UNIVERSITATEA DIN ORADEA

FACULTATEA DE INGINERIE
MANAGERIAL I TEHNOLOGIC
SPECIALIZAREA AUTOVEHICULE RUTIERE

MECANISME II
PROIECT DE SEMESTRU
MECANISMUL CU BARE TIP RRRR-TRT

Coordonator tiinific:
Prof.dr.ing. Bratu Ion

Anul universitar

Student:
Borti Marius Ionu
Grupa: 231 A
An 3 sem. I

2011-2012

MECANISMUL CU BARE TIP R-RRR-TRT

Se impune schema cinematic a mecanismului plan de clasa a II-a cu
dou contururi nchise independente.
OA = 72 [mm]
CD = 195[mm]
AB =163 [mm]
CO=OA= 72 [mm]
yB = 45 [mm]
xD = -70 [mm]
Se impune micarea uniform a manivelei conductoare prin turaia
n=940 [rot/min]
1.0Analiza structurala a mecanismului
Analiza geometrica a mecanismului implica definirea atat a lungimilor
constante(li) si a celor variabile cat si a unghiurilor constante si a celor
variabile(fi) .
Mecanismul este monomobil ceea ce se verifica prin calcularea
greadului de mobilitate:
M=3n-2 Formula anterioara arata ca este suficienta o singura deplasare
unghiulara fi pentru pozitionarea univoca a tuturor elementelor cinematice din
schema cinemtica considerata.
1.1Trasarea schemei cinematice
Pentru trasarea schemei cinematice se parcurg urmtoarele etape:
- se alege, pe plana, punctual fix A0
- se traseaz un cerc cu raza CO=OA
- cercul se mparte n 12 pri egale
- se traseaza cele 2 ghidaje yB si xD la distantele date fata de punctul
A0
- din punctual A se traseaz dreapta AB
2

- din punctul A1 se traseaza o dreapta de lungime AB pana la punctul de

intersectie cu dreapta yB
- se repeta acelasi proces cu toate cele 12 puncte stabilite A1-A12
- din punctul C1 opus punctului A1 se traseaza o dreapta de lungime CD
pana la punctul de intersectie cu dreapta xD
- se repeta acelasi proces cu toate cele 12 puncte stabilite C1-C12

1.2 Geometria si cinematica analitica a

mecanismului
Deplasrile elementelor cinematice, calculate n funcie de pasul
reprezint poziia instantanee a mecanismului la momentul considerat.
Structura topologic a mecanismului evideniaz dou contururi
nchise distincte (fig 1.2.1)

Fiecrui contur format din elemente cinematice i corespunde un contur

vectorial asociat.
Algoritmul de rezolvare a geometriei mecanismului implic
parcurgerea urmtoarelor etape: se scrie ecuaia vectorial de nchidere a
3

fiecrui contur I i II, se separ vectorii parial necunoscui de vectorii total

cunoscui, dup care se proiecteaz contururile pe axele carteziene fixe alese
convenabil, obinndu-se ecuaiile scalare echivalente.
Pentru conturul I (OAB), ecuaia vectorial de nchidere este (fig
1.2.1.I):

l y + l1 = s3 + l2

Se scriu ecuaiile de proiecii pe axele de coordonate:

l1 cos 1 = S 3 l 2 cos 2

l y + l1 sin 1 = l 2 sin 2

l1 sin 1

sin

=
2

l2

2
0 180
2

Pentru conturul I deplasrile unghiular i liniar:

ly + l1 sin 1

2 = arcsin
l2

S 3 = l1 cos 1 l 2 cos 2
l cos 1
2 = 2 = 1 1
l 2 cos 2
V3 = S 3 = 2 l 2 sin 2 1l1 sin 1
l sin 1
2 = 2 = 22 tg 2 12 1
l 2 cos 2
a3 = V3 = 22 l 2 * cos 2 + 2 l 2 sin 2 12 l1 cos 1

