Bai Giang - Nguyen Ly May - Le Cung - Mangnoibo-2007

i hc nng
Trng i hc Bch KHOA

khoa s phm k thut
------- -------

Bi ging
NGUYN L MY
dng cho sinh vin CHUYN NGNH C KH CH TO MY
(LU HNH NI B)

Bin son :
L CUNG - b mn nguyn l chi tit my

nng 2007

Bi ging Nguyn l my, Chuyn ngnh C kh ch to L Cung, Khoa S phm K thut
2
CHNG M U

1. Khi nim v my v c cu
1. My
My l tp hp cc vt th do con ngi to ra, nhm mc ch thc hin v m rng cc chc
nng lao ng.

Cn c vo chc nng, c th chia my thnh cc loi:
a. My nng lng: dng truyn hay bin i nng lng, gm hai loi:
+ My- ng c: bin i cc dng nng lng khc thnh c nng, v d ng c n, ng c
in, tucbin...
+ My bin i c nng: bin i c nng thnh cc dng nng lng khc, v d my pht
in, my nn kh...
b. My lm vic (my cng tc): c nhim v bin i hoc hnh dng, kch thc hay trng
thi ca vt th (gi l my cng ngh), hoc thay i v tr ca vt th (gi l my vn
chuyn).
Trn thc t, nhiu khi khng th phn bit nh trn, v cc my ni chung u c ng c
dn ng ring. Nhng my nh vy gi l my t hp. Ngoi ng c v b phn lm vic,
trong my t hp cn c cc thit b khc nh thit b kim tra, theo di, iu khin... Khi cc
chc nng iu khin ca con ngi i vi ton b qu trnh lm vic ca my u c m
nhn bi cc thit b ni trn, my t hp tr thnh my t ng.
c. My truyn v bin i thng tin, v d my tnh in t...
d. Ngoi cc loi my trn y, cn nhiu loi my c chc nng c bit nh tim nhn to,
tay my, ngi my...

Khi phn tch hot ng ca mt my, c th xem my l mt h thng gm cc b phn
in hnh, theo s khi sau:

+ B ngun: cung cp nng lng cho ton my.
+ B chp hnh: trc tip thc hin nhim v cng ngh ca my.
+ B bin i trung gian: thc hin cc bin i cn thit t b ngun n b chp hnh.
+ B iu khin: thc hin cc thng tin, thu thp cc tin tc lm vic ca my v a ra cc
tn hiu cn thit iu khin my.
2. C cu
Trong cc b phn ca my, tp hp cc vt th c chuyn ng xc nh, lm nhim v
truyn hay bin i chuyn ng gi l c cu.
Theo c im cc vt th hp thnh c cu, c th xp cc c cu thnh cc lp:
+ C cu ch gm cc vt rn tuyt i.
+ C cu c vt th n hi, v d c cu dng dy ai, c cu c l xo, c cu dng tc dng
ca cht kh, cht lng, c cu di chuyn nh thu lc.
+ C cu dng tc dng ca in t.

B ngun B bin i
trung gian
B chp hnh
B iu khin

3
2. Ni dung v phng php nghin cu ca mn hc Nguyn l my
Mn hc Nguyn l my nghin cu vn chuyn ng v iu khin chuyn ng ca c
cu v my. Ba vn chung ca cc loi c cu v my m mn hc Nguyn l my nghin
cu l vn v cu trc, ng hc v ng lc hc.
Ba vn nu trn c nghin cu di dng hai bi ton: bi ton phn tch v bi ton tng
hp.
Bi ton phn tch cu trc nhm nghin cu cc nguyn tc cu trc ca c cu v kh nng
chuyn ng ca c cu ty theo cu trc ca n.
Bi ton phn tch ng hc nhm xc nh chuyn ng ca cc khu trong c cu, khi
khng xt n nh hng ca cc lc m ch cn c vo quan h hnh hc ca cc khu.
Bi ton phn tch ng lc hc nhm xc nh lc tc ng ln c cu v quan h gia cc
lc ny vi chuyn ng ca c cu.

Bn cnh cc phng php ca mn hc C hc l thuyt, nghin cu cc vn ng
hc v ng lc hc ca c cu, ngi ta s dng cc phng php sau y:
+ Phng php th (phng php v - dng hnh)
+ Phng php gii tch
Ngoi ra, cc phng php thc nghim cng c mt ngha quan trng trong vic nghin cu
cc bi ton v Nguyn l my.

4
Chng I
CU TRC C CU

1. Khi nim v nh ngha
1) Khu v chi tit my

V d v my v c cu
Xt ng c t trong kiu pittng-tay quay c dng bin i nng lng ca kh chy
bn trong xi lanh (nhit nng, ha nng) thnh c nng trn trc khuu (my ny c gi l
my nng lng - hnh 1.1).
ng c t trong bao gm nhiu c cu. C cu chnh trong my l c cu tay quay-con trt
OAB (hnh 1.2) lm nhim v bin chuyn tnh tin ca pistng (3) thnh chuyn ng quay
ca trc khuu (1).

`

Khu v chi tit my
+ My v c cu gm nhiu b phn c chuyn ng tng i i vi nhau. Mi b phn c
chuyn ng ring bit ny ca my c gi l mt khu.
Khu c th l mt vt rn khng bin dng, vt rn bin dng (v d l xo...) hoc c dng
dy do (v d dy ai trong b truyn ai...).
Trong ton b gio trnh ny, tr nhng trng hp c bit, ta xem khu nh l mt vt rn
khng bin dng (vt rn tuyt i).
+ Khu c th l mt chi tit my c lp hay do mt s chi tit my ghp cng li vi nhau.
O
B
A
Xi lanh 4
Thanh truyn 2
Trc khuu 1
Pistng 3
Hnh 1.1
B
A
O
3
2
1
Hnh 1.2
4
Q
Z

Hnh 1.4
1
x
y
O
2
T
X
T
Y

Hnh 1.3
1
2
x
O
Q
X
Q
Y
T
X

Q
Z

T
Z

z
y

5
Mi chi tit my l mt b phn hon chnh, khng th tho ri nh hn c na ca my.

V d, c cu tay quay con trt OAB (hnh 1.2) c 4 khu: Trc khuu (1), thanh truyn
(2), pittng (3) v xi lanh (4) gn lin vi v my. Trong h quy chiu gn lin vi khu (4)
(v my, xi lanh), mi khu c chuyn ng ring bit: Khu (1) quay xung quanh tm O,
khu (2) chuyn ng song phng, khu (3) chuyn ng tnh tin, khu (4) c nh.
Trc khuu thng thng l mt chi tit my c lp. Thanh truyn gm nhiu chi tit my
nh thn, bc lt, u to, bu lng, ai c... ghp cng li vi nhau.
2) Ni ng, thnh phn khp ng v khp ng
Bc t do tng i gia hai khu

+ S bc t do tng i gia hai khu l s kh nng chuyn ng c lp tng i ca
khu ny i vi khu kia (tc l s kh nng chuyn ng c lp ca khu ny trong mt h
quy chiu gn lin vi khu kia).
+ Khi ri hai khu trong khng gian, gia chng s c 6 bc t do tng i.
Tht vy, trong h ta vung gc Oxyz gn lin vi khu (1), khu (2) c 6 kh nng
chuyn ng: , ,
X Y Z
T T T (chuyn ng tnh tin dc theo cc trc Ox, Oy, Oz) v , ,
X Y Z
Q Q Q
(chuyn ng quay xung quanh cc trc Ox, Oy, Oz). Su kh nng ny hon ton c lp vi
nhau (hnh 1.3).
+ Tuy nhin, khi ri hai khu trong mt phng, s bc t do tng i gia chng ch cn
li l 3: chuyn ng quay
Z
Q xung quanh trc Oz vung gc vi mt phng chuyn ng
Oxy ca hai khu v hai chuyn ng tnh tin ,
X Y
T T dc theo cc trc Ox, Oy nm trong mt
phng ny (hnh 1.4).
+ S bc t do tng i gia hai khu cng chnh l s thng s v tr c lp cn cho trc
xc nh hon ton v tr ca khu ny trong
mt h quy chiu gn lin vi khu kia (hnh 1.5).
Tht vy, xc nh hon ton v tr ca khu
(2) trong h quy chiu R

gn lin vi khu (1),
ngha l xc nh hon ton v tr ca h quy
chiu R
2
gn lin vi khu (2) so vi h quy chiu
R, cn bit 6 thng s:
+ Ba ta x
O2
, y
O2
, z
O2
ca gc O
2
ca h quy
chiu R
2
trong h R.
+ Ba gc ch phng , , xc nh phng
chiu ca vect n v
2 x
e
,
ca trc O
2
x
2
ca h
R
2
trong h R.
Ni ng, thnh phn khp ng, khp ng

+ to thnh c cu, ngi ta phi tp hp cc
khu li vi nhau bng cch thc hin cc php ni ng.
Ni ng hai khu l bt chng tip xc vi nhau theo mt quy cch nht nh trong sut qu
trnh chuyn ng.
Ni ng hai khu lm hn ch bt s bc t do tng i gia chng.
+ Ch trn mi khu tip xc vi khu c ni ng vi n gi l thnh phn khp ng.
+ Tp hp hai thnh phn khp ng ca hai khu trong mt php ni ng gi l mt khp
ng.
3) Cc loi khp ng v lc khp
Cc loi khp ng
+ Cn c vo s bc t do tng i b hn ch i khi ni ng (cn gi l s rng buc ca
khp), ta phn khp ng thnh cc loi: khp loi 1, loi 2, loi 3, loi 4, loi 5 ln lt hn
ch 1, 2, 3, 4, 5 bc t do tng i.
z
2

O
2

y
2
x
O
z
y
Hnh 1.5
x2
e
,

2
(R)
1
(R
2
)
x
2

6
Khng c khp loi 6, v khp ny hn ch 6 bc t do tng i gia hai khu, khi hai
khu l ghp cng vi nhau. Khng c khp loi 0, v khi hai khu ri hon ton trong
khng gian (lin kt gia hai khu lc ny c gi l lin kt t do).
+ Cn c vo c im tip xc ca hai khu khi ni ng, ta phn khp ng thnh cc loi:
Khp cao: nu thnh phn khp ng l cc im hay cc ng (hai khu tip xc nhau theo
im hoc ng)
Khp thp: nu thnh phn khp ng l cc mt (hai khu tip xc nhau theo mt).

V d v khp ng

+ V d 1: Cho hnh tr trn xoay (khu 1) tip xc vi tm phng (khu 2) theo mt ng
sinh, ta c mt khp ng (hnh 1.6). S bc t do tng i b hn ch i l 2 (hai chuyn
ng ,
Y Z
Q T khng th xy ra v khi hnh tr khng cn tip xc vi tm phng theo ng
sinh na). Khp ng ny l khp loi 2. Thnh phn khp ng trn khu 1 l ng sinh
AA ca n hin ang tip xc vi mt phng ca khu 2. Thnh phn khp ng trn khu 2
l on thng BB hin trng vi ng sinh AA. Thnh phn khp ng l cc ng nn
khp ng ny l mt khp cao.

+ V d 2:
Hai hnh cu tip xc vi nhau (hnh 1.7) cho ta mt khp ng. S bc t do tng i b hn
ch i l 3 (hn ch ba chuyn ng , ,
X Y Z
T T T ), nn y l mt khp cu loi 3. Thnh phn
khp ng l cc mt cu, do vy khp cu ni trn l mt khp thp.
Hnh 1.7
x
y
z
2
1
O
B
Z
T
Y
Q
Hnh 1.6
x
y
z
A
A
B
1
2
O
O
Hnh 1.8 : Khp cu c cht
z
y
z
x
Cht 3
2
1
Rnh 4
x
y
z
1
2
Hnh 1.9 : Khp trt

7

+ V d 3:
Khp cu c cht (hnh 1.8): Khc vi khp cu loi 3 trn y, trn khu 2 ca khp cu ny
c gn thm cht 3, trn khu 1 c x rnh 4. Khi , khu hai ch cn hai kh nng chuyn
ng tng i so vi khu 1: chuyn ng quay
X
Q xung quanh trc x v chuyn ng quay
Y
Q xung quanh trc y. Khp ny hn ch 4 bc t do tng i, do vy l khp loi 4. Thnh
phn khp ng l cc mt cu nn y l mt khp thp.

+ V d 4:
Khp tnh tin (khp trt hnh 1.9): s bc t do tng i b hn ch i l 5 (ch li
chuyn ng tnh tin
X
T ) nn khp trt l khp loi 5. Thnh phn khp ng l cc mt
phng, nn khp trt l mt khp thp.

+ V d 5:
Khp quay (khp bn l hnh 1.10): s bc t do tng i b hn ch i l 5 (ch li
chuyn ng quay
X
Q ) nn khp quay l mt khp loi 5. Thnh phn khp ng l cc mt
tr trn xoay A v cc phn mt phng B, nn dy l mt khp thp.

+ V d 6:
Khp vt (v d vt me-ai c hnh 1.11): khu 1 c hai kh nng chuyn ng tng i so
vi khu 2, l hai chuyn ng
Z
T v
Z
Q . Tuy nhin hai kh nng chuyn ng ny ph
thuc ln nhau (khi gi vt me c nh v xoay ai c mt gc no quanh trc Oz th ai c
s tnh tin mt khong xc nh dc theo trc Oz). Do vy khp vt l khp loi 5. Thnh
phn khp ng l cc mt ren vt nn y l mt khp thp.

Lc khp
Trn thc t, kt cu khu v khp rt phc tp. thun tin cho vic nghin cu cc bi
ton v c cu, ngi ta biu din cc khp ng khc nhau bng cc lc quy c.
Lc mt s khp thng dng:

Khp cu
(khp thp, loi 3)

Khp cu c cht
(Khp thp, loi 4)

Khp tnh tin
(khp thp, loi 5)

Khp bn l
(khp thp, loi 5)

Khp vt
(khp thp, loi 5)

Khp cao phng (khp bnh rng
phng, khp cam phng...)
(khp cao, loi 4)

8

4) Kch thc ng ca khu v lc khu
+ Kch thc ng ca khu l cc thng s xc nh v tr tng i gia cc thnh phn
khp ng trn khu.
V d, thanh truyn (2) trong ng c t trong (hnh 1.1) c ni vi tay quay (1) v vi
pittng (3) bng cc khp quay, cc thnh phn khp ng trn thanh truyn l cc mt tr
trong c ng trc song song vi nhau. Kch thc ng ca thanh truyn l khong cch
i
l
gia hai ng trc ca cc khp quay.
+ Mi khu c th c mt hay nhiu kch thc ng.
V d, khu 3 trn hnh 1.14 c ni ng vi ba khu 6, 2 v 4 bng cc
khp quay D, C, E. Khu 3 c ba kch thc ng, l khong cch trc
l
EC
, l
DE
,

l
DC
gia cc khp quay.
+ Khu c biu din bng cc lc gi l lc ng ca khu, trn
th hin cc kch thc ng ca n v lc cc khp ng ni n vi
cc khu khc.
V d lc ng ca khu thanh truyn (2) trong ng c t trong cho
trn hnh 1.12.
5) Chui ng v c cu
Chui ng
+ Chui ng l tp hp cc khu c ni vi nhau bng cc khp ng.
+ Da trn cu trc chui ng, ta phn chui ng thnh hai loi: chui ng h v chui
ng kn.
Chui ng h l chui ng trong cc khu ch c ni vi mt khu khc.
Chui ng kn l chui ng trong mi khu c ni t nht vi hai khu khc (cc khu
to thnh cc chu vi khp kn, mi khu tham gia t nht hai khp ng).
+ Da trn tnh cht chuyn ng, ta phn bit chui ng khng gian v chui ng phng.
Chui ng khng gian c cc khu chuyn ng trn cc mt phng khng song song vi
nhau, cn trong chui ng phng, tt c cc khu chuyn ng trn nhng mt phng song
song vi nhau.
+ V d, chui ng trn hnh 1.13, c 4 khu ni nhau bng 3 khp quay v 1 khp trt, cc
khp quay c ng trc song song vi nhau v vung gc vi phng trt ca khp trt,
do c 4 khu c mt phng chuyn ng song song vi nhau. Hn na mi khu trong
chui ng ni ng vi 2 khu khc, nn chui ng ni trn l mt chui ng phng kn.
Tng t, chui ng trn hnh 1.14 cng l chui ng phng kn.
Chui ng trn hnh 1.15 gm 4 khu, ni nhau bng 3 khp quay c ng trc vung gc
vi nhau tng i mt, do cc khu chuyn ng trong cc mt phng khng song song vi
nhau. Mc khc, khu 3 v khu 4 ch c ni vi mt khu khc nn y l mt chui ng
khng gian h.
i
l
Hnh 1.12
Hnh 1.11: Khp vt
Vt me 1
ai c 2
z
x
y
O
1
2
Hnh 1.10 : Khp quay
A
B

9

C cu
+ C cu l mt chui ng, trong mt khu c chn lm h quy chiu (v gi l gi),
cc khu cn li c chuyn ng xc nh trong h quy chiu ny (v gi l cc khu ng).
Thng thng, coi gi l c nh.
Tng t nh chui ng, ta cng phn bit c cu phng v c cu khng gian.
+ V d, chn khu 4 trong chui ng phng kn hnh 1.13, khu 6
trong chui ng phng kn hnh 1.14 lm gi, ta c cc c cu
phng. Chn khu 4 trong chui ng khng gian h hnh 1.15 lm
gi, ta c c cu khng gian.
Hnh 1.16: c cu tay quay con trt dng bin chuyn ng
quay ca khu 1 thnh chuyn ng tnh tin ca khu 3 v ngc
li. Hnh 1.17: c cu 6 khu phng s dng trong my sng lc,
dng bin chuyn ng quay ca khu 1 thnh chuyn ng tnh
tin qua li ca con trt 5. Hnh 1.18: c cu tay my ba bc t do.
+ C cu thng c to thnh t chui ng kn. C cu c to thnh t chui ng h
nh c cu tay my (hnh 1.18), c cu rto my in (hnh 1.19).
2. Bc t do ca c cu
1) Khi nim bc t do ca c cu
+ S bc t do ca c cu l s thng s v tr c lp cn cho
trc v tr ca ton b c cu hon ton xc nh.
S bc t do ca c cu cng chnh bng s quy lut chuyn
ng cn cho trc chuyn ng ca c cu hon ton xc
nh.
+ V d: Xt c cu bn khu bn l ABCD (hnh 1.20) gm
gi c nh 4 v ba khu ng 1, 2, 3. Nu cho trc thng s
Hnh 1.19
1
2
D
Hnh 1.20
1
A
B
C
1
2
3
4
1
2
3
4
5
6
Hnh 1.16
3
2
1
Hnh 1.18
x
y
z
4
1
2
3
Hnh 1.17
Hnh 1.13
3
2
1
4
1
2
3
4
5
6
Hnh 1.14
x
y
4
1
2
3
Hnh 1.15
z
A
B
C
E
F D

10
1
( , ) AD AB =
, ,
xc nh v tr ca khu 1 so vi gi th v tr ca c cu hon ton xc nh.
Tht vy, do kch thc ng l
AB
cho trc nn v tr im B hon ton xc nh. Do im D
v cc kch thc l
BC
, l
CD
cho trc nn v tr im C v do v tr cc khu 2 v 3 hon
ton xc nh. Nu cho trc quy lut chuyn ng ca khu (1) :
1 1
( ) t = th chuyn ng
ca cc khu 2 v 3 s hon ton xc nh. Nh vy c cu bn khu bn l c 1 bc t do:
1 W = .
2) Cng thc tnh bc t do ca c cu
Xt c cu gm gi c nh v n khu ng.
Gi :
0
W : tng s bc t do ca cc khu ng ca c cu khi ri nhau trong h quy chiu
gn lin vi gi. R : tng s cc rng buc do cc khp trong c cu to ra.
Khi bc t do ca c cu s bng:
0
W W R =
Do mi khu ng khi ri s c 6 bc t do nn tng s bc t do ca n khu ng:
0
6 W n =
tnh bc t do ca c cu, cn tnh R.
i vi cc c cu m lc khng c mt a gic no c, tc l khng c khp no l
khp ng kn (v d c cu tay my hnh 1.18), sau khi ni n khu ng li vi nhau v vi
gi bng p
j
khp loi j, tng s cc rng buc bng:
j
j
R j p =
(mi khp loi j hn ch j bc

t do tng i, ngha l to ra j rng buc).
Do : 6
j
j
W n jp =
(1.1)
V d, vi c cu tay my (hnh 1.18): n = 3, p
5
= 3 (ba khp quay loi 5)
3.6 (3.5) 3 W = = .
i vi cc c cu m lc l mt hay mt s a gic ng kn, hoc i vi mt s c
cu c cc c im v hnh hc, ta phi xt n cc rng buc trng v rng buc tha trong
cng thc tnh bc t do. Khi :
6 ( )
j trung thua
j
W n jp R R =
(1.2)
Ngoi ra, trong s cc bc t do c tnh theo cng thc (1.2), c th c nhng bc t do
khng c ngha i vi v tr cc khu ng trong c cu, ngha l khng nh hng g n
cu hnh ca c cu. Cc bc t do ny gi l bc t do tha v phi loi i khi tnh ton bc
t do ca c cu.
Tm li, cng thc tng qut tnh bc t do:
6 ( )
j trung thua thua
j
W n jp R R W =
(1.3)
Vi :
trung
R : s rng buc trng;
thua
R : s rng buc tha;
thua
W : s bc t do tha.
3) Cng thc tnh bc t do ca c cu phng
Vi c cu phng, ngay khi cn ri nhau trong h quy chiu gn lin vi gi, cc khu
c xem nh nm trn cng mt mt phng (hay trn cc mt phng song song nhau). Do
tng s bc t do ca n khu ng:
0
3 W n =
Gi Oxy l mt phng chuyn ng ca c cu th cc bc t do , ,
Z X Y
T Q Q ca mi khu
b hn ch.
Mi khp quay c trc quay Oz vung gc vi mt phng Oxy ch cn hn ch hai bc t do
l chuyn ng tnh tin
X
T v
Y
T .
Mi khp trt c phng trt nm trong mt phng Oxy (hnh 1.21) ch cn hn ch hai bc
t do l chuyn ng quay
Z
Q v chuyn ng tnh tin
N
T trong mt phng Oxy theo phng
vung gc vi phng trt.

11
Mi khp cao loi 4 nh khp bnh rng phng, khp cam phng (hnh 1.22) ch cn hn ch
mt bc t do l chuyn ng tnh tin
N
T trong mt phng Oxy theo phng php tuyn
chung ca hai thnh phn khp cao.

