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solution
AS2=3/4AB
1. Degree of freedom
N=5 P5=5 P4=1 h=3(n-1)-2p5-p4 h=3(5-1)-2.5-1 h=1
2. Replacing kinematic pair with class IV with kinematic pair with class V
- Replace pair between links 2 and 4 with slider along link 2 (line AB) that make turning pair with link 5 at point C
4. Velocity
a) Fixed link and link 1
V A VO V
1 1
1 1
t A O1 1
t VA O w1 lOA direction OA
kv
a2 Vt
B2A2
ms mm
V B VA V
2 2
t B2 A2
Direction of VB paralel to line of sliding between fixed link and link 3 t Direction of VBA to line AB
VtC2A2 c2 VtC2B2
VA2 VC2
V C VA V
2 2
t C2 A2 t C2 B2
CA CB
b2
VB2
t vBA ba kv w2 lBA l AB
2 B2 P=d5 VtC5D5 c) Links 4 and 5. Known velocity of point C and c5 velocity of point D
VC V V
V C VC V
4 2
r C 4C2 t C5 D5
// AB CD
t vC D c5 d 5 kv w5 lCD lCD
5 5
V C VD V
5 5
4. Acceleration
a) Fixed link and link 1
a A aO a
1 1
1 1
ct A O1 1
t A O1 1
ct a A O w12 lOA
1 1
t a A O 0 w1 const. 1 0
direction from A to O
t B2 A2 AB
a B A w2 lBA
2 2
ka
ms mm
aB aA a
2 2
ct B2 A2
a
a a
direction from B to A
ct 2 a C A w2 lCA
2 2
b2
atC2A2
aS2
aB2 aA1 a2
aC aA a
2 2
ct C 2 A2 ct C 2 B2
t C 2 A2 CA t C 2 B2 CB
direction from C to A
ct 2 a C B w2 lCB
2 2
c2
actC2A2
aC aB a
2 2
direction from C to B
s5
a C aC a
4 2
cor C 4C 2 ct C5 D5
a a
r C4C 2 // AB
cor a C C 2 w2 VCr C
4 2 4
a e2 = l AB
t B2 A2
a e5 lCD
t C5 D5
turn in 90 V
r C 4C 2
direction of w2
c5
aC aD a
5 5
MC 0
5
for link 5
t R05
hIF5
S5 C 4 h24 R24
2)
Fi 0
t 05
ct R05 , R24
IF 5 R R R24 0
3) IF5 R05 R45 4)
Fi 0 MC 0
for link 5
R45
IF 5 R05 R45 0
for link 4
Rt
IF5
05
h24
R24=-R45
Rct05
b) Links 2 and 3. Known force F3, Inertia Force IF2 and Inertia Moment IM2 1) R12 Rt12 IM2 Rct12 A 2 R03 h03 B R42
MB 0
for link 2
t R12
h42 IF2
t R12 .......
Fi 0 Fi 0 MB 0
ct R12 , R03
F3 3)
R42 F3 IF 2 R R R03 0
for link 3
R23
R03 F3 R23 0
for link 3
R03
12
R03
R23 F3
R32
R42 4)
h03
MO 0
R21 h21 M 1 0
R21 M1 h21 O A
M 1 R21 h21
MC 0
for link 5
t R05
hIF5 1 C
IF5
t t IF 5 h IF IM 5 M 5 R 05 l CD 0 R 05 .......
ct Fi 0 for link 5 and 4 R05 , R24 t ct F 0 IF5 cos 1 R05 cos 2 R05 cos(90 2 ) 0
2)
y h24 R24
F 0 IF y
3)
x 4)
Fi 0 for link 4 F 0 R R y
24
R45
54
0 R51 R 24
MC 0
for link 4
h24
b) Links 2 and 3. Known force F3, Inertia Force IF2 and Inertia Moment IM2 1) R12
MB 0 Fi 0
2 ,3
for link 2
h42 IF2
2)
F x
ct R12 , R03
2, 3
Rct12 A y 2 x
3
R03 h03 B
4 hIF2
3
F3
F y
12
0
12
3)
Fi 0
for link 3
4)
MB 0
for link 3
h03
MO 0
R21 h21 M 1 0
R21 M1 h21 O A
M 1 R21 h21