Pentru conturul II, ecuaia vectorial de nchidere este (fig 1.2.1.II):

fig 1.2.1.II

l x + l1' = l 5 + s 4

Ecuaiile scalare de proiecii formeaz sistemul:

l x + l1 cos + 1 = l 5 cos 5

1 sin( + 1 ) = S 4 + l 5 sin 5

5 = a cos

lx
1 sin 1
l5

S 4 = l1 cos1 l5 sin 5

1 sin 1
2 sin 5
V4 = 1l1 cos1 5 * l5 * cos 5
5 = 5 = 1

5 = 12

l1 cos1 52

l2 sin 5 tg 5

v4 = 12l1 sin 1 + 52l5 sin 5

Programul de calcul pentru deplasri, viteze i

acceleraii(MATLAB)
S-a elaborat un program de calcul n limbajul Matlab, n care se
introduc lungimile caracteristicice ale elementelor cinematice n mm i
unghiurile n radiani. Programul ruleaz pentru un ciclu complet, alegnd
pasul unghiular al manivelei 1.
l1=input('introduceti l1=72 l1=');
l2=input('introduceti l2=195 l2=');
l5=input('introduceti l5=163 l5=');
lx=input('introduceti lx=45 lx=');
ly=input('introduceti ly=-70 ly=');
omega1=input('Introduceti omega1=');
p=input('introduceti pasul p=');
fi1=0:p:2*pi;
fi2=pi-asin(ly +l1.*sin(fi1)./l2);
%[fi1',fi2'];
s3=l1.*cos(fi1)-l2.*cos(fi2);
fi5=pi-acos(lx+l1.*cos(fi1)./l5);
s4=-l1.*sin(fi1)+l5.*sin(fi5);
omega2=omega1.*l1.*cos(fi1)./(l2.*cos(fi2));
v3=l2.*omega2.*sin(fi2)-l1.*omega1.*sin(fi1);
omega5=(omega1.*l1.*sin(fi1))./(l5.*sin(fi5));
v4=-l5.*omega5.*cos(fi5)-l1.*omega1.*cos(fi1);
epsilon2=omega2.^2.*tan(fi2)-(omega1.^2.*l1.*sin(fi1))./(l2.*cos(fi2));
a3=l2.*omega2.^2.*cos(fi2)+l2.*epsilon2.*sin(fi2)-l1.*omega1.^2.*cos(fi1);
epsilon5=-omega5.^2./tan(fi5)+(omega1.^2.*l1.*cos(fi1))./(l5.*sin(fi5));
a4=l5.*omega5.^2.*sin(fi5)-epsilon5.*l5.* cos(fi5)+l1.*omega1.^2.*sin(fi1);
disp(' fi1
[fi1',s3',s4']
plot(fi1,s3,fi1,s4);
pause;
disp(' fi1
[fi1',fi2',fi5']
plot(fi1,fi2,fi1,fi5);
pause;
disp(' fi1
[fi1',v3',v4']
plot(fi1,v3,fi1,v4);
pause;
disp(' fi1

s3

s4'

fi2

fi5'

v3

v4'

omega2

omega5'

[fi1',omega2',omega5']
plot(fi1,omega2,fi1,omega5);
pause;
disp(' fi1
a3
[fi1',a3',a4']
plot(fi1,a3,fi1,a4);
pause;
disp(' fi1
epsilon2
[fi1',epsilon2',epsilon5']
plot(fi1,epsilon2,fi1,epsilon5);
pause;

a4'

epsilon5'

In urma introducerii instructiunilor s-au obtinut urmatoarele rezultate:

introduceti l1=72
introduceti l2=195
introduceti l5=163
introduceti lx=45
introduceti ly=-70
Introduceti omega1=(pi*940)/30
introduceti pasul p=pi/6
fi1
s3
s4
ans =
1.0e+004 *
0
0.0001
0.0001
0.0002
0.0002
0.0003
0.0003
0.0004
0.0004
0.0005
0.0005
0.0006
0.0006

