0.0001 -0.0261 0.0001

0.0001 -0.0257 0.0001

0.0001 -0.0254 0.0001

0.0001 -0.0250 0.0001

0.0001 -0.0247 0.0001

0.0001 -0.0243 0.0001

0.0001 -0.0239 0.0001

0.0001 -0.0235 0.0001

0.0001 -0.0232 0.0001

0.0001 -0.0228 0.0001

0.0001 -0.0224 0.0001

30
 0.0001 -0.0220 0.0001

0.0001 -0.0216 0.0000

0.0001 -0.0212 0.0000

0.0001 -0.0208 0.0000

0.0001 -0.0204 0.0000

0.0001 -0.0200 0.0000

10
5 Variatia lui R34x, R34y in functie de fi1
5
R34x, R34y

-5
0 1 2 3 4 5 6 7
fi1

fi1 R32

ans =

1.0e+04 *

0 -0.0031

0.0000 -0.0031

0.0000 -0.0030

0.0000 -0.0029

0.0000 -0.0029

0.0000 -0.0028

0.0000 -0.0027

0.0000 -0.0027

0.0001 -0.0026

0.0001 -0.0026
31
 0.0001 -0.0025

0.0001 -0.0024

0.0001 -0.0024

0.0001 -0.0023

0.0001 -0.0023

0.0001 -0.0022

0.0001 -0.0021

0.0001 -0.0021

0.0001 -0.0020

0.0001 -0.0020

0.0001 -0.0019

0.0001 -0.0019

0.0002 -0.0018

0.0002 -0.0017

0.0002 -0.0017

0.0002 -0.0016

0.0002 -0.0016

0.0002 -0.0015

0.0002 -0.0014

0.0002 -0.0013

0.0002 -0.0013

0.0002 -0.0012

0.0002 -0.0010

0.0002 -0.0009

0.0002 -0.0007

0.0002 -0.0005

0.0003 -0.0002

0.0003 0.0001

0.0003 0.0002
32
 0.0003 -0.0005

0.0003 -0.0094

0.0003 -0.0471

0.0003 -0.2332

0.0003 -1.4013

0.0003 -8.6086

0.0003 -0.0654

0.0003 8.5258

0.0003 1.3641

0.0003 0.2161

0.0003 0.0392

0.0003 0.0063

0.0004 0.0002

0.0004 -0.0016

0.0004 -0.0026

0.0004 -0.0031

0.0004 -0.0034

0.0004 -0.0036

0.0004 -0.0038

0.0004 -0.0039

0.0004 -0.0040

0.0004 -0.0040

0.0004 -0.0041

0.0004 -0.0041

0.0004 -0.0042

0.0004 -0.0042

0.0005 -0.0042

0.0005 -0.0042

0.0005 -0.0042
33
 0.0005 -0.0041

0.0005 -0.0041

0.0005 -0.0041

0.0005 -0.0041

0.0005 -0.0040

0.0005 -0.0040

0.0005 -0.0040

0.0005 -0.0039

0.0005 -0.0039

0.0005 -0.0038

0.0005 -0.0038

0.0006 -0.0037

0.0006 -0.0037

0.0006 -0.0036

0.0006 -0.0036

0.0006 -0.0035

0.0006 -0.0035

0.0006 -0.0034

0.0006 -0.0034

0.0006 -0.0033

0.0006 -0.0032

0.0006 -0.0032

0.0006 -0.0031

fi1 R03x R03y

34
ans =

1.0e+05 *

0 -0.0203 0.0005

0.0000 -0.0199 0.0005

0.0000 -0.0195 0.0005

0.0000 -0.0191 0.0005

0.0000 -0.0187 0.0005

0.0000 -0.0183 0.0005

0.0000 -0.0179 0.0005

0.0000 -0.0175 0.0005

0.0000 -0.0171 0.0005

0.0000 -0.0167 0.0005

0.0000 -0.0164 0.0005

0.0000 -0.0160 0.0004

0.0000 -0.0156 0.0004

0.0000 -0.0152 0.0004

0.0000 -0.0149 0.0004

0.0000 -0.0145 0.0004

0.0000 -0.0142 0.0004

0.0000 -0.0138 0.0004

0.0000 -0.0135 0.0004

0.0000 -0.0131 0.0004

0.0000 -0.0128 0.0005

0.0000 -0.0125 0.0005

0.0000 -0.0121 0.0005

0.0000 -0.0118 0.0005

0.0000 -0.0115 0.0005

35
 0.0000 -0.0112 0.0005

0.0000 -0.0108 0.0005