Trong c cu phng thng ch dng ba loi khp trn nn tng s cc rng buc do cc khp
trong c cu phng to ra:
5 4
2 R p p = +
Nh vy, bc t do ca c cu :
5 4
3 (2 ) W n p p = + (1.4)
Thng thng c th dng cng thc (1.4) tnh bc t do ca c cu.
V d, c cu 4 khu bn l phng (hnh 1.20): n = 3;
5
4 p = ;
4
0 p = W = 3.3 - (2.4 + 0) =
1
Tuy nhin, k n cc rng buc trng, rng buc tha v bc t do tha, cng thc tng qut
tnh bc t do ca c cu phng nh sau:

5 4
3 (2 )
trung thua thua
W n p p R R W = + (1.5)

V d v rng buc trng

Trong c cu phng, rng buc trng ch c ti cc khp ng kn ca a gic gm 3 khu ni
vi nhau bng 3 khp trt.
V d xt c cu trn hnh 1.23. Gi s ly khp B lm khp ng kn. Khi ni khu 1, khu 3
v khu 2 bng cc khp A v C, khu 2 khng th quay tng i so vi khu 1 quanh trc
Oz (trc Oz vung gc vi mt phng chuyn ng ca c cu), tc l c mt rng buc gin
tip Q
Z
gia khu 1 v khu 2 (hnh 1.24). Khi ni trc tip khu 1 v khu 2 bng khp ng
kn B, khp B li to thm rng buc Q
Z
. Nh vy, y c mt rng buc trng: 1
trung
R = .
Tm li, bc t do ca c cu (n = 2, p
5
=3, p
4
= 0):
5 4
3 (2 ) 3.2 (2.3 1) 1
trung
W n p p R = + = = .

(2)
(1)
T
N
Hnh 1.22: Khp cao phng
M
O x
y
(2)
(1)
T
N
Hnh 1.21: Khp trt
O x
y
B
A
C
3
1
2
Hnh 1.24

A
Hnh 1.23
1
2
3
B
C

12
V d v rng buc tha

Xt h cho trn hnh 1.25: n = 4, p
5
= 6. Bc t do ca h tnh theo cng thc (1.4):
5 4
3 (2 ) 3.4 (2.6 0) 0 W n p p = + = + = . iu ny c ngha h cho l mt khung tnh nh.
Tuy nhin nu thay i cu trc h nh hnh 1.26 vi kch thc ng tha mn iu kin:
l
AB
= l
CD
= l
EF
; l
AF
= l
BE
; l
BC
= l
AD
th h s chuyn ng c v thc s l mt c cu, tc l
bc t do thc ca h phi ln hn 0.
iu ny c gii thch nh sau: Khi cha ni khu 2 v khu 4 bng khu 5 v hai khp
quay E, F th h l mt c cu bn khu bn l phng c bc t do W = 1, c lc l mt
hnh bnh hnh ABCD. Do c im hnh hc ca c cu, khong cch gia hai im E ca
khu 2 v im F ca khu 4 vi l
AF
= l
BE
lun lun khng i khi c cu chuyn ng. Th
m, vic ni im E ca khu 2 v im F ca khu 4 bng khu 5 v hai khp quay E, F ch
nhm mc ch gi cho hai im E v F cch nhau mt khong khng i, nn rng buc do
khu 5 v 2 khp quay E, F l rng buc tha. Mc khc, khi thm khu 5 v hai khp quay E,
F vo c cu s to thm cho c cu mt bc t do bng (n = 1, p
5
= 2):
5 4
3. (2 ) 3.1 (2.2) 1 W n p p = + = = , tc l to ra mt rng buc. Nh vy s rng buc tha
trong trng hp ny s bng: 1
thua
R = .
Tm li, bc t do ca c cu:
5 4
3 (2 ) 3.4 (2.6 0 1) 1
thua
W n p p R = + = + = .

V d v bc t do tha
Trong c cu cam cn lc y ln (dng bin
chuyn ng quay lin tc ca cam 1 thnh
chuyn ng lc qua li theo mt quy lut cho
trc ca cn 3 - hnh 1.27), ta c: n = 3,
5
3 p =
(ba khp quay loi 5);
4
1 p = (mt khp cam
phng loi 4). Bc t do ca h tnh theo cng
thc (1.4): W = 3.3 - (2.3 + 1) = 2.
Tuy nhin, bc t do ca c cu : W = 1, bi v
khi cho cam quay u th chuyn ng ca cn
hon ton xc nh. y c mt bc t do
tha: 1
thua
W = , l chuyn ng quay ca con
ln xung quanh trc ca mnh, bi v khi cho con ln quay xung quanh trc ny, cu hnh ca
c cu hon ton khng thay i.
5 4
3 (2 ) 3.3 (2.3 1) 1 1
thua
W n p p W = + = + = .
4) Khu dn - Khu b dn - Khu pht ng
Khu dn
Khu dn l khu c thng s v tr cho trc (hay ni khc i, c quy lut chuyn ng cho
trc).
V d trong c cu 4 khu bn l hnh 1.20, khu dn l khu 1 c quy lut chuyn ng
1 1
( ) t = cho trc.
A
B
E
C
D
F
1
2
3
4
5
- -
-
-
Hnh 1.26
A
B
E
C
D
F
1
2
3
4
5
- -
--
Hnh 1.25
O
1
O
2
cn 3
con ln 2
cam 1
Hnh 1.27: C cu cam cn
lc y ln

13
Thng thng, khu dn c chn l khu ni vi gi bng khp quay v ch cn mt thng
s xc nh v tr ca n. Th m, s bc t do ca c cu l s thng s v tr cn cho trc
v tr ca c cu hon ton xc nh, do thng thng c cu c bao nhiu bc t do s
cn c by nhiu khu dn.

Khu b dn
Ngoi gi v khu dn ra, cc khu cn li c gi l khu b dn.
Khi nim khu dn, khu b dn khng c ngha i vi cc c cu rbt. Trong cc c cu
ny, khng c khu no m chuyn ng hon ton ph thuc vo chuyn ng ca mt hay
mt s khu khc, chuyn ng ca mi khu c iu khin bng mt kch hot ring bit.

Khu pht ng
Khu pht ng l khu c ni trc tip vi ngun nng lng lm cho my chuyn ng.
V d, vi ng c t trong hnh 1.1, khu pht ng l pittng. Cn khu dn thng c
chn l khu c vn tc gc khng i hay theo yu cu lm vic phi c vn tc gc khng
i, y chn trc khuu lm khu dn.
Khu pht ng c th trng hay khng trng vi khu dn, tuy nhin thng thng ngi ta
chn khu dn trng vi khu pht ng.
3. Xp hng c cu phng
1) Nhm Atxua Hng ca nhm
Nhm tnh nh :
Xt c cu bn khu bn l ABCD (hnh 1.28). Tch khi c cu khu dn 1 v gi 4, s cn
li mt nhm gm hai khu 2 v 3 ni vi nhau bng khp quay C (hnh 1.29). Ngoi ra trn
mi khu cn mt thnh phn khp v c gi l khp ch : khp ch B v khp ch C. Nh
vy nhm cn li gm c hai khu (n = 2) v ba khp quay (p
5
= 3), bc t do ca nhm: W =
3.2 2.3 = 0. y l mt nhm tnh nh v khi cho trc v tr ca cc khp ch th v tr ca
khp trong C hon ton xc nh.
Nhm tnh nh l nhm c bc t do bng 0 v khng th tch thnh cc nhm nh hn c
bc t do bng 0.

Hng ca nhm tnh nh
+ Nhm tnh nh ch c hai khu v ba khp c gi l nhm Atxua hng II.
C nm loi nhm Atxua hng II nh sau (hnh 1.30):

QQQ QQT QTT QTT
QTQ
TQT
Hnh 1.30
1
Hnh 1.28
A
B
C
D
2
3
4
C
A
B
D
1
2
3
4
Hnh 1.29

14

Nhm gm c hai khu v ba khp trt khng phi l mt nhm tnh nh v bc t do ca
nhm bng 1.
+ Nhm Atxua c hng cao hn II:
Nu cc khp trong ca mt nhm tnh nh to thnh mt a gic th hng ca nhm Atxua
c ly bng s nh ca a gic, nu to thnh nhiu a gic th hng ca nhm ly bng s
nh ca a gic nhiu nh nht.
V d c cu trn hnh 1.31 c th tch thnh khu dn 1 ni gi bng khp v mt nhm tnh
nh BCDEG (hnh 1.32). Cc khp ch l khp B, E, G. Cc khp trong l khp C, D, E.
Nhm ny c mt a gic khp kn l CDF c ba nh nn l nhm hng III.

2) Hng ca c cu
+ C cu hng I l c cu c mt khu ng ni vi gi bng khp quay, v d c cu roto
my in.
+ C cu c s khu ng ln hn 1 c th coi l t hp ca mt hay nhiu c cu hng I vi
mt s nhm Atxua. Nu c cu ch c mt nhm Atxua th hng ca c cu l hng ca
nhm. Nu c cu c nhiu nhm Atxua th hng ca c cu ly bng hng ca nhm Atxua
c hng cao nht.
V d c cu trn hnh 1.31 l c cu hng III.
Vic xp hng c cu c ngha thit thc trong vic nghin cu cc mt s bi tnh ng
hc v lc hc ca c cu.

Hnh 1.32
A
B
C
F
D
E
G
1
6
2
3
4
5
Hnh 1.31
A
1
B
C
F
G E
D
2
3
4
5
6

15
Bi tp chng I :
Bi 1: Tnh bc t do ca c cu ng c t trong kiu ch V (hnh 1.33).
Bi 2: Tnh bc t do ca c cu v ng thng ca Lipkin (hnh 1.34).
Cho : l
AD
= l
AE
; l
BD
= l
DC
= l
CE
= l
EB
; l
AF
= l
FB
Bi 3: Tnh bc t do ca c cu chuyn ng theo qu o cho trc (hnh 1.35).
Bi 4: Tnh bc t do ca c cu v ng thng (hnh 1.36).
Cho l
ED
= l
FG
= l
FD
; l
CD
= l
CF
= 1.96l
ED
; l
ED
= l
EG

Bi GII :
Bi 1:
S khu ng: n = 5
S khp loi 5 (khp thp):
5
7 p = (5 khp quay A, B, C, D, E v 2 khp trt C,E)
S khp loi 4 (khp cao):
4
0 p =

5 4
3 (2 ) 3.5 (2.7 1.0) W n p p = + = + 1 W =
Bi 2:
S khu ng: n = 7
5
10 p = (10 khp quay: ti A c 2 khp quay v c 3 khu ni
ng vi nhau, ti B c 2 khp quay, ti C c 1 khp quay, ti D c 2 khp quay, ti E c 2
khp quay, ti F c 1 khp quay).
4
0 p =

5 4
3 (2 ) 3.7 (2.10 1.0) W n p p = + = + 1 W =

Bi 3:
S khu ng: n = 5
5
5 p = (4 khp quay: A, B, C, D; 1 khp trt G)
4
2 p = (2 khp cao ti E v F)

5 4
3 (2 ) 3.5 (2.5 1.2) W n p p = + = + 3 W =
Trong c cu ni trn c 2 bc t do tha: 2
thua
W = , l chuyn ng quay ca con ln 3 v
con ln 4 quanh trc ca mnh.
Tm li, bc t do ca c cu: 1 W =

Hnh 1.34
A
F
E
C
D
B
1
2
3
5
4
6
7
Hnh 1.33
A
B
C
D
E
1
2
3
4
5

16

Bi 4:
S khu ng: n = 6
5
9 p = (1 khp quay ti A, 1 khp quay ti B, 2 khp quay ti C, 1
khp quay ti D, 1 khp quay ti E, 1 khp quay ti F, 1 khp quay ti G, 1 khp trt ti H.
4
0 p =
5 4
3 (2 ) 3.6 (2.9 1.0) W n p p = + = + 0 W =
Tuy nhin, do c im hnh hc ca c cu, nn khi cha ni im C trn khu 3 vi gi
bng khu 6, khp quay C v khp trt H th im C trn khu 3 vn chuyn ng tnh tin
theo ng thng ng. Vic ni im C trn khu 3 vi gi bng khu 6, khp quay C v
khp trt H cng ch c tc dng lm cho im C trn khu 3 chuyn ng tnh tin theo
phng thng ng. Do vy rng buc ny l rng buc tha. Mc khc, vic ni im C trn
khu 3 vi gi bng khu 6, khp quay C v khp trt H to nn s bc t do bng
5 4
3 (2 ) 3.1 (2.2 1.0) 1 W n p p = + = + = (vi n =1, p
5
= 2, p
4
= 0), tc l to nn 1 rng
buc S rng buc tha: 1
thua
R =
5 4
3 (2 ) 3.6 (2.9 1.0 1)
thua
W n p p R = + = + 1 W =

1
A
B
C
D
E
G
2
con ln 3
5
con ln 4 Hnh 1.35
F
1
A
B
2
3
C
E
D
F
G
H
Hnh 1.36
4
5
6

17
Chng II

PHN TCH NG HC C CU PHNG

Ni dung bi ton phn tch ng hc c cu:
S liu cho trc:
+ Lc ng ca c cu
+ Khu dn v quy lut chuyn ng ca khu dn
Yu cu:
Xc nh quy lut chuyn ng ca c cu

Bi ton phn tch ng hc c cu bao gm ba bi ton :
+ Bi ton v tr v qu o
+ Bi ton vn tc
+ Bi ton gia tc

C nhiu phng php khc nhau gii bi ton phn tch ng hc c cu. Chng ny
ch yu gii thiu phng php ha (phng php v - dng hnh).
1. Bi ton v tr (chuyn v) v qu o
S liu cho trc
+ Lc ng ca c cu
+ Khu dn

Yu cu
+ Xc nh quy lut chuyn v ca cc khu b dn theo gc quay (gc v tr) ca khu dn:
- Quy lut chuyn v ( ) s s = nu khu b dn tnh tin.
- Quy lut chuyn v ( ) = nu khu b dn quay xung quanh mt im c nh.
+ Qu o ca mt im bt k trn c cu

V d
S liu cho trc
+ Lc ng ca c cu tay quay- con trt (hnh 2.1)
+ Khu dn l khu AB
Yu cu
+ Xc nh quy lut chuyn v ( ) s s = ca con trt C
+ Xc nh qu o ca im D trn thanh truyn BC

Cch xy dng th ( ) s s =
+ Dng vng trn tm A, bn knh l
AB
. Chia vng trn (A, l
AB
) thnh n phn u nhau bng cc
im B
1
, B
2
, ..., B
n
.
+ Vng trn (B
i
, l
BC
) ct phng trt Ax ca con trt C ti im C
i
.
Chn v tr C
0
ca con trt C tng ng vi v tr B
0
ca im B lm gc xc nh s. Chiu
dng xc nh s l chiu ngc chiu Ax. Chn Ax lm gc xc nh gc quay ca
khu dn AB. Chiu dng xc nh l chiu quay ca
1
. Khi
0 i i
s C C = l chuyn
v ca con trt C ng vi gc quay
i i
xAB = ca khu dn AB.
+ Vi cc cp ( , )
i i
s khc nhau, ta dng c th chuyn v ( ) s s = ca con trt C theo
gc quay ca khu dn AB (hnh 2.1).

Cch xy dng qu o ca im D trn thanh truyn BC
+ Khi dng cc v tr B
i
C
i
ca thanh truyn BC, ta dng cc im D
i
tng ng trn B
i
C
i
.

18
+ Ni cc im D
i
ny li, ta c qu o (D) ca im D (hnh 2.1).
ng cong (D), qu o ca mt im D trn thanh truyn BC c gi l ng cong thanh
truyn.
V c cu chuyn ng c chu k l vi chu k bng 2 = (bi v sau mt vng quay ca
khu dn AB, c cu tr v v tr ban u) nn qu o ca im D l ng cong kn.
Chu k c gi l chu k v tr hay chu k ng hc ca c cu.

Ghi ch
+ Hnh v biu din v tr tng i gia cc khu ng vi cc v tr khc nhau ca khu dn
AB c gi l ho chuyn v ca c cu.
Hnh v biu din v tr tng i gia cc khu ng vi mt v tr xc nh ca khu dn AB
c gi l ho c cu.
+ Khi dng ha chuyn v ca c cu, ta dng mt t xch l
l
xc nh nh sau:

= =

Gi tr thc ca kch thc
Kch thc ca on biu din
AB
l
l m
AB mm
.
Tng t nh trn, cc trc s v ca th chuyn v ( ) s s = cng c t xch ln lt l

S
m
mm
v

Rad
mm
.
2. Bi ton vn tc
S liu cho trc
+ Lc ng ca c cu
+ Khu dn v quy lut vn tc ca khu dn
2
2
s
( ) s
Rad
mm

0 1 2 3 4 5 6
7 8
A
0 = 8
(D)
B
1
2
3
4
5
6
7
C
4
C
3
C
2
C
1
C
0

D
1
Hnh 2.1: Ho chuyn

v ca c cu v th
chuyn v s()
1
1
s
x

S
m
mm

S
m
mm

19
Yu cu
Xc nh vn tc ca tt c cc khu ca c cu ti mt v tr cho trc.

V d 1
S liu cho trc
+ Lc ng ca c cu bn khu bn l ABCD
+ Khu dn AB c vn tc gc l
1
vi
1
= hng s
Yu cu
Xc nh vn tc ca tt c cc khu ca c cu ti v tr khu dn c v tr xc nh bng
gc
1
(hnh 2.2)

Phng php gii bi ton vn tc
+ Vn tc ca mt khu coi nh c xc nh nu bit hoc vn tc gc ca khu v vn tc
di ca mt im trn khu , hoc vn tc di ca hai im trn khu. Do vy vi bi ton
cho, ch cn xc nh vn tc
C
V
,
ca im C trn khu 2 (hay trn khu 3).
+ gii bi ton vn tc, ta cn vit phng trnh vn tc.
Hai im B v C thuc cng mt khu (khu 2), phng trnh vn tc nh sau:
C B CB
V V V = +
, , ,
(2.1)
Khu AB quay xung quanh im A, nn vn tc
B
V AB
,
v
1 B AB
V l = .
CB
V
,
l vn tc tng i ca im C so vi im B:
CB
V BC
,
v
2 CB BC
V l = . Do
2
cha
bit nn gi tr ca
CB
V
,
l mt n s ca bi ton.
Khu 3 quay quanh im D, do :
C
V DC
,
v
3 C DC
V l = . Do
3
cha bit nn gi tr ca
C
V
,
l mt n s ca bi ton.
+ Phng trnh (2.1) c hai n s v c th gii c bng phng php ha :
Chn mt im p lm gc. T p v pb
,
biu din
B
V
,
. Qua b, v ng thng song song vi
phng ca
CB
V
,
. Tr v gc p, v ng thng
,
song song vi phng ca
C
V
,
. Hai ng
v
,
giao nhau ti im c. Suy ra : pc
,
biu din
C
V
,
, vect bc
,
biu din
CB
V
,
(hnh 2.3).
+ Hnh v (2.3) gi l ha vn tc ca c cu. im p gi l gc hc .
Tng t nh khi v ha c cu, ho vn tc cng c v vi t xch l
V
:
.
B
V
V m
pb mms

= =

gi tr thc ca vn tc
kch thc ca on biu din

o cc on pc v bc trn ha vn tc, ta c th xc nh gi tr ca cc vn tc
C
V
,
v
CB
V
,
:

/
[ ] [ ]. [ ]
C V
m m s
V pc mm
s mm
= ;
/
[ ] [ ]. [ ]
CB V
m m s
V bc mm
s mm
=
A
1
B
C
D
E
1
2
3
4
Hnh 2.2: C cu bn khu bn l
V
C
V
CB
1
2
b
c
e
Hnh 2.3: Ha vn tc
()
()
p d
f

20

+ Cch xc nh vn tc gc ca khu 3 v khu 2
Ta c:
3
C
CD
V
l
= v
2
CB
BC
V
l
=
Chiu ca
3
v
2
c suy t chiu ca
C
V
,
v
CB
V
,
(hnh 2.2).

+ Cch xc nh vn tc
E
V
,
ca mt im E trn khu 2:
Do hai im B v E thuc cng mt khu (khu 2), ta c phng trnh vn tc:

E B EB
V V V = +
, , ,
(2.2)
EB
V
,
l vn tc tng i ca im E so vi im B:
EB
V BE
,
v
2 EB BE
V l = .
Phng trnh (2.2) c hai n s l gi tr v phng ca
E
V
,
nn c th gii bng phng php
ha nh sau: T b v be
,
biu din
EB
V
,
. Suy ra : pe
,
biu din
E
V
,
.
+ Hai im C v E cng thuc cng mt khu (khu 2), do ta c:
E C EC
V V V = +
, , ,
vi
EC
V
,
l
vn tc tng i ca im E so vi im B. Mc khc, t hnh2.3 ta thy: pe pc ce = +
, , ,
. Th
m pc
,
biu din
C
V
,
, pe
,
biu din
E
V
,
. Do vy ce
,
biu din
EC
V
,
.

Nhn xt v ha vn tc
+ Trn ho vn tc (hnh 2.3) ta thy:
Cc vect c gc ti p, mt ti b, c, e... biu din vn tc tuyt i ca cc im tng ng
trn c cu: pb
,
biu din
B
V
,
; pc
,
biu din
C
V
,
; pe
,
biu din
E
V
,
...
Cc vect khng c gc ti p nh bc
,
, be
,
, ce
,
biu din vn tc tng i gia hai im
tng ng trn c cu: bc
,
biu din
CB
V
,
; be
,
biu din
EB
V
,
; ce
,
biu din
EC
V
,
...

+ nh l ng dng thun:
Hnh ni cc im trn cng mt khu ng dng thun vi hnh ni mt cc vect vn tc
tuyt i ca cc im trn ha vn tc.
Tht vy, ba im B, C, E thuc cng khu 2 (hnh 2.2). Mt ca cc vect vn tc ca cc
im B, C, E ln lt l b, c, e. V ( )
CB
BC bc hay V
,
; ( )
EB
BE be hay V
,
;
( )
EC
CE ce hay V
,
nn BCE bce . . . Mc khc, th t cc ch B, C, E v b, c, e u i
theo cng mt chiu nh nhau: hai tam gic BCE v bce ng dng thun vi nhau.

nh l ng dng thun c p dng xc nh vn tc ca mt im bt k trn mt khu
khi bit vn tc hai im khc nhau thuc khu .
V d xc nh vn tc ca im F trn khu 3 (hnh 2.2): Do ba im C, D, F thuc cng
khu 3 v mt ca cc vect vn tc ca cc im C, D ln lt l c v d p nn khi v tam
gic cdf trn ha vn tc ng dng thun vi tam gic CDF trn c cu th pf
,
s biu
din vn tc
F
V
,
ca im F (hnh 2.3).
+ Dng ha vn tc ch ph thuc vo v tr c cu (hay ni khc i, ch ph thuc vo gc
v tr
1
ca khu dn), do cc t s:
1
CB
V
,
2
1
,
1
C
V
,
3
1
... ch ph thuc vo v tr c cu,

ngha l:
1
1 1
( )
CB CB
V V

= ;
2 2
1
1 1
( )

= ;
1
1 1
( )
C C
V V

= ;
3 3
1
1 1
( )

= ...
V d 2
S liu cho trc

21
+ Lc ng ca c cu bn cult (hnh 2.4)
+ Khu dn AB c vn tc gc l
1
vi
1
= hng s

Yu cu
Xc nh vn tc ca tt c cc khu ca c cu ti v tr (thi im) khu dn c v tr xc
nh bng gc
1
.

