DESIGN OF MACHINERY SOLUTION MANUAL 5-6-1 ZS PROBLEM 56 ‘Statement: See Project P3-20. Define three positions of the dumpster and analytically synthesize linkage to move through them. The fixed pivots must be located on the existing truck. Solution: _Sce Project P3-20 and Mathcad file P0506. |. This isan open-ended design problem that has many valid solutions. First define the problem more completely than its stated by deciding on three positions forthe dumpster box to move through. The figure below shows ‘one such st of positions (dimensions are in mm). Fae 2. From the figure, the design choices are: Poix:= 590 Paix: 1999 Po)y:= (817 Oa, = -2094 O4x = -2036 Body angles: p2 == 303-deg 6p3:= 59.1-deg 3. The methods of Section 5.8 are used to get a solution for this problem. The solution is sensitive to small ‘changes in the design choices soa trial-and-error approach is warranted. 4, Determine the angle changes between precision points from the body angles given. 22:5 Op2- OPI a = 30300 deg 33 ps OPI 3 = 59.100 deg 5. Using Figure 5-6, determine the magnitudes of RR, and R, and theirx and y components, Rix = -O2 Rix=2.094% 10° Riy:= Ory Rly = 226.000 3 Rox:= Rix + Paix Rox = 1.504 x 10° Ray = Rly + Paly Ray = 1428 10°DESIGN OF MACHINERY Rix Ry R; Rix + Pix Rax = 95.000 Ruy + Paty Ryy = 2.043 x 10° Ryn {Rie + Ry” Ry = 2.106 x 10° [Ra + Roy? Rp = 2.074 x 10° Ry =] Rae? + Ry? Ry = 2.045 x 10° SOLUTION MANUAL 5-6-2 6. Using Figure 5-6, determine the angles that R, Ro, and Rs make with the x axis. 7. C1 := atanA(Ryx, Rly) 61 = 6.160deg 2 = atan2 Rox, R2y) C2 = 43.515 deg 3:= atan Rax, R3y) 3 = 87.338 deg Solve for Band B. using equations 5.34 Crm Ry-cos(az + C3) — Re-cos(a3 + C2) C2:= Re-sinag + C3) - Resinfars + £2) C3: Ry-cos(az +61) - Rseos(Cs) Cy= -Rr-siolas + 61) + Resid) C= Ry-cos(az + 61) — Rr-eos(C2) C6 = -Ry-sirdaz + 61) + Re-sin(C2) Apa. 2 op A= CzC6~ CCS A3= -CHC6~ C3C5 Ag= C2€3 + C1C4 As= CeCs — C36 Agim CrCa~ CoCy Ky = Az-Ag+ AxAG Kym ASA + AS-AG Ap = Ae Ap Ap - Ag rn {1 [aPvx?— Ke ata Ky+K3 cy = 495.777 C2 = 212019 3 = 786433 C4= 130.152 C= 189927 C6 = 176392 Ay = 6.384% 10° Ap = 1.140 x 10° As=-1.723 x 10° Ag=-2313% 10° As = 1.140 10" Ap = 3.623 x 10° Ky = 3.607% 10"° Kp = 8.115% 10° K3 = 82816 10"° B31 = 72.976 degDESIGN OF MACHINERY SOLUTION MANUAL 5-6-3 KK ‘The second value is the same as 1, 50 use the first value bo ovo{ Seba arcs) a1 = 34802 deg Boose vod etal techs) op = 34.802 deg 41 Since both values are the same, 8. Repeat steps 2, 3, and 4 for the right-hand dyad to find y, and yp Rix:=-O4e Rix = 2.036% 10° Riy:= -Oyy Ryy = 311.000 Roy = Rix + Prix Roy = 1446 x 10° Ray = Rly + Poly Ry = 1.513% 10° Ray = Rix + P3ix Rix = 37.000 Ryy = Rly + Paly Ryy = 2.128% 10° Ry = Rie + Ry” Ry = 2.060 10° Ro [Rae Ray? Ro=209 x10 y= (Rae? + Ray” 128 x 10° 9. Using Figure 5-6, determine the angles that Ry, Ro, and Rs make with the x axis. G1 = atan2 Rix, Riy) G1 = 8.685 deg G2: atan2{ Roe, Ry) 62 = 46.297 deg G3:= atan2{ Rax, Ray) 3 = 89.004 deg 10. Solve for yy and y, using equations 5.34 C= Ry-cos(az + 63) — Re-cos(as3 + C2) Cy = 486.018 C2:= Re-sinaag + C3) - Resinfars + 62) C2= 161.777 C3 tr-cas(a3 +61) ~ R3-cos(C3) C3 = T4L.712 ysis +61) + Resides) y= 221208 1-c05(a + 61) ~ Ro-cos(C2) C5 = 154965 Ry-sidaz + 61) + Rosif2) C5= 217266 ca cs Co:DESIGN OF MACHINERY AyeCP CF Az= CxCg - CoC Agi= -C¢C6- C3C5 Ag CrC3+ CrC4 Asa C4C3~ C306 de:= C13 CoC Kim Ards