0.0073 - 1.1098i
0.0063 - 1.1062i
0.0037 - 1.1035i
0.0000 - 1.1025i
-0.0036 - 1.1035i
-0.0063 - 1.1062i
-0.0073 - 1.1098i
-0.0063 - 1.1135i
-0.0036 - 1.1162i
0.0000 - 1.1171i
0.0037 - 1.1162i
0.0063 - 1.1135i
0.0073 - 1.1098i

0 - 0.8724i
-0.0036 - 0.8734i
-0.0063 - 0.8761i
-0.0073 - 0.8797i
-0.0063 - 0.8834i
-0.0037 - 0.8860i
-0.0000 - 0.8870i
0.0037 - 0.8860i
0.0063 - 0.8834i
0.0073 - 0.8797i
0.0063 - 0.8761i
0.0037 - 0.8734i
0.0000 - 0.8724i

S-au generat urmatoarele grafice:

Grafic 1.1 deplasarile liniare

Linia verde reprezint intersecia valorilor 1 S3

Linia albastr reprezint intersecia valorilor 1 S
fi1

s3

s4

ans =
1.0e+004 *
0
0.0001
0.0001
0.0002
0.0002
0.0003
0.0003
0.0004
0.0004
0.0005
0.0005
0.0006
0.0006

0.0073 - 1.1098i
0.0063 - 1.1062i
0.0037 - 1.1035i
0.0000 - 1.1025i
-0.0036 - 1.1035i
-0.0063 - 1.1062i
-0.0073 - 1.1098i
-0.0063 - 1.1135i
-0.0036 - 1.1162i
0.0000 - 1.1171i
0.0037 - 1.1162i
0.0063 - 1.1135i
0.0073 - 1.1098i

0 - 0.8724i
-0.0036 - 0.8734i
-0.0063 - 0.8761i
-0.0073 - 0.8797i
-0.0063 - 0.8834i
-0.0037 - 0.8860i
-0.0000 - 0.8870i
0.0037 - 0.8860i
0.0063 - 0.8834i
0.0073 - 0.8797i
0.0063 - 0.8761i
0.0037 - 0.8734i
0.0000 - 0.8724i

80
60
40
20
0
-20
-40
-60
-80

Graficul 1.2 deplasarile ungiulare

Linia verde reprezint intersecia valorilor 1 2

Linia albastr reprezint intersecia valorilor 1 5
fi1

fi2

fi5

ans =
0
0.5236
1.0472
1.5708
2.0944
2.6180
3.1416
3.6652
4.1888
4.7124
5.2360
5.7596
6.2832

4.7124 + 4.7874i
0 - 4.3735i
4.7124 + 4.7841i
0 - 4.3747i
4.7124 + 4.7817i
0 - 4.3777i
4.7124 + 4.7808i
0 - 4.3819i
4.7124 + 4.7817i
0 - 4.3860i
4.7124 + 4.7841i
0 - 4.3890i
4.7124 + 4.7874i
0 - 4.3901i
4.7124 + 4.7907i
0 - 4.3890i
4.7124 + 4.7931i
0 - 4.3860i
4.7124 + 4.7940i
0 - 4.3819i
4.7124 + 4.7931i
0 - 4.3777i
4.7124 + 4.7907i
0 - 4.3747i
4.7124 + 4.7874i
0 - 4.3735i

80
60
40
20
0
-20
-40
-60
-80

fi 5 - albastru
fi 2 - verde

Graficul 1.3 vitezele unghiulare

Linia verde reprezint intersecia valorilor 1 v3

Linia albastr reprezint intersecia valorilor 1 v4
fi1

v3

v4

ans =
1.0e+003 *
0
0.0005
0.0010
0.0016
0.0021
0.0026
0.0031
0.0037
0.0042
0.0047
0.0052
0.0058
0.0063