Gii
+ Hai khu 1 v 2 ni nhau bng khp quay nn:
1 2
B B
V V =
, ,
. Khu 2 v khu 3 ni nhau bng
khp trt nn
2 3
= . Do vy, i vi bi ton ny, ch cn tm vn tc
3
B
V
,
ca im B
3

trn khu 3.

+ Hai im B
3
v B
2
thuc hai khu khc nhau ni nhau bng khp trt, do phng trnh
vn tc nh sau:

3 2 3 2
B B B B
V V V = +
, , ,
(2.3)
Do
2 1
B B
V V =
, ,
v khu 1 quay xung quanh im A nn
2 1
B B
V V AB =
, ,
v
2 1
1 B B AB
V V l = = .
3 2
B B
V
,
l vn tc trt tng i ca im B
3
so vi im B
2
:
3 2
B B
V
,
song song vi phng trt
ca khp trt B. Gi tr ca
3 2
B B
V
,
l mt n s ca bi ton.
Khu 3 quay quanh im C, do :
3
B
V CB
,
v
3
3 B CB
V l = . Do
3
cha bit nn gi tr ca
3
B
V
,
l mt n s ca bi ton.
+ Phng trnh (2.3) c hai n s v c th gii c bng phng php ha :
Chn mt im p lm gc. T p v
2
pb
,
biu din
2 1
B B
V V =
, ,
. Qua b
2
, v ng thng song
song vi phng ca
3 2
B B
V
,
(tc l song song vi BC). Tr v gc p, v ng thng
,
song
song vi phng ca
3
B
V
,
(tc l vung gc vi BC). Hai ng v
,
giao nhau ti im b
3
.
Suy ra :
3
pb
,
biu din
3
B
V
,
,
2 3
b b
,
biu din
3 2
B B
V
,
(hnh 2.4).
3. Bi ton gia tc
S liu cho trc
Hnh 2.4: C cu cult
B
C
A
1
2
3
4
1

p
b
2
= b
1
b
3

Ha vn tc

b
2
=b
1

k
B3B2
n
B3
Ha gia tc
b
3

1

22
+ Lc ng ca c cu
+ Khu dn v quy lut vn tc, quy lut gia tc ca khu dn

Yu cu
Xc nh gia tc ca tt c cc khu ca c cu ti mt v tr cho trc.
V d 1
S liu cho trc
+ Lc ng ca c cu bn khu bn l ABCD (hnh 2.5).
+ Khu dn AB c vn tc gc
1
vi
1
= hng s (gia tc gc ca khu 1:
1
0 = )

Yu cu
Xc nh gia tc ca tt c cc khu ca c cu ti v tr khu dn c v tr xc nh bng gc
1
(hnh 2.5).

Phng php gii bi ton gia tc
+ Gi s bi ton vn tc gii xong.
+ Gia tc ca mt khu coi nh c xc nh nu bit hoc gia tc di ca hai im trn
khu , hoc vn tc gc, gia tc gc ca khu v gia tc di ca mt im trn khu . Do
vy, vi bi ton cho, ch cn xc nh gia tc
C
a
,
ca im C trn khu 2 (hay khu 3).

+ gii bi ton gia tc, cn vit phng trnh gia tc.
Hai im B v C thuc cng mt khu (khu 2), nn phng trnh vn tc nh sau:
C B CB
a a a = +
, , ,

Hay:
n t
C B CB CB
a a a a = + +
, , , ,
(2.4)
Khu 1 quay u quanh tm A nn gia tc
B
a
,
ca im B hng t B v A v
2
1 B AB
a l = .
CB
a
,
l gia tc tng i ca im C so vi im B.
n
CB
a
,
l thnh phn php tuyn ca
CB
a
,
:
2
2
2
n CB
CB BC
BC
V
a l
l
= = v
n
CB
a
,
hng t C v B.
t
CB
a
,
l thnh phn tip tuyn ca
CB
a
,
:
2
t
CB BC
a l = v
t
CB
a BC
,
.
n
EB
n
CE
b
n
CB
c

e

n
C
Hnh 2.6 : Ha gia tc

A
1
B
C
D
E
1
2
3
4
Hnh 2.5 : C cu bn khu bn l
2
t
C
a
,
t
CB
a
,
1

23
Mc khc do khu 3 quay quanh tm D nn ta c:

n t
C C C
a a a = +
, , ,
(2.5)
Trong :
n
C
a
,
l thnh phn hng tm ca gia tc
C
a
,
:
n
C
a
,
hng t C v D,
2
3
n C
C DC
DC
V
a l
l
= =
t
C
a
,
l thnh phn tip tuyn ca gia tc
C
a
,
:
t
C
a DC
,
v
3
t
C DC
a l = . Do
3
cha bit nn gi
tr ca
t
C
a
,
l mt n s ca bi ton.
T (2.4) v (2.5) suy ra :

t n n t
C C C B CB CB
a a a a a a + = = + +
, , , , , ,
(2.6)
+ Phng trnh (2.6) c hai n s l gi tr ca
t
C
a
,
v
t
CB
a
,
ha nh sau:
Chn im lm gc. T v ' b
,
biu din
B
a
,
. Qua b v '
CB
b n
,
biu din
n
CB
a
,
. Qua n
CB

v ng thng song song vi
t
CB
a
,
. Tr v gc , v vect
C
n
,
biu din
n
C
a
,
. Qua n
C
v
ng thng ' song song vi
t
C
a
,
. Hai ng thng v ' giao nhau ti c. Suy ra : ' c
,

biu din
C
a
,
, '
C
n c
,
biu din
t
C
a
,
, '
CB
n c
,
biu din
t
CB
a
,
(hnh 2.6).
+ Hnh v (2.6) gi l ha gia tc ca c cu. im gi l gc hc .
Tng t nh khi v ho vn tc, ha gia tc cng c v vi t xch l
a
:
2
' .
B
a
a m
b mms

= =

gi tr thc ca gia tc
kch thc ca on biu din

o on ' c trn ha gia tc, ta c th xc nh gi tr ca gia tc
C
a
,
:

2
2
/
[ ] [ ]. '[ ]
C a
m m s
a c mm
s mm
=

+ Cch xc nh gia tc gc ca khu 3 v khu 2:
Ta c:
3
t
C
CD
a
l
= v
2
t
CB
BC
a
l
= .
Chiu ca
3
v
2
c suy t chiu ca
t
C
a
,
v
t
CB
a
,
(hnh 2.5).

+ Cch xc nh gia tc
E
a
,
ca im E trn khu 2:
Do hai im B v E thuc cng mt khu (khu 2), ta c phng trnh gia tc:
n t
E B EB EB
a a a a = + +
, , , ,
(2.7)
Trong :
EB
a
,
l gia tc tng i ca im E so vi im B.
n
EB
a
,
l thnh phn php tuyn ca
EB
a
,
:
2
2
2
n EB
EB BE
BE
V
a l
l
= = v
n
EB
a
,
hng t E v B.
t
EB
a
,
EB
a
,
:
2
t
EB BE
a l = v
t
EB
a BE
,
.
Phng trnh (2.7) c hai n s l gi tr v phng ca
E
a
,
ha nh sau:
T b v '
EB
b n
,
biu din
n
EB
a
,
. Qua n
EB
v '
EB
n e
,
biu din
t
EB
a
,
. Suy ra : ' e
,
biu din
E
a
,

(hnh 2.6).

24
+ Hai im C v E cng thuc cng mt khu (khu 2), do ta c:
E C EC
a a a = +
, , ,
vi
EC
a
,
l
vn tc tng i ca im E so vi im C. Mc khc, t hnh 2.6 ta thy: ' ' ' ' e c c e = +
, , ,
.
Th m ' e
,
biu din
E
a
,
, ' c
,
biu din
C
a
,
. Do vy ' ' c e
,
biu din
EC
a
,
.

Nhn xt v ha gia tc
+ Trn ho gia tc (hnh 2.6), ta thy :
Cc vect c gc ti , mt ti b, c, e... biu din gia tc tuyt i ca cc im tng ng
trn c cu: ' b
,
biu din
B
a
,
; ' c
,
biu din
C
a
,
; ' e
,
biu din
E
a
,
...
Cc vect khng c gc ti nh ' ' b c
,
, ' ' b e
,
, ' ' c e
,
biu din vn tc tng i gia hai im
tng ng trn c cu: ' ' b c
,
biu din
CB
a
,
; ' ' b e
,
biu din
EB
a
,
; ' ' c e
,
biu din
EC
a
,
...
+ nh l ng dng thun:
Hnh ni cc im trn cng mt khu ng dng thun vi hnh ni mt cc vect gia tc
tuyt i ca cc im trn ha gia tc.
Tht vy xt ba im B, C, E thuc cng khu 2 (hnh 2.6). Mt ca cc vect gia tc ca cc
im B, C, E ln lt l b, c, e. Ta c:
2 2
2 2
2 2
( ' ', ' )
t
CB BC
CB
n
CB BC
a l
tg b c b n tg
a l

= = = =
, ,
hay
( ' ', ) tg b c BC tg =
, ,
. Tng t: ( ' ', ) tg b e EB tg =
, ,
v ( ' ', ) tg c e EC tg =
, ,
. iu c ngha l
cc cnh bc, be, ce ca tam gic bce ln lt quay i mt gc theo cng mt
chiu so vi cc cnh tng ng CB, EB, EC ca tam gic BCE, nn hai tam gic BCE v bce
ng dng thun vi nhau.
V d 2
S liu cho trc
+ Lc ng ca c cu cult (hnh 2.4)
+ Khu dn AB c vn tc gc
1
vi
1
= hng s (tc l gia tc gc ca khu 1:
1
0 = )
Yu cu
Xc nh gia tc ca tt c cc khu ca c cu ti v tr khu dn c v tr xc nh bng gc
1
.

Phng php gii bi ton gia tc
+ Hai khu 1 v 2 ni nhau bng khp quay nn:
1 2
B B
a a =
, ,
. Khu 2 v khu 3 ni nhau bng
khp trt nn
2 3
= v
2 3
= . Do vy, i vi bi ton ny, ch cn tm vn tc
3
B
a
,
ca
im B
3
trn khu 3.
+ Hai im B
3
v B
2
thuc hai khu khc nhau ni nhau bng khp trt, do phng trnh
gia tc nh sau:

3 2 3 2 3 2
k r
B B B B B B
a a a a = + +
, , , ,
(2.8)
Do
2 1
B B
a a =
, ,
v khu 1 quay u xung quanh im A nn
2 1
B B
a a =
, ,
hng t B v A,
2 1
2
1 B B AB
a a l = = .
3 2
r
B B
a
,
l vn tc trt tng i ca im B
3
so vi im B
2
:
3 2
r
B B
a
,
ca khp trt B. Gi tr ca
3 2
r
B B
a
,
l mt n s ca bi ton.
3 2
k
B B
a
,
l gia tc Crilt trong chuyn ng tng i ca khu 3 so vi khu 2:
3 2 3 2
2
2
k
B B B B
a V =
,
,
, phng chiu ca
3 2
k
B B
a
,
l chiu ca vect
3 2
B B
V
,
quay 90
0
theo chiu ca
2
,
3 2 3 2
2
2
k
B B B B
a V = .
Mc khc, im B
3
thuc khu 3, khu 3 quay quanh im C, do :

3 3 3
n t
B B B
a a a = +
, , ,
(2.9)

25
Trong :
3
n
B
a
,
l thnh phn hng tm ca
3
B
a
,
:
3
n
B
a
,
hng t B v C v
3
3
2
2
3
B n
B CB
CB
V
a l
l
= = .
3
t
B
a
,
3
B
a
,
:
3
t
B
a CB
,
v
3
3
t
B CB
a l = . Do
3
cha bit nn gi tr ca
3
t
B
a
,
l mt n s ca bi ton.
T (2.8) v (2.9) suy ra:

3 3 3 2 3 2 3 2
t n k r
B B B B B B B B
a a a a a a + = = + +
, , , , , ,
(2.10)
+ Phng trnh (2.10) c hai n s l gi tr ca
3
t
B
a
,
v ca
3 2
r
B B
a
,
nn c th gii c bng
phng php ha :
Chn mt im lm gc. T v
2
' b
,
biu din
2
B
a
,
. Qua b
2
v
2
' b k
,
biu din
3 2
k
B B
a
,
.
Qua k v ng thng song song vi
3 2
r
B B
a
,
tc l song song vi phng trt ca con trt
B. Tr vgc , v
3
B
n
,
biu din
3
n
B
a
,
. Qua n
B3
v ng thng
,
song song vi phng ca
3
t
B
a
,
tc l vung gc vi CB. Hai ng v
,
giao nhau ti im b
3
. Suy ra rng
3
' b
,

biu din
3
B
a
,
,
3
' kb
,
biu din
3 2
r
B B
a
,
,
3
B 3
n ' b
,
biu din
3
t
B
a
,
(hnh 2.4).

Phng php phn tch ng hc trn y c gi l phng php ha vect, thng c
s dng rng ri cho cc c cu phng trong tt c khp ng u l khp thp: khp quay
v khp trt.

26
Bi tp chng II :
Bi 1:
V ha vn tc v ha gia tc ca c cu v xc
nh vn tc gc, gia tc gc ca khu 3 ti v tr c
0
1
120 = . Cho bit: 2 2 2 0.1
BC AB CD AD
l l l l m = = = = ;
1
10 / rad s = = hng s. Xc nh vn tc gc v gia
tc gc ca khu 3 (hnh 2.7).

Bi 2:
V ha vn tc v ha gia tc ca c cu v xc
nh vn tc gc, gia tc gc ca khu 3 ti v tr c
0
1
60 = . Cho bit: 0.1
BC AC
l l m = = ;
1
10 / rad s = =v
bng hng s. Xc nh vn tc gc v gia tc gc ca khu 3 (hnh 2.8).

Bi 3:
Tnh vn tc v gia tc im F trong c cu my sng lc nu tay quay quay u vi vn tc
gc
1
20 / Rad s = ti v tr AB v CD thng ng, BC nm ngang. Cho bit:
0,1
2 2
BC DF
AB CE DE
l l
l l l m = = = = = (hnh 2.9).

BI GII :
Bi 1 :
+ Phng trnh vn tc :

C B CB
V V V = +
, , ,
(2.11)
Vi :
B
V AB
,
;
1 B AB
V l =

CB
V BC
,
;
2 CB BC
V l =

C
V DC
,

Phng trnh (2.11) c hai n s v c th gii c bng phng php ha .
Ha vn tc nh trn hnh 2.10.
T ha vn tc, suy ra:

1
10.0, 05 0, 5 /
C B AB
V V l m s = = = =

3
0, 5
10 /
0, 05
C
DC
V
rad s
l
= = =
Chiu ca
3
c suy t chiu ca
C
V
,
nh trn hnh 2.10.
+ Phng trnh gia tc :

t n n t
C C C B CB CB
a a a a a a + = = + +
, , , , , ,
(2.12)
A
B C
D
Hnh 2.7
1
2
3
4
1
A
B C
E
D
F
1
2
3
4
5
Hnh 2.9
C
Hnh 2.8
A
1
2
B
3
1

27
Vi :
B
a
,
hng t B v A;
2 2 2
1
(10) .0, 05 5 /
B AB
a l m s = = =

n
CB
a
,
hng t C v B;
2 2
2 2
2
(0, 5)
2, 5 /
0,1
n CB
CB BC
BC
V
a l m s
l
= = = =

t
CB
a BC
,
;
2
t
CB BC
a l =

n
C
a
,
hng t C v D;
2 2 2
3
(10) .0, 05 5 /
n
C DC
a l m s = = =

t
C
a DC
,
;
3
t
C DC
a l =
Phng trnh (2.12) c hai n s v c th gii bng phng php ha .
Ha gia tc cho trn hnh 2.10.
T ha gia tc suy ra:
2
3 5 3
2,88 /
3 3
t B
C
a
a m s = = = v
3
5 3
57, 7 /
3.0, 05
t
C
DC
a
rad s
l
= = =
Chiu ca
3
c suy t chiu ca
t
C
a
,
nh trn hnh 2.10.

Bi 2 :
+ Ta c :
3 2
B B
V V =
, ,
v
2 1
= .
Phng trnh vn tc :

2 1 2 1
B B B B
V V V = +
, , ,
(2.13)
Vi :
1
B
V AB
,
;
1
1 B AB
V l = ;
2 1
//
B B
V AB
,
;
2 3
B B
V V CB =
, ,
;
2 3
3 B B CB
V V l = =
Ha vn tc nh trn hnh 2.11. T ha vn tc suy ra:

3 1
1
2 2 2.10.0,1 2 /
B B AB
V V l m s = = = = ;

3
3
2
20 /
0,1
B
CB
V
rad s
l
= = =
Chiu ca
3
suy t chiu ca
3
B
V
,
nh trn hnh 2.11.
+ Phng trnh gia tc :

3 3 3 2 1 2 1 2 1
t n k r
B B B B B B B B B
a a a a a a a + = = = + +
, , , , , , ,
(2.14)
Vi:
1
B
a
,
hng t B v A,
1
2 2 2
1
(10) .0,1 10 /
B AB
a l m s = = =
Ha vn tc
p
b
c
B
V
,
CB
V
,
C
V
,

b
n
CB
n
C
c
B
a
,
n
C
a
,
n
CB
a
,
t
CB
a
,
t
C
a
,
Ha gia tc
A
B C
D
Hnh 2.10
1
2
3
4
1
C
V
,
3
t
C
a
,

28

2 1 2 1
2
1
2 2. 3.10 20 3 /
k
B B B B
a V m s = = = , chiu ca
2 1
k
B B
a
,
l chiu ca
2 1
B B
V
,
quay i 90
0
theo
chiu
1
;
2 1
//
r
B B
a AB
,

3
n
B
a
,
hng t B v C,
3
2 2 2
3
(20) .0,1 40 /
n
B CB
a l m s = = = ;
3
t
B
a CB
,
;
3
3
t
B CB
a l =
Ha gia tc nh trn hnh 2.11. T ha gia tc suy ra
3
0
t
B
a =
,
do d
3
0 = .

Bi 3 :
+ C cu my sng lc bao gm khu dn 1v hai nhm tnh nh hng II. Nhm gn khu
dn gm hai khu 2 v 3 v ba khp quay B, C, D (khp ch l khp quay B v khp quay D).
Nhm xa khu dn gm hai khu 4 v 5 v ba khp : 2 khp quay E, F v 1 khp trt F (khp
ch l khp quay E v khp trt F).
Bi ton vn tc c gii cho nhm gn khu dn trc, sau n nhm xa khu dn.
+ Hai im C v B thuc cng khu 2, ta c:

C B CB
V V V = +
, , ,
(2.15)
Vi :
B
V AB
,
,
1 B AB
V l = ,
CB
V BC
,
,
2 CB BC
V l = ,
C
V DC
,
,
3 C DC
V l =
Gii phng trnh (2.15) bng phng php ha , ta suy c vn tc
C
V
,
.
Da vo nh l ng dng thun, ta suy c vn tc
E
V
,
ca im E trn khu 3 :
2
C
E
V
V =
,
,

Hai im F v E thuc cng khu 4, ta c:

F E FE
V V V = +
, , ,
(2.16)
Trong :
2
C
E
V
V =
,
,
,
FE
V EF
,
,
4
.
FE EF
V l = ,
F
V
,
song song vi phng trt ca con trt F.
F
V
,
.
Ha vn tc nh trn hnh 2.12.
T suy ra :
C B
V V =
, ,
;
1
20.0,1 2 /
C B AB
V V l m s = = = = ,
Ha gia tc
1
B
a
,
b
1
k
b
3
=b
2

2 1
k
B B
a
,
n
B3
phng ca
3
t
B
a
,

phng ca

2 1
r
B B
a
,

3
n
B
a
,
2 1
r
B B
a
,
Ha vn tc
p
b
1
b
2
= b
3
3 2
B B
V V =
, ,
2 1
B B
V
,
1
B
V
,
C
Hnh 2.11
A
1
2
B
3
1
3 2
B B
V V =
, ,
3

29
2
C
F E
V
V V = =
,
, ,
v
2
1 /
2 2
C
F E
V
V V m s = = = = , 0
CB
V =
,
; 0
EF
V =
,
;
2
0 = ;
4
0 =
+ Hai im C v B thuc cng khu 2, ta c:

t n n t
C C C B CB CB
a a a a a a + = = + +
, , , , , ,
(2.17)
Vi:
B
a
,
hng t B v A,
2 2 2
1
(20) .0,1 40 /
B AB
a l m s = = = ,
n
CB
a
,
hng t C v B,
2
2
. 0
n
CB BC
a l = = ,
t
CB
a CB
,
,
3
.
t
CB BC
a l = ,
n
C
a
,
hng t C v D,
2 2
2
2
20 /
0.2
n C
C
DC
V
a m s
l
= = = ,
t
C
a DC
,
,
3
.
t
C CD
a l = .
C
a
,
.
Da vo nh l ng dng thun, ta suy c gia tc
E
a
,
ca im E trn khu 3 : 2
E C
a a =
, ,
.
+ Hai im F v E thuc cng khu 4, ta c:

n t
F E FE FE
a a a a = + +
, , , ,
(2.18)
Vi : 2
E C
a a =
, ,
,
2
4
. 0
n
FE EF
a l = = ,
t
FE
a EF
,
,
4
.
t
FE EF
a l = ,
F
a
,
ca con trt F.
Gii phng trnh (2.18) bng phng php ha , ta suy c gia tc
F
a
,
.
Ha gia tc nh trn hnh 2.12.
T suy ra :
2
10
5 /
2 2
E
F
a
a m s = = =

Ghi ch : Khi v ha vn tc trong hai bi tp trn, cn lu rng ha c cu, ha
vn tc v gia tc c cc hnh dng c bit, do vy ta khng cn s dng t xch m ch s
dng quan h gia cc cnh trn ha tnh ton gi tr ca vn tc v gia tc.