0.0000 -0.0105 0.0005

0.0000 -0.0101 0.0005

0.0000 -0.0098 0.0006

0.0000 -0.0093 0.0006

0.0000 -0.0088 0.0006

0.0000 -0.0082 0.0007

0.0000 -0.0074 0.0007

0.0000 -0.0062 0.0008

0.0000 -0.0045 0.0009

0.0000 -0.0019 0.0011

0.0000 0.0025 0.0013

0.0000 0.0105 0.0017

0.0000 -0.0682 -0.0037

0.0000 -0.1203 -0.0044

0.0000 -0.2358 -0.0036

0.0000 -0.5428 0.0080

0.0000 -1.5516 0.0929

0.0000 -4.7597 0.4743

0.0000 -0.0265 -0.0786

0.0000 4.7132 0.4691

0.0000 1.5097 0.0897

0.0000 0.5023 0.0064

0.0000 0.1956 -0.0044

0.0000 0.0802 -0.0047

0.0000 0.0282 -0.0037

0.0000 -0.0505 0.0018

0.0000 -0.0426 0.0016

36
 0.0000 -0.0382 0.0014

0.0000 -0.0356 0.0013

0.0000 -0.0339 0.0012

0.0000 -0.0328 0.0012

0.0000 -0.0320 0.0011

0.0000 -0.0314 0.0011

0.0000 -0.0309 0.0011

0.0000 -0.0305 0.0010

0.0000 -0.0301 0.0010

0.0000 -0.0298 0.0010

0.0000 -0.0295 0.0010

0.0000 -0.0292 0.0010

0.0000 -0.0289 0.0009

0.0000 -0.0286 0.0009

0.0000 -0.0283 0.0009

0.0000 -0.0280 0.0009

0.0000 -0.0277 0.0009

0.0000 -0.0273 0.0008

0.0001 -0.0270 0.0008

0.0001 -0.0267 0.0008

0.0001 -0.0264 0.0008

0.0001 -0.0260 0.0008

0.0001 -0.0257 0.0007

0.0001 -0.0253 0.0007

0.0001 -0.0250 0.0007

0.0001 -0.0246 0.0007

0.0001 -0.0242 0.0007

0.0001 -0.0238 0.0007

0.0001 -0.0235 0.0006

37
 0.0001 -0.0231 0.0006

0.0001 -0.0227 0.0006

0.0001 -0.0223 0.0006

0.0001 -0.0219 0.0006

0.0001 -0.0215 0.0006

0.0001 -0.0211 0.0006

0.0001 -0.0207 0.0005

0.0001 -0.0203 0.0005

10
5 Variatia lui R03x, R03y in functie de fi1
5
R03x, R03y

-5
0 1 2 3 4 5 6 7
fi1

fi1 R12x R12y

ans =

1.0e+04 *

0 0.0031 0.0042

0.0000 0.0028 0.0043

0.0000 0.0025 0.0044

0.0000 0.0022 0.0046

0.0000 0.0019 0.0047

0.0000 0.0016 0.0049

0.0000 0.0013 0.0051

0.0000 0.0010 0.0053

38
 0.0001 0.0007 0.0055

0.0001 0.0004 0.0057

0.0001 0.0001 0.0059

0.0001 -0.0002 0.0061

0.0001 -0.0004 0.0063

0.0001 -0.0007 0.0066

0.0001 -0.0009 0.0068

0.0001 -0.0011 0.0071

0.0001 -0.0013 0.0073

0.0001 -0.0015 0.0076

0.0001 -0.0017 0.0078

0.0001 -0.0019 0.0081

0.0001 -0.0020 0.0083

0.0001 -0.0021 0.0086

0.0002 -0.0022 0.0088

0.0002 -0.0023 0.0091

0.0002 -0.0024 0.0093

0.0002 -0.0024 0.0095

0.0002 -0.0025 0.0098

0.0002 -0.0025 0.0100

0.0002 -0.0025 0.0102

0.0002 -0.0025 0.0104

0.0002 -0.0025 0.0105

0.0002 -0.0024 0.0106

0.0002 -0.0024 0.0108

0.0002 -0.0023 0.0108

0.0002 -0.0022 0.0108

0.0002 -0.0021 0.0108

0.0003 -0.0020 0.0107

39
 0.0003 -0.0018 0.0105

0.0003 -0.0016 0.0105

0.0003 -0.0014 0.0103

0.0003 -0.0003 0.0015

0.0003 0.0078 -0.0353

0.0003 0.0728 -0.2103

0.0003 0.7055 -1.1993

0.0003 6.7599 -5.3189