0.0000 + 8.0279i -8.0268

-4.0134 + 6.9524i -6.9514 - 4.0147i
-6.9514 + 4.0139i -4.0134 - 6.9536i
-8.0268 + 0.0000i -0.0000 - 8.0293i
-6.9514 - 4.0139i 4.0134 - 6.9535i
-4.0134 - 6.9524i 6.9514 - 4.0146i
-0.0000 - 8.0279i 8.0268 - 0.0000i
4.0134 - 6.9523i 6.9514 + 4.0146i
6.9514 - 4.0139i 4.0134 + 6.9535i
8.0268 - 0.0000i 0.0000 + 8.0293i
6.9514 + 4.0139i -4.0134 + 6.9536i
4.0134 + 6.9523i -6.9514 + 4.0147i
0.0000 + 8.0279i -8.0268 + 0.0000i

4.8
4.6
4.4
4.2
4
3.8
3.6
3.4
3.2
3

10

8000
6000
4000
2000
0
-2000
-4000
-6000
-8000

Graficul 1.4 vitezele unghiulare

Linia verde reprezint intersecia valorilor 1 2

Linia albastr reprezint intersecia valorilor 1
fi1

omega2

omega5

ans =
0
0.5236
1.0472
1.5708
2.0944
2.6180
3.1416
3.6652
4.1888
4.7124
5.2360
5.7596
6.2832

-0.0000 - 0.7232i
0
-0.0000 - 0.6284i
0 + 0.4595i
-0.0000 - 0.3637i
0 + 0.7935i
-0.0000 - 0.0000i
0 + 0.9124i
0.0000 + 0.3637i
0 + 0.7869i
0.0000 + 0.6284i
0 + 0.4530i
0.0000 + 0.7232i
0 + 0.0000i
0.0000 + 0.6243i
0 - 0.4530i
0.0000 + 0.3596i
0 - 0.7869i
0.0000 + 0.0000i
0 - 0.9124i
-0.0000 - 0.3596i
0 - 0.7935i
-0.0000 - 0.6243i
0 - 0.4595i
-0.0000 - 0.7232i
0 - 0.0000i

11

-16

1.5

x 10

0.5

-0.5

-1

-1.5

Graficul 1.5- acceleratiile liniare

Linia verde reprezint intersecia valorilor 1 a3

Linia albastr reprezint intersecia valorilor 1 a4
fi1

a3

a4

ans =
1.0e+005 *
0
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0001
0.0001
0.0001

-8.8259 + 0.0000i
-7.6434 - 4.4136i
-4.4129 - 7.6445i
-0.0000 - 8.8271i
4.4129 - 7.6445i
7.6434 - 4.4136i
8.8259 + 0.0000i
7.6434 + 4.4136i
4.4129 + 7.6445i
0.0000 + 8.8271i
-4.4129 + 7.6445i
-7.6434 + 4.4136i
-8.8259 + 0.0000i

0 - 8.8287i
4.4129 - 7.6459i
7.6434 - 4.4144i
8.8259 - 0.0000i
7.6434 + 4.4143i
4.4129 + 7.6458i
0.0000 + 8.8286i
-4.4129 + 7.6458i
-7.6434 + 4.4143i
-8.8259 - 0.0000i
-7.6434 - 4.4144i
-4.4129 - 7.6459i
-0.0000 - 8.8287i

12

x 10

6
4
2
0
-2
-4
-6
-8

Graficul 1.6 acceleratiile unghiulare

Linia verde reprezint intersecia valorilor 1

Linia albastr reprezint intersecia valorilor 1
fi1

epsilon2

epsilon5

ans =
1.0e+002 *
0
0.0052
0.0105
0.0157
0.0209
0.0262
0.0314
0.0367
0.0419
0.0471
0.0524
0.0576
0.0628