AoA Kym Avda AAs 22 424? AP = Ay ~ Ay ~ AG ~ 46 2 Ka [P+ KP - ) Ky YI Ki+ Ky K2- Ky + Ky — Ks" wee Ki +K3 ‘The second value isthe same as ay, $0 use the first value Assinlys) +4 A rao 5 Hd) Assaf) ‘) Ax tiny) + Az-cos(rs) + “*) Since both angles are the same, SOLUTION MANUAL 5-6-4 5.991 x 10° 1.269 x 10° =1.630 x 10° 2.275 x 10° 269 x 10° 3.247 x 10° Ky) = 2.406 x 10° Kp = 7828 x 10° Ky = 7953 10" 31 = 86.724 deg n= 39.43 deg ‘22 = 39.743 deg Y= I 11. Use the method of Section 5.7 to synthesize the linkage. Start by determining the magnitudes of the vectors P21 and Ps and their angles with respect to the X axis. Tp 2 pai P2ix. + Paty 82:= atan{P2/,P2iy) Iran? wpa P31=YP3ix + Paty catan{P31x,P3y) p21 = 1338.94 82 = 116.144 deg 2701.387 P3I 83 = 137.731 degDESIGN OF MACHINERY SOLUTION MANUAL 5-6-5 12, Evaluate terms in the WZ. coefficient matrix and constant vector from equations (5.25) and form the matrix and vector: A= cos(B)-1 B:= sirfB2) D-= sinlaz) E:= p21-cos(62) G= sid) Hx cos(aa)~1 L= p31-cos(83) M:= p2y-sin(82) A -B OC -D E Wis FGH-K L Wy 1 cc Ad ‘ce Bapde M 2x GFKH N 2ly 13, The components ofthe W and 2. vectors are: Wix=3.194% 10° Why = 829.763 Zix = -1.100« 10° Zly = 603.763 14, The length of link 2 is: Wis? + Wy w= 3299543 15, Evaluate terms in the US coefficient matrix and constant vector from equations (5.25) and form the matrix and vector: GrFKH N Sly 16. The components of the W and Z. vectors are: Ulz= 1.62110? Uly= 13.492 Six= 415.016 Sly = 297.508 17. The length of link 4 is: ux ((ui? + v1 u = 1621.040 18. Solving for links 3 and 1 from equations 5.2a and 5.2b. Vix:= ZIx - Six Vix = -1,515 x 10°DESIGN OF MACHINERY 19. Vly Ziy- Sly ‘The length of link 3 is Glx= Wix + Vix- Ulx Gly = Wly + Viy- Uly ‘The length of link 1 g v ai vie + vi) eu? + cis SOLUTION MANUAL 5-6-6 Vly = 901.272 1762.404 g = 102.903 ‘Check the location ofthe fixed pivots with respect to the global frame using the calculated vectors W;,Z;, U1, and) O24 := ~Zix ~ Wis O2y:= -Zly - Wly Of = -Six~ Ul Oty:= -Sly- Uly 02x: Ory. Ox: ony ‘These check with the design choices shown in the figure above. 20. Determine the location of the coupler point with respect to point A and line AB. Distance from 4 to P 1284370 rp. si + si? ‘Angle BAP (,) s 510.637 y= atan2(S1x,S1y) v o 03: 5.635 deg ‘atan(Zix,Z1y) $= 151.228 deg tan 2-cos(@) ~ s-cos(y),2-sin(4) - ssin(y)) 03 = -149.244 deg by = 1.984 deg 21. DESIGN SUMMARY Link 1: g= 1029 Link 2: w= 3299.5, Link 3: v= 17624 Link 4: w= 16210 ‘Coupler point: rp= 12544 Gp = -1.984deg 22. VERIFICATION: The calculated values of g (length ofthe ground ink) and ofthe coordinates of O> and Oy give the same values as those on the problem statement, verifying that the calculated values forthe other links and the coupler point are correct. The solution is drawn below to show the locations of the moving pivots for the three positions chosen (see next page). 23. The design needs to be checked for the presence of toggle positions within its desired range of motion. This design has none, but is close to toggle at position 3.DESIGN OF MACHINERY SOLUTION MANUAL 5-6-7 24. The transmission angles need to be checked also. A large mechanical advantage input device will need to be used here, such as a hydraulic cylinder. Note that the drive mechanism must also resist being overdriven (back driven) by the load asthe dumpster descends from its high point onto the truck.