0.0003 0.0654 0.0111

0.0003 -6.6948 -5.2676

0.0003 -0.6868 -1.1672

0.0003 -0.0674 -0.1941

0.0003 -0.0063 -0.0276

0.0003 0.0006 0.0046

0.0004 0.0014 0.0106

0.0004 0.0017 0.0091

0.0004 0.0021 0.0080

0.0004 0.0026 0.0074

0.0004 0.0030 0.0070

0.0004 0.0034 0.0066

0.0004 0.0037 0.0064

0.0004 0.0041 0.0061

0.0004 0.0044 0.0059

0.0004 0.0047 0.0057

0.0004 0.0050 0.0055

0.0004 0.0053 0.0054

0.0004 0.0055 0.0052

0.0004 0.0057 0.0050

0.0005 0.0059 0.0049

40
 0.0005 0.0061 0.0048

0.0005 0.0062 0.0046

0.0005 0.0063 0.0045

0.0005 0.0064 0.0044

0.0005 0.0064 0.0043

0.0005 0.0065 0.0042

0.0005 0.0065 0.0041

0.0005 0.0065 0.0040

0.0005 0.0064 0.0039

0.0005 0.0063 0.0039

0.0005 0.0062 0.0038

0.0005 0.0061 0.0038

0.0005 0.0060 0.0037

0.0006 0.0058 0.0037

0.0006 0.0057 0.0037

0.0006 0.0055 0.0037

0.0006 0.0053 0.0037

0.0006 0.0050 0.0037

0.0006 0.0048 0.0037

0.0006 0.0045 0.0038

0.0006 0.0043 0.0038

0.0006 0.0040 0.0039

0.0006 0.0037 0.0040

0.0006 0.0034 0.0041

0.0006 0.0031 0.0042

41
 105 Variatia lui R12x, R12y in functie de fi1
1

0.5
R12x, R12y

-0.5

-1
0 1 2 3 4 5 6 7
fi1

fi1 R01x R01y

ans =

1.0e+04 *

0 0.0031 0.0030

0.0000 0.0028 0.0032

0.0000 0.0025 0.0033

0.0000 0.0021 0.0034

0.0000 0.0018 0.0036

0.0000 0.0015 0.0038

0.0000 0.0012 0.0039

0.0000 0.0009 0.0041

0.0001 0.0006 0.0043

0.0001 0.0003 0.0046

0.0001 -0.0000 0.0048

0.0001 -0.0003 0.0050

42
 0.0001 -0.0006 0.0053

0.0001 -0.0008 0.0055

0.0001 -0.0011 0.0058

0.0001 -0.0013 0.0060

0.0001 -0.0015 0.0063

0.0001 -0.0017 0.0065

0.0001 -0.0019 0.0068

0.0001 -0.0021 0.0071

0.0001 -0.0022 0.0073

0.0001 -0.0023 0.0076

0.0002 -0.0024 0.0079

0.0002 -0.0025 0.0081

0.0002 -0.0026 0.0084

0.0002 -0.0026 0.0086

0.0002 -0.0027 0.0089

0.0002 -0.0027 0.0091

0.0002 -0.0027 0.0093

0.0002 -0.0027 0.0095

0.0002 -0.0026 0.0097

0.0002 -0.0026 0.0098

0.0002 -0.0025 0.0099

0.0002 -0.0024 0.0100

0.0002 -0.0024 0.0100

0.0002 -0.0022 0.0100

0.0003 -0.0021 0.0099

0.0003 -0.0020 0.0098

0.0003 -0.0017 0.0097

0.0003 -0.0015 0.0096

0.0003 -0.0004 0.0008

43
 0.0003 0.0078 -0.0361

0.0003 0.0727 -0.2110

0.0003 0.7055 -1.2001

0.0003 6.7599 -5.3197

0.0003 0.0654 0.0104

0.0003 -6.6948 -5.2683

0.0003 -0.6868 -1.1680

0.0003 -0.0674 -0.1948

0.0003 -0.0063 -0.0283

0.0003 0.0007 0.0039

0.0004 0.0015 0.0099

0.0004 0.0018 0.0083

0.0004 0.0022 0.0072

0.0004 0.0027 0.0066

0.0004 0.0031 0.0062

0.0004 0.0035 0.0058

0.0004 0.0039 0.0056

0.0004 0.0042 0.0053

0.0004 0.0046 0.0051

0.0004 0.0049 0.0049

0.0004 0.0052 0.0047

0.0004 0.0055 0.0045

0.0004 0.0057 0.0043