Ha vn tc
p b = c
Phng ca V
C
Phng ca V
F
Phng ca V
CB
Phng ca V
FE
e = f

phng
t
CB
a
,

b= n
CB
n
C
=c
phng
t
C
a
,
e
phng
t
FE
a
,
phng
F
a
,
f
Ha gia tc
1
A
B C
E
D
F
1
2
3
4
4
Hnh 2.12

30
Chng III

PHN TCH LC TRN C CU PHNG

1. Lc tc ng trn c cu
Khi lm vic c cu chu tc ng ca cc ngoi lc sau :
1) Ngoi lc
Lc pht ng : Lc t ng c t trn khu dn ca c cu thng qua mt h truyn dn.
Lc pht ng thng c dng mt momen lc v k hiu l M
,
.
Lc cn k thut : Lc t i tng cng ngh tc ng ln b phn lm vic ca my. Lc
cn k thut l lc cn khc phc thc hin quy trnh cng ngh ca my, lc ny c t
trn mt khu b dn ca c cu.
V d lc ct tc ng ln cc dng c trong cc my ct gt kim loi, lc cn ca t tc
dng ln li cy trong my cy, trng lng cc vt cn di chuyn trong my nng chuyn...
Lc cn k thut c k hiu l
C
P
,
hay
C
M
,
.
Trng lng cc khu : Nu trng tm cc khu i ln th trng lng c tc dng nh lc
cn, ngc li nu trng tm i xung th trng lng c tc dng nh lc pht ng. Trng
lng khu th i c k hiu l
i
G
,
.
2) Lc qun tnh
Ngoi ngoi lc, trn cc khu chuyn ng c gia tc cn c lc qun tnh. Lc qun tnh k
hiu l
qt
P
,
, cn momen lc qun tnh k hiu l
qt
M
,
.
3) Phn lc khp ng
Di tc ng ca ngoi lc v lc qun tnh,
trong cc khp ng ca c cu xut hin cc phn
lc khp ng.
Phn lc khp ng l lc t mi thnh phn
khp ng tc ng ln thnh phn khp ng
c ni vi n trong khp ng. Phn lc khp
ng t khu th i tc dng ln khu th j c k
hiu
ij
R
,
.
Trong mi khp ng bao gi cng c mt i
phn lc khp ng trc i vi nhau: Nu khu 1
tc ng ln khu 2 mt lc
12
R
,
, th khu 2 s tc
ng ln khu 1 mt lc
21
R
,
vi
21 12
R R =
, ,
(hnh 3.1).
Phn lc khp ng gm hai thnh phn:
+ p lc khp ng : Thnh phn khng sinh cng trong chuyn ng tng i gia cc
thnh phn khp ng. p lc khp ng vung gc vi phng chuyn ng tng i. p lc
khp ng t khu th i tc dng ln khu th j c k hiu l
ij
N
,
.
+ Lc ma st : Thnh phn sinh cng m trong chuyn ng tng i. Lc ma st song song
vi phng chuyn ng tng i (hoc xu hng chuyn ng tng i). Lc ma st t
khu th i tc dng ln khu th j c k hiu l
ij
F
,
. Lc ma st trong khp ng l mt lc
cn c hi, cng ca lc ma st lm nng v lm mn cc thnh phn khp.

1
2
21
R
,
12
R
,
12
N
,
12
F
,
Hnh 3.1

31
2. S liu cho trc, gi thit v ni dung ca bi ton phn tch lc c cu
S liu cho trc
+ Lc ng ca c cu, khu dn v vn tc gc
1
ca khu dn
+ Cc ngoi lc tc ng ln cc khu
+ Cc thng s qun tnh gm:
Khi lng m
i
v v tr trng tm S
i
ca mi khu
Momen qun tnh J
Si
i vi trng tm ca cc khu chuyn ng quay.

Cc gi thit ca bi ton phn tch lc c cu
+ Khi phn tch lc trn khu dn, ngi ta thng gi thit khu dn quay u, tc l c vn
tc gc bng hng s.
+ Mt khc, cc khp ng thng c bi trn y nn gi tr lc ma st trong khp
ng thng kh nh so vi gi tr p lc khp ng tng ng, do vy khi gii bi ton phn
tch lc ngi ta thng b qua lc ma st, ngha l ng nht p lc khp ng vi phn lc
khp ng.
+ i vi c cu phng, bi ton phn tch lc c n gin, ta gi thit cc lc tc dng
ln c cu nm trong cng mt mt phng song song vi mt phng chuyn ng ca c cu.

Ni dung ca bi ton phn tch lc c cu
Bi ton phn tch lc c cu bao gm cc vn sau:
+ Phn tch lc trn khu b dn, c th l xc nh p lc ti cc khp ng trong cc nhm
tnh nh ca c cu.
+ Phn tch lc khu dn, c th l xc nh lc hay momen lc cn phi t trn khu dn
bo m cho khu dn c vn tc bng hng nh gi thit. Lc v momen lc ni trn ln
lt c gi l lc cn bng k hiu l
cb
P
,
v momen cn bng k hiu l
cb
M
,
.
Ngoi ra, cn phi xc nh p lc ti khp ng ni khu dn vi gi.

Chng ny ch trnh by bi ton phn tch lc trn c cu phng v s dng phng php
ha vect.
3. Nguyn tc v trnh t gii bi ton phn tch lc c cu
1) Nguyn l almbe
p lc khp ng l ni lc i vi c cu. lm xut hin cc lc ny trong cng thc
tnh ton, ta phi hnh dung tch cc khp ng ra. Ti mi thnh phn khp ng c tch
ra, ta t phn lc tng ng.
V d trong c cu 4 khu bn l (hnh 3.2), khi hnh dung tch cc khp B, C, D ra, ta phi
t ti cc thnh phn khp ng B, C, D cc phn lc tng ng:
43 23 32 21 12
; ; ; ; N N N N N
, , , , ,

(hnh 3.3).
Khi c cu chuyn ng, cc khu ni chung c gia tc, h lc gm ngoi lc v cc p lc
t trn cc thnh phn khp ca n khng phi l mt h lc cn bng. Nh vy khng th
vit cc phng trnh cn bng lc gii tm p lc khp ng.
Tuy nhin, theo nguyn l lmbe, nu ngoi cc ngoi lc v cc p lc ti cc thnh phn
khp ng trn khu, nu thm vo cc lc qun tnh v momen lc qun tnh ca khu v
coi chng nh l nhng ngoi lc th s c mt h lc cn bng. Khi c th vit cc
phng trnh cn bng lc ca tnh hc cho khu v gii xc nh cc p lc khp ng.
2) iu kin tnh nh ca bi ton phn tch p lc khp ng
Khi vit phng trnh cn bng lc ca tnh hc, nu chng ta vit cho tng khu mt, th s
phng trnh cn bng lc c th nh hn s n cn tm. V d vi khu 3 trong c cu 4 khu
bn l (hnh 3.3) th s n s l 4 (phng v gi tr ca cc lc
43 23
; N N
, ,
), s phng trnh
cn bng lc bng 3 (2 phng trnh hnh chiu v 1 phng trnh momen).

32
V vy cn phi vit phng trnh cn bng lc cho mt nhm cc khu b dn k nhau th s
n s mi c th bng s phng trnh cn bng lc lp c.

Xt mt nhm gm n khu b dn k nhau, trong c p
5
khp loi 5 v p
4
khp loi 4 (k
c cc khp ch ca nhm).
i vi c cu phng, ta thng gp cc khp thp loi 5 l khp quay, khp trt v cc khp
cao loi 4 nh khp bnh rng phng, khp cam phng.
+ i vi khp quay (hnh 3.4a), do p sut gia cc thnh phn khp quay ng quy ti tm
quay O ca khp, do p lc N
,
cng i qua tm quay O. xc nh p lc N
,
trong khp
quay, cn xc nh gi tr ca N
,
v gc xc nh phng ca N
,
.
+ i vi khp trt (hnh 3.4b), do p sut gia cc thnh phn khp u vung gc vi
phng trt xx, do p lc N
,
trong khp trt cng vung gc vi phng trt xx. xc
nh p lc N
,
trong khp trt, cn xc nh gi tr ca N
,
v thng s x xc nh im t
ca N
,
.
Nh vy, p lc ti mi khp ng loi 5 (khp quay, khp trt) ng vi hai n s ca bi
ton phn tch lc.
+ i vi khp cao phng (hnh 3.4c), p lc N
,
c im t l im tip xc M ca hai thnh
phn khp cao, c phng song song vi phng php tuyn chung nn ti M, do xc
nh N
,
ch cn xc nh gi tr ca N
,
, tc l p lc ti mi khp ng loi 4 ng vi hai n
s ca bi ton phn tch lc.

Nh vy s n s cn tm i vi nhm ni trn l
5 4
2p p + .
V vi mi khu (xem nh l vt rn tuyt i) ta vit c 3 phng trnh cn bng lc (2
phng trnh hnh chiu v 1 phng trnh momen), nn s phng trnh cn bng lc lp
c bng 3n.
gii c bi ton phn tch lc, s phng trnh cn bng lc lp c phi bng s n s
cn tm, tc l phi c iu kin :
N
,
1
2
a) Khp quay
N
,
x
1
2
b) Khp trt
c) Khp cao
N
,
M
n
n
1
2
Hnh 3.4
O
x x
D
C
3
A
B
1
2
4
Hnh 3.2
A
1
21
N
,
12
N
,
32
N
,
B
2
C
23
N
,
D
43
N
,
C
B
Hnh 3.3
3

33

5 4
3 (2 ) 0 n p p + = (3.1)
Tm li gii c bi ton phn tch lc ta phi xt ng thi cc khu, cc khp trong
mt nhm tnh nh. iu kin (3.1) c gi l iu kin tnh nh ca bi ton phn tch p
lc khp ng.
3) Trnh t v v d gii bi ton phn tch p lc khp ng
S liu cho trc
- Lc ng ca c cu tay quay con trt
- Khu dn l khu 1, vn tc gc khu dn bng
1
vi
1
= hng s
- Ngoi lc tc ng ln cc khu:
Khu 2 chu tc ng ca lc
2
P
,
, momen
2
M
,
v trng lng
2
G
,

Khu 3 chu tc ng ca lc
3
P
,
, momen
3
M
,
v trng lng
3
G
,
.
- Khi lng m
i
, v tr khi tm S
i
v momen qun tnh J
Si
i vi trng tm ca mi khu.

Yu cu
Gii bi ton phn tch p lc khp ng ti v tr ang xt ca c cu (hnh 3.5)

a) Tnh lc trn cc khu b dn
phn tch lc trn cc khu b dn, ta tin hnh theo trnh t sau y:

Tch c cu thnh cc nhm tnh nh, cn li l khu dn (hoc cc khu dn) ni gi.
C cu tay quay con trt ch c mt nhm tnh nh, l nhm gm hai khu (khu 2, khu
3) v ba khp (khp quay B, khp quay C v khp trt C). Khp ch ca nhm l khp quay
B v khp trt C. Khp trong ca nhm l khp quay C.
B
12
N
,
12
n
N
,
12
t
N
,
C
II
P
,
32
N
,
Khu (2)
Hnh 3.5c
C
III
P
,
43
N
,
x
Khu (3)
23
N
,
Hnh 3.5d
A
C
B
1
2
3
4
1
x
II
P
,
III
P
,
Hnh 3.5a : C cu tay quay - con trt
1
A
B
21
N
,
Khu dn
Hnh 3.5b
C
B
12
N
,
12
n
N
,
12
t
N
,
II
P
,
III
P
,
43
N
,
x x
Nhm tnh nh (2+3)
II
h
II
P
,
III
P
,
12
n
N
,
12
t
N
, A
43
N
,
Hnh 3.5e : Ho lc ca c cu
12
N
,
23
N
,
B
C
( )
P
D
( ')
III
h

34
C cu c mt bc t do nn sau khi tch nhm tnh nh ra, ch cn li mt khu dn AB ni
gi bng khp quay.

Xc nh lc v momen lc qun tnh tc ng ln cc khu.

t cc ngoi lc, cc lc v momen lc qun tnh, cc p lc khp ch ln cc nhm.

Gi s rng h lc gm cc ngoi lc k c lc v momen lc qun tnh tc ng ln khu 2
c thu gn thnh lc
II
P
,
, ln khu 3 thnh lc
III
P
,
(hnh 3.5b).

Vit v gii phng trnh cn bng lc cho cc nhm.

Bi ton phn tch p lc khp ng c gii cho cc nhm xa khu dn trc sau n
nhm gn khu dn.
- H lc tc ng ln nhm (2+3) gm cc lc
12 43
, , ,
II III
P P N N
, , , ,
l mt h lc cn bng, ta c:
12 43
0
II III
N P P N + + + =
, , , ,
(3.2)
Phng trnh (3.2) c 3 n s (gi tr v phng ca
12
N
,
, gi tr ca
43
N
,
), cha th gii c.
- gim s n s, ta phn tch
12
N
,
thnh hai thnh phn:
12
n
N
,
song song vi BC,
12
t
N
,
vung
gc vi BC. Gi tr ca
12
t
N
,
xc nh nh sau:

Momen i vi im C ca tt c cc lc tc ng ln khu 2 (hnh 3.5c):
12
. . 0
t
C II II BC
M P h N l = =

12
.
t II II
BC
P h
N
l
=
- Phng trnh (3.1) tr thnh:
12 12 43
0
n t
II III
N N P P N + + + + =
, , , , ,
(3.3)
Phng trnh (3.3) c hai n s v c th gii bng phng php ha (hnh 3.5): Chn mt
im P lm gc. T P v vect PA
,
biu din lc
12
t
N
,
. Qua im A v vect AB
,
biu din
II
P
,
.
Qua im B v vect BC
,
biu din
III
P
,
. Qua im C, v ng thng ( ) song song vi
phng ca
43
N
,
. Qua gc P v ng thng song song vi phng ca
12
n
N
,
. Hai ng thng
ny ct nhau ti im D. Suy ra : vect CD
,
biu din
43
N
,
, vect DP
,
biu din
12
n
N
,
, vect
DA
,
biu din
12
N
,
.
- Xc nh im t ca lc
43
N
,
:
Momen i vi im C ca tt c cc lc tc ng ln khu 3 (hnh 3.5d):
43
. . 0
C III III
M N x P h = =

43
.
III III
P h
x
N
=
- H lc tc ng ln khu 3 gm
III
P
,
,
23
N
,
,
43
N
,
(hnh 3.5d) l mt h lc cn bng, ta c:

23 43
0
III
N N P + + =
, , ,
(3.4)
Phng trnh (3.4) c hai n s l gi tr v chiu
23
N
,
nn c th gii c bng phng php
ho (hnh 3.5e). Suy ra : vect DB
,
biu din
23
N
,
.

Ghi ch :
Cch sp xp phng trnh cn bng lc (3.3) nh sau :
+ Hai lc cha bit c sp xp hai u.
+ Cc lc thuc cng mt khu c sp xp gn nhau
+ Hai thnh phn ca cng mt lc c sp xp gn nhau.

35
b) Tnh lc trn khu dn
Vi c cu mt bc t do, sau khi tch cc nhm tnh nh, s cn li mt khu dn ni gi.
Vi c cu tay quay con trt, sau khi tch nhm tnh nh (2+3) s cn li khu dn AB ni
gi bng khp quay A (hnh 3.6).
Theo gi thit ca bi ton phn tch lc c cu, khu dn c vn tc
1
= hng s, tc l lun
lun trng thi cn bng. bo m iu kin cn bng lc ny, phi t ln khu dn mt
lc cn bng
cb
P
,
hay mt momen cn bng
cb
M
,
cn bng vi ton b tc ng ca phn
cn li ca c cu ln khu dn (tc l cn bng vi lc
21
N
,
).

Trng hp t ln khu dn mt momen cn bng
cb
M
,
(hnh 3.6a) :
Momen i vi im A ca tt c cc lc tc ng ln khu dn:
21 21
. 0
A cb
M M N h = =

21 21
.
cb
M N h =
Xt cn bng lc khu dn, ta c:
41 21
N N =
, ,

Trng hp t ln khu dn mt lc cn bng
cb
P
,
(hnh 3.6b):
Momen i vi im A ca tt c cc lc tc ng ln khu dn:
21 21
. . 0
A cb cb
M P h N h = =

21 21
.
cb
cb
N h
P
h
=
H lc tc ng ln khu dn 1 gm
cb
P
,
,
21
N
,
,
41
N
,
l mt h lc cn bng, ta c:

21 41
0
cb
P N N + + =
, , ,
(3.5)
Gii phng trnh (3.5) bng phng php ho , suy c
41
N
,
(hnh 3.6b).
4) Phng php di chuyn kh d tnh
cb
M
,

hay
cb
P
,

Ta c th tnh
cb
M
,
hay
cb
P
,
m khng cn phn tnh p lc khp ng trn ton b c cu
tm ra
21
N
,
bng cch p dng nguyn l di chuyn kh d : Tng cng sut tc thi ca mt
h lc cn bng bng 0.

H lc gm cc ngoi lc
i
P
,
, cc momen ngoi lc
i
M tc ng ln c cu (trong k c
cc lc v momen lc qun tnh tc ng ln c cu) v momen cn bng
cb
M
,
(hay lc cn
bng
cb
P
,
) l mt h lc cn bng.

Trng hp t ln khu dn mt momen cn bng
cb
M
,
, ta c:

1
0
i i i i cb
PV M M + + =

, , , ,
, ,

1
A
B
21
N
,
1
41
N
,
cb
M
Hnh 3.6a
21
h
1
A
B
21
N
,
1
cb
P
,
1
Hnh 3.6b
21
N
,
cb
P
,
41
N
,
41
N
,
cb
h

36

1
1
cb i i i i
M PV M
= +

, , ,
,

Trong : ,
i i
P M
, ,
l ngoi lc v momen ngoi lc tc ng ln khu th i (k c lc v momen
lc qun tnh);
i
V
,
: vn tc im t lc
i
P
,
;
i
,
: vn tc gc khu th i trn c t momen
i
M
,
.
Nu 0
cb
M > th
cb
M
,
cng chiu vi
1
,
. Nu 0
cb
M < th
cb
M
,
ngc chiu vi
1
,
.

Trng hp t ln khu dn mt mt lc cn bng
cb
P
,
, ta c:
0
i i i i cb cb
PV M P V + + =

, , , , ,
,

cb cb i i i i
P V PV M = +

, , , , ,
,

Trong :
cb
V
,
l vn tc im t lc
cb
P
,
.

37
Chng IV
MA ST TRONG KHP NG

1. i cng
1) Khi nim
Ma st l hin tng xy ra ch hai vt th tip xc vi nhau vi mt p lc nht nh,
khi gia hai vt th ny c chuyn ng tng i hay c xu hng chuyn ng tng i.
Khi s xut hin mt lc c tc dng cn li chuyn ng tng i gi l lc ma st.

Ngoi hin tng ma st ni trn gi l ma st ngoi, cn xut hin mt hin tng xy ra
bn trong ca mt vt th khi n b bin dng gi l ma st trong.

Ma st thng l mt loi lc cn c hi. Mt mt n tiu hao cng sut, gim hiu sut ca
my. Cng ca lc ma st phn ln bin thnh nhit lm nng cc thnh phn khp ng. Mt
khc, ma st lm mn cc chi tit my, do sc bn gim st v chi tit my c th b hng.

Phn loi ma st
Ty theo tnh cht tip xc gia hai b mt vt th, ta phn bit cc kiu ma st sau y:
- Ma st kh : khi hai b mt vt th trc tip tip xc vi nhau.
- Ma st t : khi hai b mt vt th c ngn cch nhau hon ton bng mt lp cht lng
bi trn.
Gia hai kiu ma st ny, cn c nhng kiu ma st trung gian:
- Ma st na kh : khi gia hai b mt vt th c nhng vt cht lng, nhng phn ln din
tch tip xc vn l cht rn.
- Ma st na t: khi phn ln din tch hai b mt vt th c mt lp cht lng bi trn
ngn cch, nhng vn cn nhng ch cht rn trc tip tip xc vi nhau.

Khi gia hai b mt vt th mi ch c xu hng chuyn ng tng i, ma st gia
chng l ma st tnh, ngc li khi gia hai b mt vt th c chuyn ng tng i, ma st
gia chng l ma st ng.

Ty theo tnh cht ca chuyn ng tng i (hoc xu th chuyn ng tng i) gia
hai b mt vt th, ta phn bit cc kiu ma st sau:
- Ma st trt : khi hai b mt vt th trt tng i i vi nhau.
- Ma st ln : khi hai b mt vt th ln tng i trn nhau.
2) Ma st trt kh - nh lut Coulomb
a) Lc ma st
Xt hai vt rn A v B tip xc nhau theo mt mt
phng ( ) (hnh 4.1). t ln vt A mt lc Q
,

vung gc vi mt phng ( ) . Di tc dng ca lc
ny, s xut hin mt p lc N
,
t B tc ng ln A.
Ta c : N Q =
, ,
.
t thm ln A lc P
,
song song vi mt phng tip
xc ( ) (lc P
,
c t ti mt im rt gn vi
mt tip xc, khng gy ra mt momen ln lm vt A b lt).
Cho gi tr ca lc P
,
tng dn t 0. Lc u ta thy A cha chuyn ng so vi B. Khi P t
n mt gi tr P
0
nht nh th ta thy A bt u chuyn ng tng i so vi B.
()
(B)
Hnh 4.1
Q
,
F
,
(A)
N
,
P
,

38
Sau khi A chuyn ng tng i so vi B, duy tr chuyn ng u ca A th lc P
,
ch
cn c mt gi tr P
d
gn bng v nh hn P
0
:
0 d
P P < .
Nu
0
P P > th ta thy A chuyn ng nhanh dn so vi B.

