Documente Academic
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MECANISMELOR SPAŢIALE
procesele de automatizare si robotizare
• Sistem mecanic;
• Sistem de actionare (pneumatic, electric
Robotii industriali etc.);
• Sistem de control (senzori si traductori);
• Sistem de guvernare, care comanda
sistemul de actionare pe baza
informatiilor provenite de la senzori.
Mobilitatea 5
M 6n m cm 6n 5c5 4c4 3c3 2c2 c1
m 1
Analiza poziţională şi cinematică a
mecanismelor spaţiale
•metoda barelor;
Analiza pozitionala •metoda contururilor;
•metoda matriceala.
Analiza cinematica
vA v B v A AB
B
a B a A AB AB
A
vB
Ec. Euler de conexiune
cupla cilindrica= C;
Notatii: articulatia simpla= R;
articulatia sferica = S;
cupla prismatica = P.
1 (S)
C
f=0
(R) u0
u1 Do
A
D 3
(C)
u3
Patrulaterul spaţial RRSC
5
M 6n m cm 6 3 5 2 4 1 3 1 1
B
(R) m 1
1 (S)
C
Analiza pozitionala
(R) u0
AB 2 l AB
u1 Do
A 2
D 3
(C)
u1 AB 0
u1
u3
u AB l cos
0 AB 1
u3
Date: xB x A 2 yB y A 2 z B z A 2 l AB 2
u0
u1x xB AB,x ABC,
lungimile CD
u1 y yB y A u1z z B z A 0
u x x u y y u z z l cos
punctele
0x B fixe AA si D0 0 y B A 0z B A AB 1
1
DC u3 0
(R) u0
u1 Do
A
DC 2 l 2
D 3
(C)
u3
DC
u1 , AB, BC coplanari
xD x D0 u3 x
yD yD0 d u3 y
D0 D d u3
zD z D0 u3 z
xC xB 2 yC y B 2 zC z B 2 l BC
2
u1x u1 y u1z
ABx ABy ABz 0
xC, yC, zC, d.
BCx BC y BCz
xC xD0 d u3 x u3 x yC y D0 d u3 y u3 y zC z D0 d u3 z u3 z 0
x
C D0x d u 3x
2
y C y
D0 d u 3y
2
z C z
D0 d u
3z
2
l 2
DC
i j k
Analiza cinematica 1 1 u1
vB 1 AB vB 1 u1x u1 y u1z
ABx AB y ABz
Viteze
(R)
B
vB 1u1 , AB
2
1
(S)
C 2 1 21
(R) u0
vC vB 2 BC
u1 Do
A
D 3
(C)
u1 AB
21 21 21 u21
u3 l AB
vBx i j k
vC vCt 3 DC vBy 1u1x 21u21x 1u1 y 21u21 y 1u1z 21u21 z
vBz BC x BC y BC z
u3 x i j k 21
T R vCt u3 y 3 u3 x u3 y
u3 z 3 vC
u3 z DC x DC y DC z v
Ct
vCt vCt u3
Acceleratii Date: 1
(R)
B
aB 12 AB 1 AB
2
(S)
aBx
1
C
aB 12 AB 1u1 , AB
u1
(R) u0
Do
aBy
A
D 3
(C)
12
u3 2 1 1 21
t
derivare
aC aB 2 2 BC 2 BC aCt 32 DC 3 DC
necunoscutele , 3 , aCt
Patrulaterul spaţial RSSR
B 5
M 6n m cm 6 3 5 2 3 2 2
2 m 1
C
1 f=0
u1
3 Pseudo-mecanism
A
u0 u3
D
Analiza pozitionala
u1 AB 2 l AB
2
u3
Date: u0
u1 AB 0
lungimile AB, BC, CD
u AB l cos
punctele fixe A si D
0 AB 1
1
B
RSSR
2
C
1
A
u1
3
xB x A 2 y B y A 2 z B z A 2 l AB
2
u1x xB x A u1 y yB y A u1z z B z A 0
u0 u3
D
u x x u y y u z z l cos
0x B A 0y B A 0z B A AB 1
Coordonatele lui B