0.0004 0.0059 0.0042

0.0005 0.0061 0.0040

0.0005 0.0063 0.0038

0.0005 0.0064 0.0037

0.0005 0.0065 0.0036

0.0005 0.0066 0.0034

44
 0.0005 0.0066 0.0033

0.0005 0.0067 0.0032

0.0005 0.0067 0.0031

0.0005 0.0067 0.0030

0.0005 0.0066 0.0029

0.0005 0.0065 0.0028

0.0005 0.0064 0.0027

0.0005 0.0063 0.0027

0.0005 0.0062 0.0026

0.0006 0.0060 0.0026

0.0006 0.0058 0.0026

0.0006 0.0056 0.0026

0.0006 0.0054 0.0026

0.0006 0.0051 0.0026

0.0006 0.0049 0.0026

0.0006 0.0046 0.0026

0.0006 0.0043 0.0027

0.0006 0.0040 0.0028

0.0006 0.0037 0.0028

0.0006 0.0034 0.0029

0.0006 0.0031 0.0030

105 Variatia lui R01x, R01y in functie de fi1
1

0.5
R01x, R01y

-0.5

-1
0 1 2 3 4 5 6 7
fi1

fi1 Me1

45
ans =

1.0e+03 *

0 0.0028

0.0001 0.0028

0.0001 0.0027

0.0002 0.0027

0.0003 0.0027

0.0003 0.0027

0.0004 0.0027

0.0005 0.0028

0.0006 0.0029

0.0006 0.0030

0.0007 0.0032

0.0008 0.0034

0.0008 0.0037

0.0009 0.0040

0.0010 0.0043

0.0010 0.0046

0.0011 0.0050

0.0012 0.0054

0.0013 0.0058

0.0013 0.0062

0.0014 0.0067

0.0015 0.0071

0.0015 0.0074

0.0016 0.0078
46
 0.0017 0.0081

0.0017 0.0084

0.0018 0.0087

0.0019 0.0088

0.0020 0.0089

0.0020 0.0090

0.0021 0.0089

0.0022 0.0088

0.0022 0.0086

0.0023 0.0083

0.0024 0.0079

0.0024 0.0074

0.0025 0.0068

0.0026 0.0062

0.0027 0.0055

0.0027 0.0048

0.0028 0.0006

0.0029 -0.0156

0.0029 -0.1035

0.0030 -0.7791

0.0031 -6.4030

0.0031 -0.0589

0.0032 6.3414

0.0033 0.7584

0.0034 0.0957

0.0034 0.0124

0.0035 -0.0018

0.0036 -0.0049

0.0036 -0.0050
47
 0.0037 -0.0052

0.0038 -0.0055

0.0038 -0.0058

0.0039 -0.0060

0.0040 -0.0062

0.0040 -0.0063

0.0041 -0.0063

0.0042 -0.0062

0.0043 -0.0061

0.0043 -0.0059

0.0044 -0.0056

0.0045 -0.0052

0.0045 -0.0049

0.0046 -0.0044

0.0047 -0.0039

0.0047 -0.0034

0.0048 -0.0029

0.0049 -0.0024

0.0050 -0.0018

0.0050 -0.0013

0.0051 -0.0008

0.0052 -0.0003

0.0052 0.0002

0.0053 0.0007

0.0054 0.0011

0.0054 0.0014

0.0055 0.0018

0.0056 0.0021

0.0057 0.0023
48
 0.0057 0.0025

0.0058 0.0026

0.0059 0.0027

0.0059 0.0028

0.0060 0.0029

0.0061 0.0029

0.0061 0.0029

0.0062 0.0028

0.0063 0.0028
Variatia lui Me1 in functie de fi1
6000

4000

2000
Me1

-2000

-4000

-6000
0 1 2 3 4 5 6 7
fi1

Programul rulat
l0=input ('Introduceti l0=');
l1=input ('Introduceti l1=');
l3=input ('Introduceti l3=');
lh=input ('Introduceti lh=');
m1=input ('Introduceti m1=');
m2=input ('Introduceti m2=');
m3=input ('Introduceti m3=');
m4=input ('Introduceti m4=');
m5=input ('Introduceti m5=');
g=input ('Introduceti g=');
Jg1=input ('Introduceti Jg1=');
Jg3=input ('Introduceti Jg3=');
Fr=input ('Introduceti Fr=');