C th gii thch qu trnh trn nh sau :
Khi cho P tng dn t 0 th A ch mi c xu hng chuyn ng tng i so vi B. Ma st
gia A v B lc ny l ma st tnh. iu kin cn bng lc ca A chng t phi c mt lc
t
F
,

lun lun cn bng vi P
,
:
t
F P =
, ,
. Lc
t
F
,
c gi l lc ma st tnh. Lc ma st tnh tng
dn theo gi tr ca lc P
,
.
Khi P t n gi tr P
0
th A bt u chuyn ng tng i so vi B. iu ny chng t rng
gi tr ca lc ma st tnh P
,
khng tng na m t n gi tr cc i F
tmax
:
max 0 t
F P = .
Khi P t n gi tr P
0
v A chuyn ng tng i so vi B. Gia A v B by gi c hin
tng ma st ng.
Nu A chuyn ng u so vi B th t iu kin cn bng lc ca A ta thy phi c mt
lc F
,
cn bng vi lc P
,
. Lc F
,
gi l lc ma st ng. Th m chuyn ng tng i
ca A so vi B l chuyn ng u u th lc P
,
ch cn c mt gi tr l P
d
vi
0 d
P P < nn :
0 max d t
F P P F = < = : lc ma st ng nh hn lc ma st tnh cc i .
Hnh 4.2 biu din lc ma st tnh v lc ma st ng theo lc y P.

b) nh lut Coulomb v ma st trt kh
Lc ma st ng F
,

khng ph thuc vo lc gy ra chuyn ng l lc P
,
m ph thuc vo
p lc N
,
.
Thc nghim cho thy gia lc ma st ng F
,
v p lc N
,
c mi quan h sau : . F f N =
H s f

c gi l h s ma st trt.
H s ma st f :
- ph thuc vo vt liu b mt tip xc.
- ph thuc vo trng thi b mt tip xc.
- khng ph thuc vo p lc v din tch tip xc.
- hu nh khng ph thuc vo vn tc trt tng i gia hai b mt tip xc.
- tng cng vi thi gian tip xc ban u (tc l thi gian c p lc N
,
m khng c lc
y P
,
).
F
P
Ma st tnh Ma st ng Ma st ng
Hnh 4.2
O 45
0

39

nh lut Coulomb ch phn nh gn ng quy lut ca ma st trt kh, tuy nhin vn c th
p dng n trong rt nhiu bi tnh k thut.
c) Hnh nn ma st
Xt hai vt th A v B tip xc nhau theo mt
phng( ) (hnh 4.3).
t ln A mt lc Q
,
. Di tc ng ca lc Q
,
,
B s tc ng ln A p lc N
,
vung gc vi
mt phng ( ) : N Q =
, ,
.
t thm ln A mt lc y P
,
song song vi mt
phng ( ) . Ti ch tip xc gia A v B s pht
sinh lc ma st F
,
vi F = f.N.
Xt mt hnh nn (N) c nh O nm ti ch
tip xc, c trc vung gc vi mt phng ( ) ,
c na gc nh bng vi tg f = vi f l
h s ma st. Gc c gi l gc ma st.
Hnh nn (N) c gi l hnh nn ma st.
Gi S
,
l hp lc ca P
,
v Q
,
: S P Q = +
, , ,
v l gc gia S
,
v Q
,
.
Ty theo quan h gia P
,
v Q
,
m c th ln hn, bng hay nh hn gc ma st .
- Khi hp lc S
,
nm ngoi nn ma st (N) (hay > ) th . P Qtg Ntg N f F = > = = :
chuyn ng tng i ca A so vi B l chuyn ng nhanh dn.
- Khi hp lc S
,
nm trn mp nn ma st (N) (hay = ) th P = F : chuyn ng tng i
ca A so vi B l chuyn ng u.
- Khi hp lc S
,
nm trong nn ma st (N) (hay < ) th P < F : vt A khng chuyn ng
tng i so vi B.
d) Hin tng t hm
Vn xt trng hp vt A tip xc vi vt B
theo mt phng nh trn hnh 4.3. Tuy nhin
thay v tc ng ln A hai lc P
,
v Q
,
c
lp nhau, ta tc ng ln A mt lc S
,
duy
nht (hnh 4.4).
Lc S
,
hp vi trc ca hnh nn ma st mt
gc bng v c phn lm hai thnh
phn :
- Thnh phn Q
,
vung gc vi mt phng
( ) . Di tc ng ca Q
,
, B tc ng ln A
p lc N
,
: N Q =
, ,

- Thnh phn P
,
song song vi mt phng
( ) : P Qtg = . P
,
gy nn xu hng chuyn ng tng i hoc chuyn ng tng i, do
ti ch tip xc gia A v B xut hin lc ma st F
,
vi . F f N Ntg = = .
Khi lc S
,
nm trong hnh nn ma st (N), hay < th cho d gi tr ca lc S
,
c ln bao
nhiu i na, ta vn lun c . P Qtg Ntg N f F = < = = , ngha l lc y P lun lun nh
hn lc ma st F : A khng th chuyn ng tng i so vi B. Hin tng ny c gi l
hin tng t hm trong ma st trt kh khi tip xc theo mt phng.

Hnh 4.4

N
()
(B)
(A)
Q
,
P
,
S
,
F
,
Nn ma st

Nn ma st

(p)
(B)
(A)
Hnh 4.3
P
,
Q
,
S
,
F
,
N
,

40
3) Ma st ln
a) Hin tng ma st ln
Xt hnh tr A tip xc vi mt phng B theo
mt ng sinh ca n. Hnh 4.5 trnh by mt
ct ngang ca hnh tr A v mt phng B. Ta s
xt bi ton trn mt ct ngang ny.
t ln hnh tr A lcQ
,
i qua tm O ca hnh
tr v vung gc vi mt phng B. Di tc
ng ca Q
,
, B tc ng ln A p lc N
,
vung
gc vi mt phng B : N Q =
, ,
.
t tip ln B lc P
,
c gi tr khng i, c
im t l H, c phng song song vi mt
phng B. im t H ca lc P
,
cch mt phng
B mt khong bng h, gi s P < f.Q.
Lc P
,
t ti H tng ng vi lc
I
P
,
t ti im tip xc I v momen M
L
= P. h.
Xt lc
I
P
,
t ti I. Lc ny c xu hng lm cho vt A trt trn mt phng B. Do ti
im tip xc I, xut hin lc ma st F
,
cn li chuyn ng ny: F = f N.
Do P < f.Q = f.N = F nn A khng th trt trn B.
Xt momen M
L
= P. h. Cho gi tr momen M
L
tng dn t 0 (bng cch tng dn khong
cch h t gi tr 0). Lc u A cha chuyn ng.
Khi M
L
t n mt gi tr nht nh M
L0
th A bt u ln trn B.
Nu gi nguyn gi tr M
L
= M
L0
th A s ln u trn B.
Nu tip tc tng M
L
th A s ln nhanh dn.

C th gii thch qu trnh trn nh sau :
Khi momen M
L
tng dn t 0 th A mi ch c xu hng ln trn B. Gia A v B lc ny c
hin tng ma st ln tnh. iu kin cn bng lc ca A chng t phi c mt momen M
MSLT

cn li chuyn ng ln. y chnh l momen ma st ln tnh.
Momen ma st tnh M
MSLT
tng dn theo gi tr ca momen M
L
. Khi M
L
t gi tr M
L0
th A
bt u ln trn B, iu ny chng t M
MSLT
n mt t gi tr cc i.
Khi M
L
t gi tr M
L0
v A ln trn B, ma st gia A v B by gi l ma st ln ng.
Nu A ln u trn B th theo iu kin cn bng lc ca A chng t phi c mt momen M
MSL

cn li chuyn ng ln : M
MSL
= M
L0
. M
MSL
c gi l momen ma st ln ng.

Thc nghim cho thy momen ma st ln ng t l thun vi p lc N : M
MSL
= k
L
.N.
H s k
L
c gi l h s ma st ln. H s ma st ln k
L
ph thuc vo tnh cht n hi ca
vt liu.
b) Nguyn nhn ca hin tng ma st ln
Tnh n hi tr ca vt liu
C th gii thch hin tng ma st ln nh tnh n hi tr ca vt liu nh sau:
Vi cng mt bin dng, th ng sut khi tng bin dng s ln hn ng sut khi gim bin
dng. Hnh 4.6a m t quan h gia ng sut bin dng v c gi l ng cong ng sut -
bin dng.
Trn hnh 4.6a ta thy vi cng mt bin dng , ng sut
1
khi tng bin dng ln hn ng
sut
2
khi gim bin dng.

(A)
O
h
(B) M
MSL
Hnh 4.5
Q
,
P
,
F
,
N
,
H
I
M
L
I
P
,

41
Gii thch hin tng ma st ln
Khi t ln A ngoi lc Q
,
i qua O v gi s ch c A bin dng cn B khng bin dng,
th A v B s tip xc nhau theo cung CD. Bin dng vng tip xc phn b i xng nhau
qua phng ca lc Q
,
. Do ng sut t l vi bin
dng, nn phn b ng sut cng tng t. p lc
N
,
t B tc ng ln A l tng ca cc ng sut
ny s i qua tm O v N Q =
, ,
(Hnh 4.6b).

Khi t tip ln A lc y P
,
v A ang ln
trn B th bin dng vn phn b i xng qua
phng ca lc Q
,
nh trc, nhng trn cung DT
c qu trnh tng bin dng, cn trn cung CT c
qu trnh gim bin dng, do ng sut khng
cn phn b i xng na, m lch v pha D. Do
s phn b lch ca cc ng sut nn p lc N
,
t
B ln A cng lch v pha D mt on k
L
(hnh
4.6c).
Hai lc N
,
v Q
,
vi N Q =
, ,
to thnh mt ngu
lc c momen M
MSL
= k
L
.Q cn li chuyn ng
ln ca hnh tr A v y chnh l momen ma st ln M
MSL
vi k
L
l h s ma st ln.

c) Cc trng hp chuyn ng ca vt A
Ty theo gi tr ca lc P
,
v khong cch h m hnh tr A c cc chuyn ng khc nhau so
vi mt phng B :
Khi P < F v M
L
< M
MSL
th A khng ln khng trt (ng yn) so vi B.
Khi P > F v M
L
< M
MSL
th A trt khng ln so vi B.
Khi P < F v M
L
> M
MSL
th A ln khng trt so vi B
Khi P > F v M
L
> M
MSL
th A va ln va trt so vi B.
d) Vng trn ma st ln - Hin tng t hm khi ln
Xt hnh tr A tip xc vi mt phng B theo mt ung sinh ca n (hnh 4.7).
t ln hnh tr A lc Q
,
vung gc vi mt phng B v c phng nm cch tm O ca hnh
tr mt khong bng x.
Gim bin dng

2

Tng bin dng
ng cong ng sut bin dng
Hnh 4.6a
Hnh 4.6b : Hnh 4.6c :
O
(A)
C
D
(B)
T
Q
,
N
,
O
(A)
C
D
(B)
T
Q
,
P
,
N
,

42
Ngoi lc Q
,
va c tc dng gy ra p lc N
,
t B tc ng ln A : N Q =
, ,
, va c tc dng
gy ra momen ln M
L
c gi tr bng : M
L
= Qx.

Xt vng trn tm O, bn knh k
L
vi k
L
l h s ma st ln. Vng trn tm O bn knh k
L

c gi l vng trn ma st ln.
Khi Q
,
ct vng trn ma st ln tc l khi x < k
L
(hnh 4.7a), th d gi tr ca Q
,
c ln
bao nhiu i na, vn lun c M
L
= Q.x < M
MSL
= Q.k
L
: A khng th ln trn mt phng B.
Hin tng ny c gi l hin tng t hm khi ln.
Khi Q
,
tip xc vi vng vng trn ma st ln tc l khi x = k
L
(hnh 4.7b) th M
L
= M
MSL
:
chuyn ng ln ca A trn mt phng B l u.
Khi Q
,
khng ct vng vng trn ma st ln tc l khi x > k
L
(hnh 4.7c) th M
L
> M
MSL
:
chuyn ng ln ca A trn B l nhanh dn.

2. Ma st trt kh trong khp trt
1) Ma st trong rnh hnh tam gic
Trong khp trt, cc thnh phn khp ng c th l mt phng hay mt tr. M hnh s
dng khi nghin cu nh lut Coulomb chnh l mt khp trt trong mi thnh phn
khp ng l mt mt phng.
i vi rnh hnh tam gic (hnh 4.8), mi thnh phn khp ng l hai mt phng ab v cd
lm vi nhau mt gc nh din bng 2 . Gi f l h s ma st trt.
Ta tm cch quy trng hp ma st trong rnh hnh tam gic v ma st trn mt phng.

t ln A ngoi lc Q
,
vung gc vi phng trt v nm trn mt phn gic ca gc nh
din 2 . Khi trn cc mt phng tip xc ab v cd xut hin cc p lc
1
N
,
v
2
N
,
t B tc
ng ln A. p lc
1
N
,
vung gc vi mt phng ab, p lc
2
N
,
vung gc vi mt phng cd.
Tng p lc N
,
t B tc ng ln A nm theo phng ca Q
,
:
1 2
N N N = +
, , ,
(4.1)
Do tnh cht i xng ca rnh nn : N
1
=

N
2
Chiu (4.1) ln phng ca Q
,
:
1 2
sin sin N N N = +
1
2 sin N N = (4.2)
x

k
L
O
Hnh 4.7c :
Q
,
N
,
x

k
L
O
Hnh 4.7b :
Q
,
N
,
(B)
(A)
k
L
x
O
Hnh 4.7a :
Q
,
N
,

43
Nu t thm ln A lc P
,
song song vi phng trt to ra chuyn ng tng i
ca A so vi B, th trn cc mt phng ab v cd xut hin cc lc ma st
1
F
,
v
2
F
,
song song
vi phng trt :
F
1
= f.N
1
F
2
= f.N
2

Tng lc ma st t B tc ng ln A :

1 2
F F F = +
, , ,

1 2
F F F = +

1 2
F fN fN = +

1
2 F fN = (4.3)
T (4.2) v (4.3), suy ra :
sin
f
F N
=
Hay : '. F f N = (4.4)
Vi : '
sin
f
f
= (4.5)
f c gi l h s ma st thay th.

Nh vy, ma st trong rnh hnh tam gic c th quy v ma st trn mt phng bng cch
s dng h s ma st thay th f. Biu thc (4.5) cho thy ma st trong rnh hnh tam gic ln
hn ma st trn mt phng.

2) Ma st trn mt phng nghing
Xt vt A nm trn mt phng nghing B. Vt A tip xc vi B theo mt phng v chu tc
ng ca mt lc Q
,
thng ng. Gi l gc nghing ca mt phng. Gi f l h s ma st
trt, l gc ma st vi tg f = .
Khi < th Q
,
nm trong nn ma st (hnh 4.9a) v vt A b t hm khi i xung (d
Q
,
c gi tr ln bao nhiu i na, vt A vn khng th i xung trn mt phng nghing).
cho vt A i ln u hay i xung u, phi tc ng ln A mt lc y P
,
sao cho hp lc
S P Q = +
, , ,
nm trn mp trn hay mp di ca nn ma st.
Gi s lc y P
,
c phng nm ngang (vung gc vi Q
,
).
Da trn hnh 4.9a, ta suy c :
- A i ln u : ( )
l
P P Qtg = = +
- A i xung u : ( )
x
P P Qtg = =

c

Hnh 4.8

B

A

P
,
F
,

a

d

2
1
N
,
2
N
,
N
,
Q
,
Q
,
b

44

Khi > (hnh 4.9b) th Q
,
nm ngoi nn ma st (N) v vt A i xung nhanh dn.

Tng t nh trn, ta c :
A i ln u : ( )
l
P P Qtg = = +
A i xung u : ( )
x
P P Qtg = =
Trong c hai trng hp trn, nu
2
+ th mp trn ca nn ma st nm pha trn

ng thng nm ngang Ox (hnh 4.9a, b). Khi d gi tr ca lc P
,
c ln bao nhiu i
na th hp lc S P Q = +
, , ,
cng khng th vt ra ngoi mp trn ca nn ma st : A b t
hm khi i ln.

<
O
x

Hnh 4.9a
S
,
Q
,
S
,
S
,
x
P
,
l
P
,
A
B
Nn ma st
Mp trn
Mp di

>
x

Hnh 4.9b :
Q
,
x
P
,
l
P
,
O

45
3) Ma st trn rnh nghing hnh tam gic
Xt vt A nm trn rnh nghing hnh tam gic B (hnh 4.10a). Hnh 4.10b m t mt ct
ngang ca rnh nghing, 2 l gc nh din ca rnh nghing. Gi l gc nghing ca
phng trt ca rnh nghing so vi mt phng nm ngang, l gc ma st.
Gi s vt A chu tc ng ca lc Q
,
thng ng.

Tng t nh trn, c th quy trng hp ma st trn rnh nghing hnh tam gic v trng
hp ma st trn mt phng nghing, bng cch thay h s ma st f bng h s ma st thay th
'
sin
f
f
= , thay gc ma st bng gc ma st thay th ' vi ' ' tg f = .

Lc y nm ngang vt i ln hay i xung u cng nh iu kin t hm khi vt i ln
hay i xung trn rnh nghing c suy lun tng t nh trng hp vt i ln hay i xung
trn mt phng nghing :
- Khi ' < th vt A b t hm khi i xung trn rnh nghing.
- Lc y nm ngang P
,
vt A i ln hay i xung u trn rnh nghing:
Khi ' < : ( ' )
l
P P Qtg = = + ; ( ' )
x
P P Qtg = =
Khi ' > : ( ')
l
P P Qtg = = + ; ( ')
x
P P Qtg = =
- Khi '
2
+ th vt A b t hm khi i ln.
4) Ma st trong khp ren vt
a) Cu to ca khp ren vt
Cho hnh tr () v ng xon c trn () c gc xon l . (M) l mt phng i qua trc
zz ca hnh tr. t trn (M) mt hnh ch nht abcd, cnh ad nm trn mt ng sinh ca
hnh tr, nh a nm trn ng xon c.
Cho (M) quay quanh trc zz v lun gi cho a chy trn ng xon c th khi cc cnh ab,
cd ca hnh ch nht s vch nn nhng mt gi l mt ren vung (hnh 4.11).

<

I
Hnh 4.10a
I
Q
,
l
P
,
x
P
,
Hnh 4.10b
b

a

d

Q
,
1
N
,
1
N
,
2
I - I ( xoay) :

46
Nu thay hnh ch nht abcd bng hnh
thang hay hnh tam gic th mt ren c
to ra s l mt ren thang hay mt ren tam
gic.
Khp ren vt gm c hai khu: ai c c
ren trong v vt c ren ngoi (hnh 4.12a,
4.12b).
Khp ren vung (hnh 4.12a), khp ren
hnh thang dng bin chuyn quay
thnh chuyn ng tnh tin trong kch vt,
trong c cu vt me-ai c. Khp ren hnh
tam gic (hnh 4.12b) thng dng trong
cc mi ghp dng ghp cht cc chi
tit my vi nhau.
b) Ma st trong khp ren vung
Gi Q
,
l ti trng dc trc (thng
ng) t ln ai c A. Ta cn tnh momen
M
r
cn thit vn cho ai c i ln (vn
vo) hay i xung (ni ra) trn vt (hnh
4.12a).
Ma st trong khp ren vung c th
xem nh ma st trn mt phng nghing,
gc nghing ca mt phng l gc xon
ca ng xon c.
Vic vn ai c vo hay ni lng ai c
ra bng cch tc ng ln ai c momen M
r

tng ng vi vic ai c i ln hay i
xung u trn mt phng nghing nh mt
lc y lc y nm ngang P
,
:
( ) P Qtg = , trong :
r tb
M Pr =
Suy ra momen vn ai c vo hay ni
lng ai c : ( )
r tb
M Qr tg =
Vic ai c khng t ni lng ra d gi
tr ca lc Q
,
c ln n bao nhiu i na
tng ng vi vic ai c b t hm khi i
xung trn mt phng nghing, tc l khi :
<
c) Ma st trong khp ren hnh tam gic
Gi l na gc nh ca hnh tam gic
( cn c gi l gc tit din ren).
Ma st trong khp ren tam gic c th xem
nh ma st trn rnh nghing hnh tam gic
vi gc nghing ca phng trt ca rnh
nghing bng gc xon ca ng xon
c, gc nh din ca rnh bng 2 (hnh 4.12b) vi :
2
=
L lun tng t nh trng hp ma st trong khp ren vung, ta c :
- Momen vn ai c vo hay ni lng ai c :
. ( ')
r tb
M r Qtg =
a
c
b
d
z
d
p

z
()
Hnh 4.1
Mt phng (M)
(B)
(A)
d
tb
Hnh 4.12a
P
,
Q
,
P
,
r
M
r
tb

47

Vi l gc ma st thay th :
' ' tg f =
f l h s ma st thay th :
'
sin
f
f
= hay '
cos
f
f
=
- iu kin ai c khng t
ni lng ra d gi tr ca lc Q
,

c ln n bao nhiu i na :
' <

3. Ma st trt trong khp quay
Trong khp quay c hai khu c ni vi nhau l trc v trc. Chi tit trong trc trc tip
tip xc vi trc l lt trc. Phn trc trc tip tip xc vi lt trc c gi l ngng trc.
Hnh 4.13b m t mt mt ct ngang ca khp quay. Ta s s dng mt ct ngang ny
nghin cu bi ton.
1) Momen ma st trong khp quay

Gi s trc quay u di tc dng ca ti trng Q
,
thng ng qua tm O ca trc v
momen M nm trong mt phng vung gc vi trc quay (hnh 4.13b).
Trc v lt trc tip xc theo cung trn
AB = . Gi s p sut t lt trc tc dng ln ngng

trc phn b theo quy lut ( ) p no trong cung tip xc
AB .
Hy xc nh momen ma st M
MS
trong khp quay.
Xt phn t din tch tip xc dS, chn cung d. V tr ca dS c xc nh bng gc so
vi phng ca lc Q
,
(so vi trc Ox). Chiu dng ca trc Ox v chiu dng xc nh
cc gc nh hng nh trn hnh 4.13b.
Lt trc
M
b
Hnh 4.13a
Q
,
Ngng trc
(+)
x

p()
Hnh 4.13b

dS
d
Q
,
M
y
2
a
b
c
d
Hnh 4.12b
Q
,

48
Ta c : dS brd =
vi r l bn knh ngng trc, b l chiu di tip xc gia lt trc v ngng trc.
Trn dS, p lc t lt trc tc dng ln ngng trc l dN
,
. Do dS kh nh nn c th xem
nh p sut phn b u trn dS v c gi tr bng p(). Do :
( ) ( ) dN p dS brp d = =
Do cc p sut p() u i qua tm O ca trc nn p lc dN
,
cng i qua tm O.
Khi trc quay, trn dS xut hin lc ma st dF
,
c chiu hng ngc vi chiu quay ca
trc. Cng do dS kh nh nn c th xem dS l mt mt phng, theo nh lut Coulomb ta c :
dF dN
, ,
v ( ) dF fdN brfp d = =
vi f l h s ma st trt.
Momen ma st trn phn t din tch dS :
2
( )
MS
dM rdF bfr p d = =
Suy ra, momen ma st t lt trc tc dng ln ngng trc :
2
( )
MS MS
M dM bfr p d

= =

2
( )
MS
M bfr p d
=

(4.6)
Cng thc (4.6) mi ch cho ta quan h gia momen ma st M
MS
v p sut p(). tnh
M
MS
theo ti trng Q
,
cn xc nh quan h gia Q
,
v ( ) p .
Gi : dR dN dF = +
, , ,

Ta c :
2 2 2 2 2
( ) 1 dR dN dF dN fdN dN f = + = + = +

2
1 ( ) dR br f p d = +
V : ( , )
dF
tg dR dN f tg
dN
= = =
, ,
(hnh 4.14a)
( , ) dR dN =
, ,

Mc khc : ( , ) dN Q =
, ,

( , ) ( , ) ( , ) ( ) dR Q dR dN dN Q = + = +
, , , , , ,

( , ) dR Q = +
, ,

T iu kin cn bng lc ca trc (hnh 4.13b v hnh 4.14a) suy ra :
0 Q dR
+ =
, ,
(4.7)
Chiu phng trnh (4.7) ln phng ca lc Q
,
, suy ra :
cos( , ) 0 Q dR dR Q
+ =
, ,

2
1 ( ) cos( ) 0 Q br f p d
+ + + =

2
1 ( ) cos( ) Q br f p d
= +
(4.8)
T (4.6) v (4.8) suy c :

49
2
( )
1
( ) cos( )
MS
p d
f
M r Q
f
p d

=
+
(4.9)
y l cng thc tng qut tnh momen ma st trong khp quay.
Gi :
2
'
1
f
f
f
=
+
l h s ma st thay th.

( )
( ) cos( )
p d
p d
l h s phn b p sut (4.10)

Suy ra : '
MS
M f rQ =
2) Tng p lc N
,
v tng lc ma st F
,

a) Quan h gia tng p lc N
,
v lc ma st F
,

Trn phn t din tch tip xc dS kh nh (v c coi nh l mt mt phng), p lc dN
,
v
lc ma st dF
,
c quan h nh sau theo nh lut Coulomb : dF dN
, ,
v dF fdN =
Gi N
,
l tng p lc v F
,
l tng lc ma st trong khp quay :
N dN =
, ,
v F dF =
, ,

Gia tng p lc N
,
v tng lc ma st F
,
cng c quan h nh sau : F N
, ,
v F fN = . Hy
chng minh iu ny.