BC 2 lBC
2
xC xB 2 yC yB 2 zC z B 2 lBC 2
xC
u3 DC 0 u
3x Cx x D u3y yC y D u3z z C z D 0 yC
CD 2 l 2 x x 2 y y 2 z z 2 l 2 z
D C D C D C DC C
CD
Coordonatele lui C
Analiza cinematica i j k
B
vB 1 AB vB 1 u1x u1 y u1z
2
C
ABx ABy ABz
vC vB vCB
1
1
3
u1
A
u0 u3
vCB BC
vCB 2 BC 3 DC 1 AB 2 BC 2
vC 3 DC
aB C
aC aB 2 BC 2 vCB / BC
aC BC aB BC 2 vCB BC
aC
B
v BC v
2 CB CB
2 BC vCB 2 BC vCB
2
2
aC BC aB BC vCB
B
2
n
aC 3 3 DC
a t DC
1
C
C 3 3
A
u0
u1
3
u3
t
aB n 1 1 AB
D
aB 1 AB
Mecanismul bielă - manivelă spaţial (RSSP)
B 5
2
u3 M 6n m cm 6 3 5 2 3 2 2
3 m 1
C
1 f=0
u0
D
A u1
AB 2 l AB
2
Analiza pozitionala u1 AB 0
u AB l cos
0 AB 1
xB x A 2 y B y A 2 z B z A 2 l AB
2
u1
u1x xB x A u1 y yB y A u1z z B z A 0
u3 u x x u y y u z z l cos
Date: u0 0x B A 0y B A 0z B A AB 1
lungimile AB, BC
punctele fixe A si D
1
Coordonatele lui B
B
u3
2 3 DC u3
C
1 xC xD u3 x
u0 C yC yD u3 y
D
A u1 z z u
C D 3z
xC xB 2 yC yB 2 zC zB 2 lBC
2
Analiza cinematica
i j k
vB vB 1 AB vB 1 u1x u2 x u3 x
ABx ABy ABz
C
1
aB x
A u1
u0
D
aB 1 1 AB 1 AB aB y
a
Bz
aC aB aCB aB
n t
aC u3 aB aCB aCB
aC u3 aB 2 2 BC 2 BC / BC
2
aC u3 BC aB BC vCB aC
Mecanismul cardanic u1 u2 u0
B C
1
u0
3 u0 OB a cos 1
B u1 OB 0
O l a
1 2
OB
A D
u1
C' B'
u1
u0 x xB u0 y yB u0 z z B a cos 1
u1 x xB u1 y yB u1z z B 0 xB , y B , z B
M 3n 2c5 c4 3 3 2 4 1 x2 y 2 z 2 a2
B B B
xB ' xB
OB' OB yB ' yB
f=3 B’
zB' zB
B C
u0 Universal_joint_transparant.gif
3 OC OB 0
C u2 OC 0
O
A
1 2
D l a
C' B'
u1
OC
u1
xC xB yC y B zC z B 0
u2 x xC u2 y yC u2 z zC 0 xC , yC , zC
x2 y 2 z 2 a2
C
C’ OC ' OC
C C
u1x xB i j k
1 31 1 31
1 u1 y yB u1x u1 y u1z
a t a
u1z zB xB yB zB
u2 x xC i j k 2
1 32 2 32 31
2 u2 y yC u2 x u2 y u2 z
a t a t
u2 z zC xC yC zC
32
31 32 t
,
t t
OB OC
Metoda geometrica 1
i12
B
u0
C 2
3
EC1
tg1 ;
OE
O
A
1 2
EC1 *
tg2
D
u1
C' B'
OE
u1
B
C*1
tg1 EC1
B1
tg2 EC1 *
C1
EC1 EC1 * cos
C' C
O E
C'1 tg1
cos tg1 tg 2 cos
tg 2
B'1
D
B'
1 2 1 cos cos2 1 sin 2 1 cos 2 1 cos 2
cos i12 i12
cos2 1 cos2 2 2 cos2 21 cos
sin 2 1 cos 2 1 cos 2
i12 =0, 1=2 Cuplaj fix
cos
=90 Miscare imposibila
(max=30)
1 0 /2 3/2
1 1
i12 cos cos
cos cos
2
1
1 cos
1
1 cos
mecanism asincron.
cos cos
Max Min.
2
cos sin 2 sin 2
2 1
2
1 cos
cos 2 cos 2 1 sin 2 1
cos cos sin
2 2
1
2
1
2
2
d2 1 cos 1 cos sin 2 sin 2
2 1=ct
dt
cos 2 cos 2 1 sin 2 1 cos 2 cos 2 1 sin 2 1 2
4
3
1 2
Legatura
telescopica