omega1=input ('introduceti omega1=');

p=input ('Introduceti pasul p=');
fi1=0:p:2*pi;
fi3=atan ((11.*sin(fi1))./(10+11.*cos(fi1)));

s2=sqrt(10.*10+11.*11+2.*10.*11.*cos(fi1));
s5=13.*sin(fi3);

v2=-11.*omega1.*sin(fi1-fi3);
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omega3=(11.*omega1.*cos(fi1-fi3))./s2;
v5=-13.*omega3.*cos(fi3);

a2=-11.*omega1.*omega1.*cos(fi1-fi3)+s2.*omega3.*omega3;
epsilon3=-(11.*omega1.*omega1.*sin(fi1-fi3)+2.*v2.*omega3)./s2;
a5=-13.*omega3.*omega3.*sin(fi3)+13.*epsilon3.*cos(fi3);

disp(' fi1 fi3 s2 s5' )

[fi1',fi3',s2',s5']
pause;
plot(fi1,fi3,fi1,s2,fi1,s5)
pause;
disp(' fi1 omega3 v2 v5' )
[fi1',omega3',v2',v5']
pause;
plot(fi1,omega3,fi1,v2,fi1,v5)
pause;
disp(' fi1 epsilon3 a2 a5' )
[fi1', epsilon3',a2',a5']
pause;
plot(fi1,epsilon3,fi1,a2,fi1,a5)
pause;

ag1x=-0.5.*l1.*omega1.*omega1.*sin(fi1);
ag1y=-0.5.*l1.*omega1.*omega1.*cos(fi1);
ag2x=-l1.*omega1.*omega1.*sin(fi1);
ag2y=-l1.*omega1.*omega1.*cos(fi1);
ag3x=-0.5.*l3.*(omega3.*omega3.*sin(fi3)-epsilon3.*cos(fi3));
ag3y=-0.5.*l3.*(omega3.*omega3.*cos(fi3)-epsilon3.*sin(fi3));
ag4x=2.*ag3x;
ag4y=2.*ag3y;
ag5x=a5;

Fi1x=-m1.*ag1x;
Fi1y=-m1.*ag1y;
Fi2x=-m2.*ag2x;
Fi2y=-m2.*ag2y;
Fi3x=-m3.*ag3x;
Fi3y=-m3.*ag3y;
Fi4x=-m4.*ag4x;
Fi4y=-m4.*ag4y;
Fi5x=-m5.*ag5x;
Mi3=-Jg3.*epsilon3;
G1=m1.*g;
G2=m2.*g;
G3=m3.*g;
G4=m4.*g;
G5=m5.*g;

R54=-Fi5x+Fr;
R05=G5;
R34x=-R54-Fi4x;
R34y=-Fi4y+G4;

R32=(R34x.*l3.*cos(fi3)+R34y.*l3.*sin(fi3)+0.5.*Fi3x.*l3.*cos(fi3)+0.5.*(Fi3y-
G3).*l3.*sin(fi3)-Mi3)./s2;

50
R12x=-R32.*cos(fi3)-Fi2x;
R12y=-R32.*sin(fi3)-Fi2y+G2;
R03x=-Fi3x+R34x+R32.*cos(fi3);
R03y=R34y-Fi3y+G3+R32.*sin(fi3);
R01x=R12x-Fi1x;
R01y=R12y-Fi1y-G1;
Me1=l1.*R12x.*cos(fi1)+l1.*R12y.*sin(fi1)-0.5.*l1*G1.*sin(fi1);

disp(' fi1 R54' )

[fi1',R54']
pause;
plot(fi1,R54)
pause;
disp(' fi1 R34x R34y')
[fi1',R34x',R34y']
pause;
plot(fi1,R34x,fi1,R34y)
pause;
disp(' fi1 R32')
[fi1',R32']
pause;
disp(' fi1 R03x R03y' )
[fi1',R03x',R03y']
pause;
plot(fi1,R03x,fi1,R03y)
pause;
disp(' fi1 R12x R12y' )
[fi1',R12x',R12y']
pause;
plot(fi1,R12x,fi1,R12y)
pause;
disp(' fi1 R01x R01y')
[fi1',R01x',R01y']
pause;
plot(fi1,R01x,fi1,R01y)
pause;
disp(' fi1 Me1')
[fi1',Me1']

pause;
plot(fi1,Me1)
pause;

51