Cch th nht
Ta c : ( , ) dN Ox =
, ,
(hnh 4.14a)
V : ( , ) ( , ) ( , )
2
dF Ox dF dN dN Ox

= + =
, , , , , ,
( , )
2
dF Ox

=
, ,

Biu din dN
,
v dF
,
bng s phc, ta c :

( )
( )
2
j
j
dN e dN
dF e dF

,
,

Nh vy :
( )
( )
2 2
j j j
j j
j
N dN e dN e e dN
F dF e dF e e fdN

= = =
= = =

, ,
, ,

Suy ra :
2
j
F e fN
=
, ,

iu ny chng t : F fN = v : ( , )
2
F N

=
, ,
hay F N
, ,

50
Cch th hai

Xt hai phn t din tch tip xc bt k dS
1
v dS
2

(hnh 4.14b). Trn dS
1
, lc ma st v p lc t lt trc tc
ng ln ngng trc l
1
dF
,
v
1
dN
,
vi
1 1
dF dN
, ,
v
1 1
dF fdN = . Trn dS
2
, lc ma st v p lc t lt trc tc
ng ln ngng trc l
2
dF
,
v
2
dN
,
vi
2 2
dF dN
, ,
v
2 2
dF fdN = .
Gi
1 2
dF dF dF
= +
, , ,
v
1 2
dN dN dN
= +
, , ,

Hy chng minh rng : dF dN

, ,
v dN fdF

=
Da vo ho lc trnh by trn hnh v 4.14c, ta thy
rng hai tam gic abc v ade ng dng vi nhau. Tht
vy :
gc b
`
= gc
`
d (gc c cnh vung gc)

1 2
1 2
1 ab dN bc dN
ad dF de dF f
= = = =
Suy ra :
1
;
ac
ac ae
ae f
= tc l : dF dN

, ,
v dN fdF

=
Vi hai phn t bt k, tng p lc v tng lc ma st tun theo nh lut Coulomb. Do vy
bng phng php quy np ton hc, ta c th kt lun rng : F fN = v F N
, ,

b) Tng p lc N
,
v tng lc ma st F
,

Tng p lc N
,

im t :
Do cc dN
,
u i qua tm O ca trc nn tng p lc N
,
i qua tm O (hnh 4.16).
Phng chiu :
Gi R N F = +
, , ,
. iu kin cn bng lc ca trc cho ta : Q R =
, ,

Th m : ( , )
F
tg R N f tg
N
= = =
, ,

/2
(+)
M
O
x
(+)

Hnh 4.14a
Q
,
dR
,
dF
,
dN
,
N
,
F
,
a
b
c
d
e
Hnh 4.14c
1
dF
,
1
dN
,
2
dN
,
dN
,
2
dF
,
dF
,
M
O
x

1
dF
,
1
dR
,
2
dR
,
2
dF
,
1
dN
,
2
dN
,
Q
,
Hnh 4.14b

51
( , ) R N =
, ,

( , ) Q N =
, ,

Nh vy, tng p lc N
,
hp vi phng ca lc Q
,
mt gc bng gc ma st .
Gi tr
2 2
cos
1 1
Q Q
N R
tg f
= = =
+ +

2
1
Q
N
f
=
+

Tng lc ma st F
,

Phng chiu
Nh chng minh trn tng lc ma st F
,
vung gc
vi tng p lc N
,
: F N
, ,

Gi tr
F fN =
2
'
1
fQ
F f Q
f
= =
+

im t
Cnh tay n a ca lc F c xc nh nh sau :
/
( )
MS MS O
M dM M dF aF = = =

,

'
MS
M rf Q rF
a
F F F

= = =
a r =
T biu thc (4.10) chng ta thy rng 1 nn a r
3) Vng trn ma st v hin tng t hm trong khp quay
Xt vng trn tm O (O l tm ca trc) bn knh ' rf = . Vng trn (O, ) c gi l
vng trn ma st trong khp quay (hnh 4.17a, b, c).

Gi s trc chu tc dng ca ti trng Q
,
(thng ng) lch khi tm O mt khong bng x.
Lc Q
,
to ra momen
q
M Qx = c xu hng lm cho trc quay quanh tm O.
Khi Q
,
ct vng trn (O,) tc l khi x < th '
q MS
M Qx Q rf Q M = < = = : d gi tr
ca lc Q
,
c ln bao nhiu i na, trc vn khng quay c. Hin tng ny gi l hin
tng t hm trong khp quay (hnh 4.17a).
M
O
x
(+)

a
Hnh 4.16
Q
,
F
,
N
,
R
,
x
O

x
O

x
O

F
,
F
,
F
,
N
,
N
,
N
,
Q
,
Q
,
Q
,
Hnh 4.17a
R
, R
,
R
,
Hnh 4.17b
Hnh 4.17c

52
Khi Q
,
tip xc vi vng trn (O, ) tc l khi x = th
q MS
M M = : chuyn ng quay
ca trc l u (hnh 4.17b).
Khi Q
,
ct vng trn (O, ) tc l khi x > th
q MS
M M > : chuyn ng quay ca trc l
nhanh dn (hnh 4.17c).
4) Cc trng hp c th ca khp quay
a) Khp quay c h
Trong khp quay c h, bn knh ngng trc nh hn bn knh lt trc. Hnh 4.18a m t
mt ct ngang ca khp quay c h. Ta s s dng mt ct ngang ny khi nghin cu bi
ton.
t ln trc mt lc Q
,
thng ng, i qua tm O ca trc. Di tc dng ca Q
,
, trc v lt
trc tip xc nhau ti im thp nht A.
t thm ln trc mt momen M nm trong mt phng chuyn ng ca trc.
Cho M tng dn t 0. Khi M ln hn momen cn ln gia trc v lt trc, trc bt u ln v
leo ln lt trc cho n khi im tip xc gia trc v lt trc t n im B vi
AB = (vi
l gc ma st trt) th trc dng li ti (hnh 4.18b). Nu momen M bng momen ma
st trt M
MS
trong khp quay th trc s quay u, cn nu M ln hn M
MS
th trc s quay
nhanh dn.
iu ny c th gii thch nh sau: B mt lt trc c th xem nh l tp hp cc mt phng
nghing lin tip c gc nghing tng lin tc t 0. Ti im A gc nghing ca mt phng
nghing bng 0. Lc u < nn trc b t hm v khng th trt xung trn mt phng
nghing. Nh trc s ln v leo ln dn ln lt trc. Khi leo n im B th = , trc ht
b t hm, khng th leo ln cao hn m trt ti ch. Khi , nu
MS
M M = th trc quay u,
nu
MS
M M > th trc quay nhanh dn.
Do trc v lt trc tip xc nhau theo mt im B nn tng p lc N
,
v tng lc ma st F
,

t lt trc tc dng ln trc tp trung ti im B (hnh 4.18b).
Cnh tay n a ca lc F
,
: a r = vi r l bn knh ca ngng trc.
H s phn b p sut : 1 = .
Momen ma st trong khp quay c h bng : '
MS
M rf Q =

b) Khp quay kht cn mi
Khi bn knh ngng trc v lt trc bng nhau th khp quay c gi l khp quay kht.
Trc
Lt trc
O
O
A
Hnh 4.18a
Q
,
N
,
O
A
M
B

Hnh 4.18b :
Q
,
F
,
R
,
N
,

53
i vi khp quay kht mi ch to, trc v lt trc tip xc trn na cung trn
AIB . p
sut t lt trc tc dng ln trc xem nh phn b u trn cung tip xc:
0
( ) p p = = hng
s. Do p lc N
,
nm trn ng thng i xng OI ca cung
AIB (hnh 4.19).

Khi trc quay u di tc dng ca ti trng Q
,
v momen M, ta c : ( , ) Q N =
, ,

H s phn b p sut :
2
0
2
2
0
2
2
cos( )
p d
p d

+
+
+
+
= =

Suy ra :
2
=
2
a r
= '
2
MS
M rf Q
= (4.11)
c) Khp quay kht chy mn
Trn thc t, trc c lm bng
thp ti cng, lt trc lm bng vt liu
mm hn (ng thanh, bc bt...) nn
c th gi s ch c lt trc b mn, cn
trc khng mn, m ch ln xung mt
lng l u
0
theo phng ca p lc N
,

(hnh 4.20).
Trc v lt trc tip xc nhau theo na
vng trn
AIB = = i xng nhau

qua N
,
.
Khi trc quay u di tc dng ca
lc v momen M th ( , ) Q N =
, ,
.
Ti mt im tip xc M bt k gia
trc v lt trc (v tr ca im M c
xc nh bng gc ), mn CM
theo phng p lc N
,
l nh nhau v
bng u
0
, cn mn DM theo phong
hng tm O ca trc bng :

( ) cos u DM CM DMC = =

0
( ) cos( ) u u =
Gi s ton b cng ma st c
dng lm mn . Khi p sut ( ) p ti im tip xc M s t l vi mn ( ) u . Suy
ra :
0
( ) cos( ) p p = ngha l p sut phn b theo quy lut hnh cosin.
T :
2
0
2
2
2
0
2
cos( )
4
cos ( )
p d
p d

+
+
+
+
= =

M
O

p()= hng s
I A
B
Hnh 4.19
Q
,
R
,
F
,
N
,

54
Suy ra :
4
=
4
a r
=
4
'
MS
M rf Q
= (4.12)
T cc biu thc (4.11) v (4.12) ta thy rng momen ma st trt trong khp quay kht
chy mn nh hn momen ma st trong khp quay kht cn mi.

4. Ma st trong khp quay chn
Khp quay chn dng chu lc chiu trc tc dng ln trc. Trong khp quay chn, trc v
lt trc tip xc nhau theo mt hnh vnh khn bn knh trong l r
1
, bn knh ngoi l r
2
(hnh
4.21a).
1) Khp quay chn cn mi ( chn)
Trong khp quay chn cn mi, khi ch to chnh xc, c th gi thit p sut phn b u
trn ton b din tch tip xc gia trc v lt trc. Gi tr p sut bng p
0
(hnh 4.21a).
Xt phn t din tch tip xc dS hnh vnh khn c bn knh trong r, bn knh ngoi r+dr.
Ta c : 2 dS rdr =
Trn phn t dS, p lc dN
,
v lc ma st dF
,
t lt trc ln trc ln lt bng:

0 0
2 dN p dS p rdr = =
0
2 dF fdN fp rdr = =
Momen ca lc dF
,
i vi trc quay :

2
0
2
MS
dM rdF fp r dr = =
Do momen ma st trong khp quay chn :
2
2
0
1
2
r
MS MS
r
M dM fp r dr = =

3 3
0 2 1
2
( )
3
MS
M fp r r = (4.13a)
u
0
O

O

M

A

B

I

M

C

D

Trc cha ln

Trc b ln

Hnh 4.20

Q
,
N
,
0
p
,
r
2
r
1
M
Hnh 4.21a
Phn t
din
tch dS
p
sut
p
0
Q
,

55
Xt cn bng ca trc, ta c :
0
2 2
2 1
( )
Q
p
r r
=
(4.13b)
Thay (4.13b) vo (4.13a) suy ra :
3 3
2 1
2 2
2 1
2 ( )
3 ( )
MS
r r
M fQ
r r

2) Khp quay chn chy mn
Thng thng trc c lm bng thp ti
cng, lt trc lm bng vt liu mm hn nn c
th xem nh ch c lt trc mn cn trc khng
b mn, sau khi mn mt tip xc gia trc v
lt trc vn phng (hnh 4.21b). Nh vy,
mn u ti mi im tip xc I (xc nh bng
bn knh r) l nh nhau.
Th nghim cho thy mn u ti im tip
xc I t l vi p sut p v vn tc trt tng
i v r = ti im .
Do vy : v u Cp = vi C l hng s t l.
Suy ra : u Cpr =
Hay:
u
pr A
C
= = = hng s
Ngha l p sut trn b mt tip xc gia trc
v lt trc phn b theo quy lut hnh hypcbn.
Xt phn t din tch tip xc dS hnh vnh
khn bn knh trong r, bn knh ngoi r+dr.
Ta c : 2 dS rdr =
Trn phn t dS, p lc dN
,
v lc ma st dF
,
t lt trc ln trc ln lt bng:
2 2 dN pdS prdr Adr = = =
2 dF fdN Afdr = =
Momen ma st trn phn t dS :
2
MS
dM rdF Afrdr = =
Do momen ma st trong khp quay chn :
2
1
2
r
MS MS
r
M dM Afrdr = =

2 2
2 1
( )
MS
M Af r r = (4.14a)
Xt cn bng ca trc :
2
1
2
r
r
Q dN Adr = =

2 1
2 ( ) Q A r r = (4.14b)
Thay (4.14b) vo (4.14a) suy ra :
2 1
( )
2
MS
r r
M fQ
+
=

r

I

Hnh 4.21b
Q
,
M

56
Chng V

CN BNG MY

1. Ni dung ca cn bng my
1) Tc hi ca lc qun tnh
C cu ni chung chuyn ng c gia tc, do trn cc khu trong c cu xut hin cc
lc qun tnh. Lc qun tnh bin thin c chu k bng chu k v tr ca c cu, nn thnh
phn phn lc do n gy ra (cn gi l thnh phn phn lc ng ph) cng bin thin c chu
k.
Khi vn tc ca my ln th thnh phn phn lc ng ph ny c th rt ln so vi thnh
phn phn lc do ngoi lc gy ra.

Phn lc ng ph l nguyn nhn gy ra cc hin tng c hi nh tng thm ma st trong
khp ng, gim hiu sut ca my, tng mn ca cc thnh phn khp.
Do bin thin c chu k, phn lc ng ph l mt trong nhng nguyn nhn gy ra hin
tng rung ng c hi ca my v mng my. Khi tn s kch thch gn bng tn s ring
ca my, trong my s xut hin hin tng cng hng, my rung ng mnh, cc chi tit
my b ph hy nhanh chng. Hin tng rung ng tc hi n chnh xc ca sn phm
c gia cng trn my, nh hng n sc kho cng nhn v mi trng xung quanh.
2) Ni dung ca cn bng my
gim rung cho my v nn mng, m bo bin rung khng vt qu gii hn cho
php ng thi gim ma st trong khp ng, nh tng bn mn ca cc thnh phn
khp v tng hiu sut my, cn phi kh hon ton hay mt phn phn lc ng ph bng
cch thay i hoc phn b li khi lng cc khu sao cho cc lc qun tnh tc dng ln c
cu cn bng ln nhau, khng truyn ln khp ng hay truyn ln mng my. y chnh l
ni dung ca cn bng my.

Nh vy, my cn bng, phi c : 0
qi
P =
,
v 0
qi
M =
,
, vi
qi
P
,
v
qi
M
,
ln
lt l tng cc lc qun tnh v momen lc qun tnh tc ng ln cc khu trong c cu.

C hai loi bi tnh cn bng my :
+ Cn bng vt quay
+ Cn bng c cu nhiu khu
2. Cn bng vt quay
Vt quay mng l vt quay m khi lng ca n coi nh phn b trn cng mt mt phng
vung gc vi trc quay, v d a xch, bnh rng... (khi t s chiu di L theo phng trc
quay v bn knh R vt quay: 1
L
R
<< )
Vt quay dy l vt quay m khi lng ca n coi nh phn b trn cc mt phng khc nhau
vung gc vi trc quay, v d rto ca ng c in, puli nhiu bc... (khi t s
L
R
khng
nh lm).
1) Cn bng vt quay mng
a) Nguyn tc cn bng vt quay mng
Xt mt vt quay mng (gi l a) c cc khi lng m
i
(i = 1,2,3...) coi nh phn b trong
cng mt mt phng vung gc vi trc quay. V tr ca khi lng m
i
c xc nh bng
bn knh vect
i
r
,
trong h to Oxy gn lin vi a.

57
Khi a quay u vi vn tc gc , mi khi lng m
i
gy ra mt lc qun tnh ly tm
qi
P
,
:

2
qi i i
P mr =
,
,

Cc lc qun tnh
qi
P
,
nm trong cng mt mt phng v ng quy ti tm O ca a. Hp lc
ca chng bng :
2
qi i i
P mr =

,
,

Gi m v S ln lt l khi lng v khi tm ca a :
i
m m =
. V tr ca khi tm S
c xc nh bng bn knh vect
S
r
,
trong h to Oxy gn lin vi a, ta c :

S i i
mr mr =
, ,

+ Nu 0
S
r =
,
tc l khi khi tm ca a nm trn trc quay th 0
i i
mr =
,
. Khi
2
0
qi i i
P mr = =

,
,
v a c coi nh c cn bng.
+ Nu 0
S
r
,
th 0
qi
P
,
, khi a cha cn bng. cn bng a, phi gn trn a mt
khi lng m
cb
ti v tr c xc nh bng bn knh vct
cb
r
,
trong h to Oxy gn lin
vi a, sao cho lc qun tnh
2
cb cb cb
P m r =
,
,
do n gy ra cn bng vi hp lc
qi
P
,
:
0
cb qi
P P + =
, ,

Hay : 0
cb cb i
i
m r mr + =
, ,

Suy ra :
cb cb i i S
m r mr mr = =
, , ,

Khi lng m
cb
c gi l i trng cn bng v i lng
cb cb
m r
,
c gi l momen tnh ca
n.
Tm li cn bng vt quay mng cn v ch cn mt i trng cn bng m
cb
t trong
cng mt phng vi cc khi lng mt cn bng m
i
.

Ghi ch
+ Gi
,
S
r
,
l bn knh vect xc nh v tr khi tm mi S ca a.
Ta c :
,
( )
cb S i i cb cb
m m r mr m r + = +
, , ,

Do
cb cb i i
m r mr =
, ,
nn
,
0
S
r =
,
.
Nh vy, thc cht ca cn bng vt quay mng l phn b li khi lng ca a sao cho
,
0
S
r =
,
, hay khi tm mi S ca a nm trn trc quay.
m
3

m
1
m
2
m
cb
x

y

Hnh 5.1
1 q
P
,
2 q
P
,
3 q
P
,
2
r
,
1
r
,
3
r
,
cb
r
,
1 1
m r
,
2 2
m r
,
3 3
m r
,
cb cb
m r
,
a)
b)

58
+ Thay v t mt i trng cn bng m
cb
ti v tr
cb
r
,
, c th bt i mt khi lng m
cb
ti v
tr xuyn tm i
cb
r
,
.
+ Trong trng hp nu kt cu ca a khng cho php hoc khng tin cho vic thm hay
bt khi lng m
cb
ti cc v tr
cb
r
,
v
cb
r
,
, c th dng hai i trng cn bng m
cb1
v m
cb2
ln
lt t ti cc v tr c xc nh bng cc bn knh vect
1 cb
r
,
v
2 cb
r
,
, sao cho:

1 1 2 2 cb cb cb cb cb cb
m r m r m r + =
, , ,

+ C th dng phng php ha nh trn hnh 5.1b xc nh i lng
cb cb
m r
,
.
b) Phng php cn bng vt quay mng
cn bng vt quay mng, cn xc nh momen tnh
cb cb
m r
,
ca i trng cn bng, tc l
khi lng m
cb
v bn knh vect
cb
r
,
xc nh v tr ca khi lng ny. Vic ny c tin
hnh bng th nghim. Khi th nghim ta thng chn trc
cb
r
,
, do cn tm m
cb
.
C nhiu phng php khc nhau cn bng vt quay mng nh phng php d trc tip,
phng php n cn, phng php i trng th. Sau y s trnh by phng php d trc
tip.
t trc ca a cn cn bng ln hai li dao nm ngang, song song vi nhau (hnh 5.2).
Nu a cha cn bng tc l 0
S
r
,
th a s t la mt v tr sao cho trng tm S nm v tr
thp nht (nm trn bn knh thng ng hng xung OT
,
ca a).
p mttt vo mt im thun tin trn bn knh thng ng hng ln OC
,
ca a. Thm
hoc bt mttt cho n khi a cn bng phim nh (ngha l d t a trn dao v tr no,
a cng nm yn v khng ln).
Ti v tr p mttt ta gn c nh mt i trng c khi lng bng khi lng mttt, hoc
ti v tr xuyn tm i ca v tr gn mttt, ta khoan i mt khi lng nh vy.
Phng php d trc tip c u im l thit b n gin nhng nhc im l d mt nhiu
thi gian v khng chnh xc do c ma st ln gia trc v dao.

Ghi ch :
Cc phng php cn bng va nu trn y c thc hin khi khng cho a quay, do
c gi l phng php cn bng tnh v vic cn bng vt quay mng c gi l cn bng
tnh.
2) Cn bng vt quay dy
a) Nguyn tc cn bng vt quay dy
Trong vt quay dy, khi lng coi nh phn b trn cc mt phng khc nhau v vung
gc vi trc quay. Sau khi trng tm S ca vt quay dy c a v nm trn trc quay,
S
a
dao
O
C
T
G
Hnh 5.2

59
tc l tng lc qun tnh ca n : 0
qi
P =
,
(vt quay coi nh cn bng tnh), vt quay dy
vn c th chu tc ng mt momen lc qun tnh 0
qi
M =
,
vung gc vi trc quay.
Xt vt quay dy (hnh 5.3) c hai khi
lng m
1
, m
2
ln lt nm trn hai mt phng
(1) v (2) vung gc vi trc quay. V tr ca
m
1
v m
2
ln lt c xc nh bng cc bn
knh vect
1
r
,
v
2
r
,
.
Gi s m
1
= m
2
v
1 2
r r =
, ,
.
Cho vt quay u vi vn tc gc . Cc
khi lng m
1
, m
2
gy nn lc qun tnh ly
tm bng :
2
1 1 1 q
P m r =
,
,
v
2
2 2 2 q
P m r =
,
,

R rng:
1 2
0
q q q
P P P = + =
, , ,
v vt quay
c cn bng tnh, khi tm S ca vt
nm trn trc quay.
Tuy nhin, do
1 q
P
,
v
2 q
P
,
khng nm trn
cng mt mt phng, chng khng trit tiu
ln nhau m to thnh mt ngu lc c
momen:
2
1 1 1
.
q q
M P L m r L = = . Ngu lc ny
gy ra cc phn lc ng ph
A
R
,
v
B
R
,

trong cc khp quay A v B.
Nh vy, cn bng vt quay dy, cn phi cn bng c lc qun tnh v momen lc qun
tnh, ngha l phi c: 0
qi
P =
,
v 0
qi
M =
,

Nguyn tc cn bng vt quay dy
cn bng vt quay dy cn v ch cn hai i trng cn bng. Hai i trng ny c t
trong hai mt phng khc nhau ty chn v vung gc vi trc quay.