-0.0000 - 0.0052i
0 + 1.0117i
0.0000 + 0.3950i
0 + 0.8772i
0.0000 + 0.6913i
0 + 0.5100i
0.0000 + 0.8005i
0 + 0.0083i
0.0000 + 0.6913i
0 - 0.4934i
0.0000 + 0.3950i
0 - 0.8606i
-0.0000 - 0.0052i
0 - 0.9950i
-0.0000 - 0.4002i
0 - 0.8606i
-0.0000 - 0.6861i
0 - 0.4934i
-0.0000 - 0.7900i
0 + 0.0083i
-0.0000 - 0.6861i
0 + 0.5100i
-0.0000 - 0.4002i
0 + 0.8772i
-0.0000 - 0.0052i
0 + 1.0117i

13

-14

1.5

x 10

0.5

-0.5

-1

-1.5

++++++++++++++++++++++++++
introduceti l1=72
l1=72
introduceti l2=195
l2=195
introduceti l5=163
l5=163
introduceti lx=45
lx=45
introduceti ly=-70
ly=-70
Introduceti omega1=(pi*940)/30
introduceti pasul p=pi/6
fi1
s3
s4
ans =
1.0e+004 *
0
0.0001
0.0001
0.0002
0.0002
0.0003
0.0003
0.0004

0.0072 - 1.3649i 0.0000 - 0.7405i

0.0062 - 1.3613i -0.0036 - 0.7396i
0.0036 - 1.3586i -0.0062 - 0.7369i
0.0000 - 1.3577i -0.0072 - 0.7333i
-0.0036 - 1.3586i -0.0062 - 0.7297i
-0.0062 - 1.3613i -0.0036 - 0.7271i
-0.0072 - 1.3649i 0.0000 - 0.7261i
-0.0062 - 1.3685i 0.0036 - 0.7271i

14

0.0004
0.0005
0.0005
0.0006
0.0006

-0.0036 - 1.3711i
0.0000 - 1.3721i
0.0036 - 1.3711i
0.0062 - 1.3685i
0.0072 - 1.3649i

0.0062 - 0.7297i
0.0072 - 0.7333i
0.0062 - 0.7369i
0.0036 - 0.7396i
0.0000 - 0.7405i

Warning: Imaginary parts of complex X and/or Y arguments ignored

> In TRT at 25
Warning: Imaginary parts of complex X and/or Y arguments ignored
> In TRT at 25
fi1
fi2
fi5
ans =
0
0.5236
1.0472
1.5708
2.0944
2.6180
3.1416
3.6652
4.1888
4.7124
5.2360
5.7596
6.2832

4.7124 + 4.9416i 3.1416 + 4.5095i

4.7124 + 4.9390i 3.1416 + 4.5082i
4.7124 + 4.9370i 3.1416 + 4.5046i
4.7124 + 4.9363i 3.1416 + 4.4997i
4.7124 + 4.9370i 3.1416 + 4.4948i
4.7124 + 4.9390i 3.1416 + 4.4911i
4.7124 + 4.9416i 3.1416 + 4.4898i
4.7124 + 4.9442i 3.1416 + 4.4911i
4.7124 + 4.9461i 3.1416 + 4.4948i
4.7124 + 4.9469i 3.1416 + 4.4997i
4.7124 + 4.9461i 3.1416 + 4.5046i
4.7124 + 4.9442i 3.1416 + 4.5082i
4.7124 + 4.9416i 3.1416 + 4.5095i

Warning: Imaginary parts of complex X and/or Y arguments ignored

> In TRT at 29
Warning: Imaginary parts of complex X and/or Y arguments ignored
> In TRT at 29
fi1
v3
v4
ans =
1.0e+003 *
0
0.0005
0.0010
0.0016
0.0021
0.0026
0.0031
0.0037
0.0042
0.0047
0.0052
0.0058
0.0063

0.0000 + 7.0882i -7.0874

-3.5437 + 6.1385i -6.1379 + 3.5446i
-6.1379 + 3.5441i -3.5437 + 6.1394i
-7.0874 + 0.0000i -0.0000 + 7.0892i
-6.1379 - 3.5441i 3.5437 + 6.1394i
-3.5437 - 6.1385i 6.1379 + 3.5446i
-0.0000 - 7.0882i 7.0874 + 0.0000i
3.5437 - 6.1385i 6.1379 - 3.5446i
6.1379 - 3.5441i 3.5437 - 6.1394i
7.0874 - 0.0000i 0.0000 - 7.0892i
6.1379 + 3.5441i -3.5437 - 6.1394i
3.5437 + 6.1385i -6.1379 - 3.5446i
0.0000 + 7.0882i -7.0874 - 0.0000i

15

Warning: Imaginary parts of complex X and/or Y arguments ignored

> In TRT at 33
Warning: Imaginary parts of complex X and/or Y arguments ignored
> In TRT at 33
fi1
omega2
omega5
ans =
0
0.5236
1.0472
1.5708
2.0944
2.6180
3.1416
3.6652
4.1888
4.7124
5.2360
5.7596
6.2832

-0.0000 - 0.5193i
-0.0000 - 0.4509i
-0.0000 - 0.2608i
-0.0000 - 0.0000i
0.0000 + 0.2608i
0.0000 + 0.4509i
0.0000 + 0.5193i
0.0000 + 0.4485i
0.0000 + 0.2585i
0.0000 + 0.0000i
-0.0000 - 0.2585i
-0.0000 - 0.4485i
-0.0000 - 0.5193i

0
0.0000 + 0.4792i
0.0000 + 0.8329i
0.0000 + 0.9665i
0.0000 + 0.8411i
0.0000 + 0.4874i
0.0000 + 0.0000i
-0.0000 - 0.4874i
-0.0000 - 0.8411i
-0.0000 - 0.9665i
-0.0000 - 0.8329i
-0.0000 - 0.4792i
-0.0000 - 0.0000i

Warning: Imaginary parts of complex X and/or Y arguments ignored

> In TRT at 37
Warning: Imaginary parts of complex X and/or Y arguments ignored
> In TRT at 37
fi1
a3
a4
ans =
1.0e+005 *
0
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0001
0.0001
0.0001

-6.9766 + 0.0000i 0.0000 + 6.9783i

-6.0419 - 3.4887i 3.4883 + 6.0434i
-3.4883 - 6.0426i 6.0419 + 3.4891i
-0.0000 - 6.9773i 6.9766 - 0.0000i
3.4883 - 6.0426i 6.0419 - 3.4892i
6.0419 - 3.4887i 3.4883 - 6.0435i
6.9766 + 0.0000i 0.0000 - 6.9784i
6.0419 + 3.4887i -3.4883 - 6.0435i
3.4883 + 6.0425i -6.0419 - 3.4892i
0.0000 + 6.9773i -6.9766 - 0.0000i
-3.4883 + 6.0425i -6.0419 + 3.4891i
-6.0419 + 3.4887i -3.4883 + 6.0434i
-6.9766 + 0.0000i -0.0000 + 6.9783i

Warning: Imaginary parts of complex X and/or Y arguments ignored

> In TRT at 41
Warning: Imaginary parts of complex X and/or Y arguments ignored
> In TRT at 41
fi1
epsilon2
epsilon5

16

ans =
0
0.5236
1.0472
1.5708
2.0944
2.6180
3.1416
3.6652
4.1888
4.7124
5.2360
5.7596
6.2832

-0.0000 - 0.2697i 0.0000 +94.2124i

0.0000 +25.4223i 0.0000 +81.4672i
0.0000 +44.4029i 0.0000 +46.6425i
0.0000 +51.3871i -0.0000 - 0.9343i
0.0000 +44.4029i -0.0000 -48.5113i
0.0000 +25.4223i -0.0000 -83.3360i
-0.0000 - 0.2697i -0.0000 -96.0813i
-0.0000 -25.6920i -0.0000 -83.3360i
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-0.0000 -50.8478i -0.0000 - 0.9343i
-0.0000 -44.1332i 0.0000 +46.6425i
-0.0000 -25.6920i 0.0000 +81.4672i
-0.0000 - 0.2697i 0.0000 +94.2124i

17