Chng minh
Xt vt quay dy c n khi lng m
i
phn b trn cc mt phng (1), (2),..., (i),..., (n) vung
gc vi trc quay. V tr ca khi lng m
i
trn mt phng (i) c xc nh bng bn knh
vect
i
r
,
(hnh 5.4).
Cho trc quay u vi vn tc gc . Khi lng m
i
gy ra lc qun tnh
2
qi i i
P mr =
,
,
.
Gi (I) v (II) l hai mt phng ty chn gn lin vi vt quay v vung gc vi trc quay.
Chia mi lc qun tnh
qi
P
,
thnh hai thnh phn l
( ) qi I
P
,
v
( ) qi II
P
,
song song vi
qi
P
,
v ln
lt nm trn cc mt phng (I) v (II) :

( ) ( ) qi qi I qi II
P P P = +
, , ,

Trn mt phng (I), h lc gm cc lc
( ) qi I
P
,
l mt h lc ng quy. cn bng chng, ta
t trn mt phng (I) mt i trng cn bng
( ) cb I
m ti v tr xc nh bng bn knh vect
( ) cb I
r
,
, sao cho lc qun tnh
2
( ) ( ) ( ) cb I cb I cb I
P m r =
,
,
do n gy ra cn bng vi cc lc
( ) qi I
P
,
:

( ) ( )
0
cb I qi I
P P + =
, ,

( ) ( ) ( ) 2
1
cb I cb I qi I
m r P
=

,
,

m
2
B

A

m
1
L

S

(I)

(II)

A
R
,
B
R
,
1 qt
P
,
2 qt
P
,
Hnh 5.3
2
r
,
1
r
,

60
Tng t, trn mt phng (II), ta t mt i trng
( ) cb II
m ti v tr xc nh bng bn knh
vect
( ) cb II
r
,
cn bng h lc gm cc lc ng quy
( ) qi II
P
,
:

( ) ( ) ( ) 2
1
cb II CB II qi II
m r P
=

,
,

Ta c th dng phng php ha nh trn hnh 5.4b v 5.4c xc nh i lng
( ) ( ) cb I cb I
m r
,
v
( ) ( ) cb II cb II
m r
,
.
Mt phng (I) v (II) c gi l cc mt phng cn bng. Cc i lng
( ) ( ) I I cb I cb I
m r m r =
, ,
v
( ) ( ) II II cb II cb II
m r m r =
, ,
c gi l cc lng mt cn bng ca vt quay dy.

b) Phng php cn bng vt quay dy
Mun cn bng vt quay dy, cn phi xc nh cc lng mt cn bng
( ) ( ) I I cb I cb I
m r m r =
, ,

v
m r m r =
, ,
ca n. xc nh cc lng mt cn bng, phi tin hnh th nghim
trn my cn bng ng. Th nghim c thc hin khi vt quay ang trng thi chuyn
ng, nn vic cn bng vt quay dy cn c gi l cn bng ng.

C nhiu phng php v kiu thit b khc nhau xc nh cc lng mt cn bng.
y, ch gii thiu mt kiu my cn bng ng c mt gi n hi v phng php ba ln
th.

M t my cn bng ng
(I)

(1)
(2)

(3)

(II)

( ) cb I
P
,
3( ) q I
P
,
2( ) q I
P
,
1( ) q I
P
,
( ) cb II
P
,
3( ) q II
P
,
2( ) q II
P
,
1( ) q II
P
,
Hnh 5.4

3 q
P
,
3( ) q I
P
,
( ) ( )
,
cb I cb I
m r
,
2( ) q I
P
,
1( ) q I
P
,
1 q
P
,
2 q
P
,
3( ) q II
P
,
2( ) q II
P
,
1( ) q II
P
,
1 1
, m r
,
2 2
, m r
, 3 3
, m r
,
( ) ( )
,
cb II cb II
m r
,
( ) cb I
P
,
( ) cb II
P
,
a)
b)
c)

61

My gm mt khung
(1) t trn mt gi
cng A v mt gi
n hi B. L xo (2)
dng v duy tr
dao ng ca khung.
Hp gim chn du (3)
dp tt cc dao ng
t do ca khung. ng
h o (4) hay cm bin
o bin dao ng
ti mt im M trn
khung.

Phng php ba ln th
Trn vt quay cn cn bng, ta chn hai mt phng (I) v (II) vung gc vi trc quay, trn
s t cc i trng cn bng.
xc nh lng mt cn bng
I I
m r
,
trn mt phng (I), ta g vt quay ln my sao cho
mt phng (II) i qua gi A.
Do mt phng (II) i qua gi A nn khi cho vt quay th ch c lc qun tnh do lng mt
cn bng trn mt phng (I) gy ra mi lm cho khung dao ng lc quanh im A.
Chuyn v gc ca khung quanh im A t l vi thnh phn thng ng ca lc qun tnh do
lng mt cn bng trn mt phng (I) gy ra. Trong thc t cn bng, do chuyn v lc ca
khung kh b, nn c th xem chuyn v gc ni trn t l vi chuyn v di ca mt im M
trn khung. Ni khc i, lc qun tnh do khi lng mt cn bng trn mt phng (I) gy ra
t l vi bin dao ng o c ti im M.

+ Cho vt quay u vi vn tc gc , vn tc ny s dng cho cc ln th k tip.
Lng mt cn bng
I I
m r
,
trn mt phng (I) gy ra lc qun tnh :
2
I I I
P m r =
,
,
. Bin dao
ng o c ti M trn khung l A
I
.
Do :
I I
P kA =
,
vi k l h s t l.
+ Gn thm ln vt quay, trong mt phng (I), ti v tr xc nh bng bn knh vect r
,
, mt
i trng th c khi lng m. Cho vt quay u vi vn tc gc .
Lng mt cn bng trn mt phng (I) by gi l m r
,
v
I I
m r
,
gy ra lc qun tnh :

a I
P P P = +
, , ,

Vi
2
P mr =
,
,
l lc qun tnh ly tm do i trng th m gy ra.
Bin dao ng o c ti M l A
a
.
Do : .
a a
P k A =
,

+ Tho i trng th m ra v gn n vo vt quay trong mt phng (I), ti v tr xc nh bng
bn knh vect r
,
. Cho vt quay u vi vn tc gc .
Lng mt cn bng trn mt phng (I) by gi l m r
,
v
I I
m r
,
gy ra lc qun tnh :

b I
P P P =
, , ,

Bin dao ng o c ti M l A
b
.
Do : .
b b
P k A =
,

4
A B
M
O
1
O
2
(II)
1
2 3
5
Hnh 5.5

62
Thc hin xong ba ln th, ta dng hnh xc nh lng mt cn bng
I I
m r
,
(hnh 5.6).
Dng hnh bnh hnh OACB c hai cnh ln lt l
a
P
,
v
a
P
,
, ng cho OC s bng :
2
I
OC P =
,

Vi cc gi tr A
b
, A
a
, A
I
o c, ta dng tam gic oac c cnh ba cnh ln lt l :
oa = A
b
; ac = A
a
; oc = 2A
I

Hai tam gic OAB v oab ng dng vi nhau v c cc cnh t l :
OA AC OC
k
oa ac oc
= = = . Do
, nu gi I l trung im ca OC, i l trung im ca oc v ( , ) oi ai =
, ,
th :
+ ( , ) IB IC =
, ,
tc l gc hp bi cc bn knh vect
I
r
,
v bn knh vect r
,
bng
( , )
I
r r =
, ,
: phng chiu ca bn knh vect
I
r
,
xc nh.
+
oi OI
ai AI
=
I I I
oi P m r
ai P mr
= = .
I I
oi
m r mr
ai
=

Nh vy ta xc nh c lng mt cn bng
I I
m r
, ,
trn mt phng (I), t xc nh c
khi lng i trng cn bng v v tr t i trng trn mt phng (I) :

( ) ( ) cb I cb I I I
m r m r =
, ,

xc nh lng mt cn bng
II II
m r
,
trn mt phng (II), ta g vt quay ln my sao cho
mt phng (I) i qua gi A. Lm li th nghim nh trn s xc nh c
II II
m r
,
, t xc
nh c khi lng i trng cn bng v v tr t i trng trn mt phng (II):

m r m r =
, ,

3. Cn bng c cu nhiu khu
Khi c cu chuyn ng ni chung khi tm chung ca c cu (khi tm chung ca cc
khu ng) lun lun chuyn ng. ng vi mi v tr ca c cu, khi tm chung S c mt v
tr hon ton xc nh.
H lc qun tnh tc ng ln cc khu ca c cu khi thu gn v khi tm chung S gm : hp
lc
q
P
,
ca cc lc qun tnh v hp lc
q
M
,
ca cc momen lc qun tnh. C cu hon ton
cn bng nu nh 0
q
P =
,
v 0
q
M =
,
. Vic cn bng momen lc qun tnh
q
M
,
kh phc tp
v kh thc hin, nn thng thng ch cn bng lc qun tnh
q
P
,
v v vy vic cn bng c
cu c gi l cn bng tnh.
A
B
O
I
C
2
P mr =
,
,
2
P mr =
,
,
2
I I I
P m r =
,
,
a
P
,
b
P
,

Hnh 5.6
o
a
c
i

a
A
2
I
A
b
A

63
Lc qun tnh trn c cu bng:
q S
P ma =
,
,
vi m l tng khi lng cc khu ng,
S
a
,
l
gia tc khi tm chung S ca c cu. cn bng lc qun tnh, tc l 0
q
P =
,
, phi c
0
S
a =
,
, ngha l S phi chuyn ng thng u hay S c nh. Tuy nhin, c cu chuyn ng
c chu k nn khi tm chung S khng th chuyn ng u, do 0
q
P =
,
th S phi c
nh.
Tm li cn bng tnh c cu hay ni khc i cn bng lc qun tnh
q
P
,
, cn phi
thay i hay phn b li khi lng cc khu sao cho khi tm chung S ca c cu l c nh.

V tr khi tm chung ca c cu
+ Xt c cu bn khu bn l phng (hnh 5.7a).
Khi lng cc khu ng 1, 2, 3 ln lt bng m
1
, m
2
, m
3
. Khi tm S
1
, S
2
, S
3
ca cc khu 1,
2, 3 c xc nh bng bn knh vect
1 1 S
r AS =
,
,
,
2 2 S
r AS =
,
,
,
3 3 S
r AS =
,
,
.
Hy xt mt v tr bt k ca c cu. Khi tm chung S ca h cc khu 1, 2, 3 c xc nh
bng bn knh vect :
( )
i i
S
m AS
r AS
m
= =
,
,
,
vi :
i
m m =
.
Gi :
1 1
s AS =
,
,
,
2 2
s BS =
,
,
v
3 3
s CS =
,
,
.
Ta c :
1 1 S
r s =
, ,

2 1 2 S
r l s = +
,
, ,

3 1 2 3 S
r l l s = + +
, ,
, ,

( ) ( )
1 1 2 1 2 3 1 2 3
1
S
r m s m l s m l l s
m

= + + + + +

, , ,
, , , ,

1 1 2 1 3 1 2 2 3 2 3 3
S
m s m l m l m s m l m s
r
m m m
+ + +
= + +
, , ,
, , ,
,

1 2 3 S
r h h h = + +
, , ,
,

Vi :
1 1 2 1 3 1
1
m s m l m l
h
m
+ +
=
, ,
,
,
,
2 2 3 2
2
m s m l
h
m
+
=
,
,
,
,
3 3
3
m s
h
m
=
,
,

iu kin cn bng tnh ca c cu
+ Trong trng hp khi tm cc khu 1, 2, 3 ln lt nm trn on AB, BC v CD, ta thy:
Cc vect
1 2 3
, , h h h
, , ,
ln lt c phng chiu ca
1 2 3
, , l l l
, , ,
v gi tr ca chng khng ph thuc
vo v tr c cu, do nu S nm trn AD th khi c cu chuyn ng, S lun lun c nh
(hnh 5.7b).
B
C
A
D
Hnh 5.7a
1
h
,
2
h
,
3
h
,
1
l
,
2
l
,
3
l
,
1
s
,
2
s
,
3
s
,
m
1
m
2
m
3
S
r
,
S
B
C
A
D
Hnh 5.7b
1
h
,
2
h
,
3
h
,
1
l
,
2
l
,
3
l
,
1
s
,
2
s
,
3
s
,
m
1
m
2
m
3
S
r
,
S

64
+ Hoc nu
1 2 3
0 h h h = = =
, , ,
tc l 0
S
r AS = =
,
,
th khi tm chung S ca c cu s lun trng
vi im c nh A.

+ Nh vy cn bng tnh c cu cn t cc i trng cn bng trn cc khu sao cho khi
tm chung mi S v nm trn AD hay v trng vi im A.

+ Hnh 5.7c trnh by mt phng php b tr i trng cn bng m
I
, m
II
, m
III
trn cc khu
a khi tm chung mi S v trng vi im A.
V tr khi tm chung mi ca c cu S c xc nh bng bn knh vect
' S
r
,
:

( ) ( ) ( ) ( )
' 1 1 2 1 2 1 3 1 2 3 1 2
1
'
S I I II II III III
r m s m l m l s m l l m l l s m l l l
m

= + + + + + + + + + + +

, , , , , , , , ,
, , , ,

Trong m l khi lng ca c cu k c khi lng cc i trng.
Hay :
1 1 2 1 1 3 1 1 2 2 3 2 2 3 3
'
' ' '
I I II III II II III III III
S
m s m l m l m l m l m l m s m l m l m l m s m l
r
m m m
+ + + + + + + + +
= + +
, , , , , , , , ,
, , ,
,

' 1 2 3
' ' '
S
r h h h = + +
, , ,
,

a khi tm chung mi S v trng vi im A phi c
1 2 3
' ' ' 0 h h h = = =
, , ,
.
Suy ra :
3 3
2 2 3 2 2
2 1 3 1 1 1 1 1
( )
( )
III III
II II III
I I II III
m l m s
m l m s m l m l
m l m l m l m l m l m s
= + +
= + + + +
,
,
, , ,
,
, , , , ,
,

S = A
D
Hnh 5.7c
m
3
m
2
m
1
m
III
m
II
m
I
III
l
,
II
l
,
I
l
,

65
Chng VI
CHUYN NG THC CA MY

Bi ton phn tch ng lc hc c cu gm hai ni dung :
+ Xc nh lc tc ng ln my hay c cu
+ Quan h gia nhng lc ny vi chuyn ng ca c cu.
Chng ny nghin cu quan h gia cc lc tc ng ln c cu v chuyn ng ca c cu.
1. t vn
Khi nghin cu bi ton phn tch ng hc v phn tch lc trn c cu, ta gi thit vn
tc gc ca khu dn
1
= hng s. Tuy nhin, trong thc t, di tc ng ca cc ngoi lc,
my s c mt chuyn ng xc nh (v ni chung vn tc gc thc
1
ca khu dn dao
ng xung quanh mt gi tr trung bnh
tb
nht nh). Do vy cn phi nghin cu chuyn
ng thc ca my.
V chuyn ng ca cc khu trong my ph thuc chuyn ng ca khu dn, nn mun bit
chuyn ng thc ca my, ch cn nghin cu chuyn ng thc ca khu dn (Bi ton
chuyn ng thc ca my).
Nu bin dao ng ca vn tc gc thc
1
ca khu dn vt qu mt gi tr cho
php, ta phi lm u chuyn ng my, tc l tm cch gim bin ca
1
sao cho ph hp
vi yu cu (Bi ton lm u chuyn ng my).
2. Phng trnh chuyn ng
Phng trnh ng lc hc cho php xc nh vn tc gc thc ca my c gi l phng
trnh chuyn ng ca my. Sau y, chng ta s suy din phng trnh chuyn ng ca my
vit di dng ng nng.
1) Cc i lng thay th
a) Momen qun tnh thay th
Gi s my c n khu ng. Gi m
i
,

J
Si
: khi lng v momen qun tnh (i vi trng tm)
ca khu th i; V
Si
v
i
ln lt l vn tc trng tm S
i
v vn tc gc ca khu th i ti mt
thi im t nht nh.
Ti thi im t, ta c :
ng nng ca khu th i :
2 2
2 2
Si i
i i Si
V
E m J

= +
ng nng ca my :
2 2
1 1
2 2
n n
Si i
i i Si
i i
V
E E m J

= =

= = +

2 2
2
1
1
1 1
2
n
Si i
i Si
i
V
E m J

=

= +

t :
2 2
1
1 1
n
Si i
T i Si
i
V
J m J

=

= +

(6.1)
Suy ra :
2
1
2
T
E J

=
i lng J
T
c th nguyn ca momen qun tnh v c gi l momen qun tnh thay th
v khu dn 1 ca tt c cc khu trong my.

66
Nguyn tc thay th l s tng ng v ng nng : ng nng E ca ton b c cu bng
ng nng ca mt khu c vn tc gc bng vn tc gc
1
ca khu dn, c momen qun
tnh bng momen qun tnh thay th J
T
.
V
1 1
;
Si i
V

ch ph thuc vo gc quay ca khu dn m khng ph thucvo
1
, nn J
T

cng ch ph thuc vo : ( )
T T
J J = .
Momen qun tnh ni chung l mt i lng bin thin theo v c chu k l chu k ng
hc (hay chu k v tr) ca c cu.
b) Momen thay th ca cc lc
Gi
i
P
v
i
M
: lc v momen lc tc ng ln khu th i.
i
V
v
i
: vn tc im t lc
i
P
v vn tc gc ca khu i ti thi im t.
Ti thi im t :
Cng sut tc thi ca cc lc t trn khu th i :
i i i i i
N PV M = +

Cng sut tc thi ca tt c cc lc t trn cc khu trong my :
1 1
n n
i i i i i
i i
N N PV M
= =
= = +

Hay :
1
1
1 1
n
i i
i i
i
V
N P M

=

= +

Gi M
T
l mt momen lc t trn khu dn, c phng trng vi
1
, c gi tr :
1
1 1
n
i i
T i i
i
V
M P M

=

= +

(6.2)
M
T
cng chiu vi
1
nu M
T
> 0 . M
T
ngc chiu vi
1
nu M
T
< 0.
Suy ra cng sut ca momen lc M
T
:
. 1 1 1
1
1 1
.
n
i i
T T i i
i
V
M M P M N

=

= = + =

tc l bng
cng sut ca tt c cc lc tc ng ln c cu.
i lng
T
M
c gi l momen thay th v khu dn ca tt c cc lc tc ng ln c

cu. Nguyn tc thay th l s tng ng v cng sut : Cng sut ca tt c cc lc tc
ng ln c cu N bng cng sut ca momen
T
M
coi nh t trn khu dn.

Momen thay th M
T
c th ch ph thuc vo : ( )
T T
M M = , c th ch ph thuc vo
1
:
1
( )
T T
M M = hay c th ph thuc vo c v
1
:
1
( , )
T T
M M =
2) Phng trnh chuyn ng ca my
nh l v bin thin ng nng :
0 0
t t
E
t t
A =
Vi :
0
t
E
t
: bin thin ng nng ca my trong khong thi gian
0
t t t =

0
t
t
A : tng cng ca cc lc tc ng ln my cng trong t .
Ta c :
0
0
t
E
t
E E =
Vi E v E
0
: ng nng ca my ti thi im t v t
0
.
Gi v
0
l gc v tr ca khu dn tng ng vi cc thi im t v t
0
.
Suy ra :
0
2 2
1 0 1
0
( ) ( )
( ) ( )
2 2
t
E T T
t
J J

=

67
Tng cng ca cc ngoi lc tc ng ln c cu trong t :
0
0 0
1
t t
t
E T
t
t t
Ndt M dt = =

Hay :
0
0
t
E T
t
M d
=

Suy ra phng trnh ng nng ca my :
0
2 2
1 0 1
0
( ) ( )
( ) ( )
2 2
T T T
J J M d

=

(6.3)
3) Khu thay th
Xt mt khu c vn tc gc
1
ca khu dn, c momen qun tnh
thay th ti tng thi im bng momen qun tnh thay th J
T
, trn
t mt momen lc ti tng thi im bng momen thay th M
T

ca cc lc.

Khu ny c gi l khu thay th (hnh 6.1).
Ta thy phng trnh (6.2) cng chnh l phng trnh chuyn ng
ca khu thay th, do vic nghin cu chuyn ng thc ca c
cu nhiu khu c th quy v vic nghin cu chuyn ng thc ca
khu thay th.
2. Vn tc gc thc ca khu dn
1) Cc ch chuyn ng ca my
Khi my chuyn ng, ni chung vn
tc gc
1
ca khu dn bin thin theo
gc quay ca n (c th tng dn, gim
dn hay dao ng xung quanh mt gi tr
trung bnh
tb
c nh).
Ty theo tnh cht bin thin ca
1
m
c cc ch chuyn ng khc nhau ca
my.
a) Ch chuyn ng bnh n
Ch chuyn ng bnh n l ch chuyn ng ng vi vn tc gc ca khu dn bin
thin c chu k quanh mt gi tr trung bnh
tb
c nh.
Ni chung, ch chuyn ng bnh n ng vi giai on lm vic ca my.

T (6.3) suy ra :
0
2 0
1 1 0
( ) 2
( ) . ( )
( ) ( )
T
T
T T
J
M d
J J

= +

(6.4)

1
( ) bin thin c chu k, th sau tng khong thi gian nht nh, phi ng thi c:

0
0
( ) ( )
0
T T
T
J J
M d

Do ( )
T
J bin thin c chu k l chu k ng hc ca c cu, nn sau mi chu k:
0 0
( ) ( )
T T
J n J + vi n l s nguyn
J
T
1
1

M
T
Hnh 6.1
Ch chuyn
ng bnh n

Hnh 6.2

68
Nh vy, cn cn phi c
0
0
T
M d A
trit tiu c chu k.

Gi
A
l chu k trit tiu ca cng A, ta c :
0
0
0
0
0
A
A
m
m
T
M d A

+
+
= =
vi m l s
nguyn.
Gi
l bi s chung nh nht ca v
A
, tc l
A
p q
= = vi p, q l s
nguyn, suy ra:
0 0
0 0
0 0 0
( ) ( ) ( )
0
A
T T T
q
T T
J J p J
M d M d

+ +
+ + =
= =

(6.5)
Ta thy :
0
0
2 0
1 1 0
0 0
( ) 2
( ) . ( )
( ) ( )
T
T
T T
J
M d
J J

+
+ = +
+ +

(6.6)
Kt hp vi biu thc(6.5) suy ra :
1 1 0
( ) ( )
+ =
Nh vy,

chnh l chu k bin thin ca
1
( ) v c gi l chu k ng lc hc (hay
chu k lm vic) ca my:
A
p q
= =

iu kin my chuyn ng bnh n
iu kin my chuyn ng bnh n l cng
0
A
phi trit tiu c chu k.

Th nhng
0 0 0
D C
A A A

= + , trong :
0
D
A

v
0
C
A

ln lt l cng ca cc lc pht
ng v cc lc cn tc ng ln my trong khong thi gian t t
0
n t.
Suy ra iu kin my chuyn ng bnh n l cng ng v cng cn phi cn bng nhau
sau mt khong thi gian nht nh:
0 0
D C
A A

=
b) Chuyn ng khng bnh n
ng vi vn tc gc ca khu dn c xu th tng dn hay gim dn. Chuyn ng ny ni
chung ng vi giai on m my hay tt my.
Nu nh cng
0
A
khng trit tiu c chu k, tc l lun lun dng hay lun lun m, th
my s chuyn ng khng bnh n.
2) Xc nh vn tc gc thc ca khu dn
C th gii phng trnh ng nng (6.3) xc nh vn tc gc thc
1
( ) ca khu dn.
Chng ny ch trnh by phng php th.
Trong phng trnh (6.3), J
T
ch ph thuc gc quay khu dn. Cn M
T
c th ch ph thuc
vo , ch ph thuc
1
hay ph thuc ng thi vo v
1
. Tu theo tnh cht bin thin
ca M
T
m c cc phng php khc nhau xc nh
1
( ) .
Trong trng hp M
T
l hm ca gc quay : ( )
T T
M M = , c th dng th ( )
T
E J
xc nh
1
( ) .
Xc nh vn tc gc thc
1
( ) ca khu dn da vo th E(J)
S liu cho trc
+ th momen thay th ca tt c cc lc pht ng : ( )
TD TD
M M =
+ th momen thay th ca tt c cc lc cn: ( )
TC TC
M M =
+ th momen qun tnh thay th ca tt c cc khu: ( )
T T
J J =

69
+ ng nng ca c cu thi im ban u t
0
:
0 0
( ) E E =

Xy dng th ( )
T
E J :
Trnh t tin hnh nh sau (hnh 6.3):
+ Do
T TD TC
M M M = + nn nu cng th ( )
TD
M v ( )
TC
M s suy c th ( )
T
M .
+ V
0
0
T
A M d
=

, do vy nu t th ( )
T
M , dng phng php tch phn th s suy
c th ( ) A .
+ Do
0 0
E A

= nn th ( ) A cng chnh l th ( ) E .
+ Ta c :
0
0
( ) E E E

= + . Do vy khi dch trc ca th ( ) E xung pha di mt

on E
0
s suy c th ( ) E .
+ Bng cch kh t hai th ( ) E v ( )
T
J s xy dng c th ( )
T
E J .

Cch kh t hai th ( ) E v ( )
T
J

M
T
M
T
M
TC
M
T
E, A

J
T
0

1

2

3

4

0
1

2

3

4

0 = 4

3

2

1

J
T
E
E
0

E
E
0
J
T
Hnh 6.3

70
ng vi mt gi tr
k
nht nh, nh th ( ) E v th ( )
T
J , ta xc nh c cc gi
tr ( )
k
E v ( )
T k
J tng ng. Vi cp gi tr
[ ]
( ); ( )
T k k
J E s xc nh c im K
tng ng ca th ( )
T
E J . th ( )
T
E J chnh l tp hp cc im K va xc nh.

Xc nh
1
( )
T phng trnh (6.3) hay t biu thc
2
1
2
T
E J

= , suy ra :
2
1
( )
( ) ( )
2
k
k T k
E J

=

2
1
2 ( )
( )
( )
k
k
T k
E
J
=
Gi tr
k
ng vi mt im K trn th
( )
T
E J .
Gi (x
k
,y
k
) l to ca im K. ;
J E
l t
xch cc trc ca th ( )
T
E J , ta c :
Ta c :
( )
.
( )
k k E E
k
T k k J J
E y
tg
J x

= =
Suy ra :
1
2
( )
E
k
J
tg
= (6.6)

Ghi ch
+ Trong ch chuyn ng bnh n, c sau mt chu k ng lc hc
ca my, ( )
T
J v
( ) A (hay ( ) E ) tr v gi tr ban u, do im K cng tr v v tr ban u. V vy
ng cong ( )
T
E J l mt ng cong kn khng bao quanh gc O.
+ Vic cho
k
bin thin cng tng ng vi vic cho im K chy trn ng cong ( )
T
E J
v ngc li.
+ Trong ch chuyn ng bnh n, ( )
T
E J l ng cong kn khng bao quanh gc O. Do
, nu gi Ot v Ot l tip tuyn di v trn ca th ( )
T
E J ln lt hp vi trc honh
gc
min
v
max
th
k
s dao ng gia hai cc tr
min max
, :
min max k
. ng
vi cc cc tr
min max
, , ta c cc cc tr
min max
, ca vn tc gc khu dn :
max
1 max
min
min
2
( )
E
k
J
tg
=
min max k

4. Lm u chuyn ng my
1) i cng v lm u chuyn ng my
a) H s khng u
Trong giai on chuyn ng bnh n, vn tc gc thc
1
( ) khu dn bin thin c chu
k xung quanh mt gi tr trung bnh nht nh (ngha l khu dn chuyn ng khng u).
nh gi tnh khng u ca chuyn ng, ngi ta dng h s khng u :

1max 1min
tb

=
Trong :
1max 1min
; l cc cc tr ca
1
( ) v
1max 1min
2
tb

+
=
i vi mi my, ngi ta quy nh mt gi tr cho php [ ] ca h s khng u.
t
t
O
E(J
T
)
K
min
max
k
J
T
E
x
k
y
k
(
)
(
J
)
Hnh 6.4

71
Nu
[ ] : my c gi l chuyn ng u.
b) Vn tc cc i v cc tiu cho php ca khu dn
ng vi mi gi tr
tb
ca khu dn v gi tr h s khng u cho php
[ ]
, ta suy c cc
cc tr cho php ca vn tc gc thc
1
( ) ca khu dn. Ta c :
[ ] [ ]
1max 1min
2
tb
+ =
[ ] [ ] [ ]
1max 1min tb
=
Suy ra : [ ]
[ ]
1max
1
2
tb

= +

, [ ]
[ ]
1min
1
2
tb

=

c) Bin php lm u chuyn ng my

Khi
[ ]
> : my c gi l chuyn ng khng u. Khi , phi lm u chuyn ng
my, tc l gi nguyn
tb
, tm cch gim h s khng u sao cho:
[ ]
.

Thng thng, momen qun tnh thay th J
T
ca my bin thin tun hon theo gc quay
ca khu dn v gm hai phn :
T C
J J J
= +
Vi
C
J l momen qun tnh thay th cho bn thn khu dn v cc khu c t s truyn c
nh i vi khu dn; J
l momen qun tnh thay th cho cc khu cn li ca my, J
l
i lng bin thin theo gc quay ca khu dn.

M
T
M
T
E, A

J
T
J
T
E
J

J
T

J
T
E
O
O
E
0
Hnh 6.5

72
D dng chng minh c rng: Khi gi nguyn
tb
v tng momen qun tnh thay th
T
J
thm mt lng
d
J vi
d
J = hng s (momen qun tnh thay th lc ny bng
,
T T d
J J J = + )
th h s khng u s gim xung.

Trong trng hp M
T
v M
TC
ch ph thuc vo gc quay : ( )
TD TD
M M = ;
( )
TC TC
M M = c th dng th ( )
T
E J chng minh nh sau :
Khi tng J
T
thm mt lng J
vi J
= hng s (tc l momen qun tnh thay th lc ny

bng J
T
= J
T
+ J
), vn tc gc
1
ca khu dn c th b thay i, nhng do J
T

ch ph thuc , nn th ( )
T
J khng i dng, ch c trc di v pha tri mt lng
J
(hnh 6.5).
th ( )
T
E J tr thnh
, ,
( )
T
E J . Vn tc
1
ca khu dn tr thnh
,
1
.
Do momen thay th M
T
= M
T
+ M
TC
ch ph thuc vo gc quay , nn th ( ) E
khng thay i.
T suy ra rng th ( )
T
E J v ( )
T
E J khng i dng. Ch c trc E ca th
, ,
( )
T
E J di v pha tri mt lng J
. Gc O ca th
, ,
( )
T
E J nm ti mt v tr xc nh
trn trc E (hnh 6.6).
t
2
t
1
O
E(J
T
) hay E(J
T
)
min
max
J
T
E
E
a
b
O
max
min
E(J
T
) hayE(J
T
)
[
min
]
J
T

E
E
J
O
H
[
max
]
Hnh 6.6
Hnh 6.7

73
T O k hai tip tuyn di t
1
v trn t
2
vi th ( )
T
E J , suy c hai gc
min max
, ng
vi cc cc tr
min max
, ca
1
(hnh 6.6).
Gi
1
a t = trc E,
2
b t = trc E. Ta xt ba trng hp sau :
Trng hp O thuc na ng thng ay+ :
T O k hai tip tuyn di v trn vi th
, ,
( )
T
E J , ta suy ra c hai gc
, ,
min max
, ng
vi cc cc tr
, ,
min max
, ca
,
1
.
Ta thy :
,
max max
min min
<
,
max max
1 1
min min
<
, ,
, 1 1 1 1 max min max min
2 2
tb tb

+ +
= < =
Tc l
tb
gim xung (tri vi gi thit).
Trng hp im O thuc by -
_
:
Tng t nh trn, ta cng thy rng
tb
tng ln ( tri vi gi thit).
Trng hp im O thuc ab:
Ta c:
,
max max
< ,
,
min min
>
,
max max
< ,
,
min min
> , do vy c th gi nguyn gi
tr
tb
.
Khi
tb
c gi nguyn th :
, ,
, 1 1 1 1 max min max min
tb tb

= < =
Tc l h s khng u gim xung.

Bin php lm u chuyn ng my
T chng minh trn, ta thy rng : h s khng u gim xung, cn tng momen qun
tnh thay th J
T
thm mt lng J
vi J
= hng s. Mun vy phi lp trn khu dn (hay trn

khu c t s truyn c nh i vi khu dn) mt khi lng ph gi l bnh .
Gi tr momen qun tnh J
ca bnh phi c chn sao cho: [ ] .

Ta s xt trng hp gii hn :
[ ]
= .
2) Xc nh momen qun tnh ca bnh
Trng hp M
T
v M
TC
ch ph thuc vo gc quay : ( )
TD TD
M M = , ( )
TC TC
M M = ,
c th dng th ( )
T
E J xc nh momen qun tnh ca bnh (phng php ny c
gi l phng php Vit-ten-bau).

S liu cho trc
th ( )
TD TD
M M = , ( )
TC TC
M M = , ( )
T T
J J = . Cho thm
tb
v
[ ] .
Gi s bnh c momen qun tnh J
c lp vo khu dn. Khi lp bnh vo khu

dn, momen qun tnh thay th J
T
s tng thm mt lng J
vi J

= hng s : J
T
= J
+ J
T
.
Vn tc gc
1
c th b thay i, nhng do J
T
ch ph thuc vo gc quay , do th
( )
T
J khng i dng, ch c trc honh di v bn tri mt lng J
. Do
T
M ch ph thuc
gc quay nn th ( ) E v ( ) E cng khng i dng (hnh 6.5).
T suy ra rng th ( )
T
E J v ( )
T
E J cng khng i dng : th ( )
T
E J v
, ,
( )
T
E J trc v sau khi lp bnh c dng nh nhau. Trc E ca
, ,
( )
T
E J di v bn tri so
vi trc E mt lng l J
. Gc O ca th
, ,
( )
T
E J nm ti mt v tr no trn trc E.
Do vy, momen qun tnh ca bnh c xc nh bng cch : T gc O ca th
, ,
( )
T
E J h on thng OH vung gc vi trc E. Momen qun tnh ca bnh :

,
.
d J
J O H =

74
Cch xc nh gc
,
O ca th
, ,
( )
T
E J
Nu bit trc th
, ,
( )
T
E J v gc O ca th ny, c th suy ra cc gc
[ ] [ ]
max min
,
tng ng vi cc cc tr cho php
[ ] [ ]
max min
, ca vn tc gc
1
( ) ca khu dn : T
gc O, k hai tip tuyn trn v di vi th
, ,
( )
T
E J ,
[ ] [ ]
max min
, chnh l gc hp bi
hai tip tuyn ni trn vi trc honh.
Ngc li, nh bit trc th
, ,
( )
T
E J , nhng cha bit gc O, c th xc nh gc O nh
sau : K hai tip tuyn trn t
2
v di t
1
vi th
, ,
( )
T
E J , ln lt hp vi trc honh gc
[ ] [ ]
max min
, . Giao im ca hai tip tuyn trn chnh l gc O ca th
, ,
( )
T
E J (hnh 6.7).

Cch xc nh
[ ] [ ]
max min
,
Gi tr
[ ] [ ]
max min
, tng ng vi cc cc tr cho php ca
1
( ) v vi h s khng u
cho php
[ ] .
Th m :
2
max 1max
min min
[ ]
2
J
E
tg

=

[ ]
2
2
max
min
1
2 2
J
tb
E
tg

=

vi
[ ]
1 <<
[ ] ( )
2
max
min
1
2
J
tb
E
tg

=

Trnh t xc nh momen qun tnh ca bnh bng th ( )
T
E J :
Tm li, c th xc nh momen qun tnh ca bnh theo trnh t sau :
+ Cng hai th ( )
TD TD
M M = ; ( )
TC TC
M M = , ta c th ( )
T
M .
+ Tch phn th ( )
T
M suy c th ( ) A . y cng chnh l th ( ) E .
+ Kh t hai th ( )
T
J v ( ) E suy c th ( )
T
E J .
+ Tnh
[ ] [ ]
max min
, theo biu thc [ ] ( )
2
max
min
1
2
J
tb
E
tg

=

.
+ K hai tip tuyn trn t
2
v di t
1
vi th
, ,
( )
T
E J (hay cng chnh l th ( )
T
E J ), ln
lt hp vi trc honh gc
[ ] [ ]
max min
,
+ Gi
,
1 2
O t t = . H OH vung gc vi trc tung ca th ( )
T
E J
Ta c :
,
.
d J
J O H =

Ghi ch
Phng php Vittenbau ch c dng xc nh momen qun tnh ca bnh trong
trng hp M
T
v M
TC
ch ph thuc vo gc quay .
Trng hp M
T
v M
TC
c ph thuc vo vn tc gc
1
ca khu dn, khng th dng
phng php ny tnh bnh . Bi v, trong trng hp ny, khi lp bnh vo khu dn,
vn tc gc
1
b thay i, cc th M
T
v M
TC
cng b thay i theo, dng ca th
, ,
( )
T
E J khng cn ging dng th ( )
T
E J na, ngha l ta khng th xc nh c dng
ca th
, ,
( )
T
E J , khng th k hai tip tuyn nh trn hnh 6.7 tm gc O v xc nh
momen qun tnh ca bnh .

75
Trng hp bnh c lp trn khu th i c t s truyn c nh i vi khu dn, th
momen qun tnh J
d
tm c trn y chnh l momen qun tnh thay th ca bnh v khu
dn. Momen qun tnh thc
i
d
J ca bnh c tnh nh sau :
2
1 i
d d
i
J J

=

Trong :
i
l vn tc gc ca khu th i c lp bnh .

76
Chng VII

HIU SUT

1. Khi nim v hiu sut
Ta bit rng khi my chuyn ng bnh n, sau tng khong thi gian bng chu k ng
lc hc
ca my, cng ng cung cp cho my v cng cn m my tiu hao phi cn

bng nhau: A A =
C

Th m :
CI
A A A = +
C MS

Vi :
CI
A v A
MS
ln lt l cng dng khc phc cc lc cn c ch v cng tiu hao bi
cc lc ma st trong cc khp ng trong mt chu k ng lc hc ca my.
Do : ( )
CI
A A A = +
MS

Nh vy, cng ng cung cp cho my mt phn c dng khc phc cc lc cn c ch,
phn cn li tiu hao do ma st trong cc khp ng.
nh gi hiu qu s dng cng ng ca my, ngi ta s dng hiu sut :

CI
A
A
=
(7.1)
Do ( )
CI
A A A = +
MS

CI
A A A =
MS

A A
A

=
MS

1
A
A
=
MS
(7.2)
Gi
A
A
=
MS
l h s tn tht, ta c : 1 = (7.3)
Trong c cu, cng ca lc ma st lun lun khc khng, do t (7.2) suy ra: 1 < .
Khi A A =
MS
, tc l ton b cng ng cung cp b tiu hao do ma st trong cc khp ng,
t (7.2) suy ra: 0 = .
my hay c cu chuyn ng c, phi c: A A >
MS
, do t (7.2) suy ra: 0 > .
Tm li: 0 1 <
Khi tnh ton nu hiu sut 0 < th iu ny chng t rng c cu ang ri vo trng thi t
hm.
2. Hiu sut ca mt chui khp ng (hay chui c cu)
Hiu sut ca tng khp ng c th xc nh bng thc nghim hay tnh ton. Trong cc ti
liu k thut, thng cho trc hiu sut ca cc khp ng thng dng, v d hiu sut ca
mt cp bnh rng, ca bi... Lm th no xc nh hiu sut ca mt chui khp ng
hay ca mt chui c cu ?
1) Trng hp chui khp ng ni tip
Xt mt chui gm n khp ng ni tip (hnh 7.1).
Gi
i
l hiu sut ca khp ng th i.
Xt khp ng th 1 : Gi A
l cng ng cung cp. Cng c ch nhn c l A

1
. Hiu
sut ca khp :
1
1
A
A
=
.

77
Vi khp ng th 2, cng cung cp l
1
A , cng c ch nhn c l
2
A . Hiu sut ca
khp ng :
2
2
A
A
=
1
.
Vi khp ng th n, cng cung cp l
1 n
A

, cng c ch nhn c l
CI
A . Hiu sut ca
khp :
1
CI
n
n
A
A
= .
Vi chui khp ng, cung cung cp l A
, cng c ch nhn c l
CI
A .
Do , hiu sut ca chui khp ng ni tip :
1
. ... .
ci ci
n
n
A A A A A
A A A A A
= =
n-1 2 1
n-2 1
1 2
. ...
n
=
1
n
i
i

=
=

2) Trng hp chui khp ng song song
Xt mt chui gm n khp ng song song
(hnh 7.2).
Gi
i
l hiu sut ca khp ng th i.
Vi khp ng th i: Cng cung cp
,
i
A ,
cng c ch nhn c
i
A . Hiu sut ca khp:
,
i
i
i
A
A
=
Vi ton b chui khp ng : Cng sut
cung cp
,
1
n
i
i
A A
=
=

1
n
i
i i
A
A
=
=

. Cng
sut c ch nhn c
1
n
i
i
A A
=
=
ci
.
Do , kiu sut ca chui khp ng song song:
1 1
1 1
n n
i i
CI i i
n n
i i
i i i i
A A
A
A A A

= =
= =
= = =

3) Trng hp chui khp ng hn hp
Xt trng hp tng qut : H thng gm m chui khp ng ni tip b tr song song vi
nhau (hnh 7.3). Mi chui khp ng ni tip gm n khp ng.
Vi ton b h thng: Cng cung cp :
,
1
m
j
j
A A
=
=

, cng c ch nhn c :
1
m
j
j
A A
=
=
CI

Hiu sut ca h thng :
1 1
, ,
1 1
m m
j j
j j CI
m m
D
j j
j j
A A
A
A
A A
= =
= =
= = =

(7.4)
...
Hnh 7.1
D
A
1
1 n
A
CI
A
n
...
Hnh 7.2
D
A
CI
A
,
n
A
,
1 n
A

,
2
A
,
1
A
1
1 n
1
A
2
A
1 n
A

2 n
A

78
Vi chui khp ng ni tip th j : Cng cung cp :
,
j
A , cng c ch nhn c :
j
A .
Hiu sut ca chui khp ng ni tip th j :
,
j
j
j
A
A
= . Suy ra :
,
j
j
j
A
A
= .
Gi
ij
l hiu sut ca mi khp ng trong chui ni tip th j (i = 1, ..., n), ta c:
1
n
j ij
i

=
=
.
Do :
,
1
j j
j n
j
ij
i
A A
A

=
= =
(7.5)
Thay (7.5) vo (7.4), suy ra :
1
1
1
m
j
j CI
m
D j
n
j
ij
i
A
A
A A
=
=
=
= =

Hnh 7.3
D
A
CI
A
,
m
A
,
j
A
,
1
A
11
1 j
1m
1
A
j
A
m
A
1 i
1 n
nm
nj
ij
im

79
Chng VIII

IU CHNH T NG CHUYN NG CA MY

1. t vn
my chuyn ng bnh n, sau mt khong thi gian nht nh, cng ng v cng cn
phi cn bng nhau :
D C
A A = . Khi vn tc gc
1
ca khu dn bin thin c chu k xung
quanh mt gi tr trung bnh
tb
xc nh. Nu bin dao ng ca
1
vt qu gi tr cho
php, th phi dng bnh lm u chuyn ng my. y l ni dung ca bi ton lm
u chuyn ng thc ca my.
Tuy nhin, trong qu trnh lm vic, ti trng ca my c th bin thin bt thng. Khi
cng ng v cng cn khng cn bng nhau na, chuyn ng ca my s mt bnh n.
bo m chuyn ng ca my lun lun bnh n, mc d c s thay i bt thng ca ti
trng, phi dng bin php iu chnh t ng iu chnh cng ng cung cp cho my sao
cho cng ng v cng cn tr li cn bng nhau.
iu chnh t ng chuyn ng ca my l mt lnh vc hp ca l thuyt iu chnh t
ng.
C th dng cc b iu chnh khc nhau dng n cc thit b in, in t hay c kh,
y, ch gii thiu b iu chnh vn tc ly tm l loi ch dng cc thit b c kh. B iu
chnh vn tc ly tm c s dng rng ri trong cc ng c n.
2. B iu chnh vn tc ly tm trc tip
1) Cu to
B iu chnh vn tc ly
tm trc tip bao gm cc
phn t sau y (hnh 8.1) :
Trc quay OO
C cu tay quay con trt
kp ABCD mang qu nng
A.
H thng cnh tay n
EFGH.
Van V.
ng dn cht sinh cng.
L xo.

2) Nguyn l lm vic
Trc quay OO c ni vi khu dn ca my bng mt c cu c t s truyn khng i,
do vn tc gc trung bnh ca trc quay OO t l vi vn tc gc trung bnh
1
ca khu
dn.
Khi my chuyn ng bnh n, trc OO c vn tc gc trung bnh l
0
.
Lc ny, lc ly tm do cc qu nng A :
2
0
2
A A
P m x =
Vi : m
A
: khi lng ca qu nng A
x : khong cch t tm qu nng A n trc OO.
Lc ly tm P
A
c xu hng ko qu nng A i ln v c gi l lc nng.
0
O

D

A

B

C

O

x

E

F

G

H

V

z

(1)

(2)

(3)

(4)

(5)

(6)

Hnh 8.1

80
Trng lng qu nng, trng lng cc khu, lc phc hi ca l xo... c xu hng ko qu
nng i xung. Cc lc ny c gi l lc h.
Di tc ng ca lc nng v lc h, qu nng A hay c cu s c mt v tr cn bng nht
nh, ng vi mt gi tr ca lc nng P
A
hay ng vi mt v tr nht nh ca con trt D (xc
nh bng ta z). V tr cn bng ny ng vi mt gi tr nht nh ca
0
.
Khi c s thay i bt thng ca ti trng bn ngoi, v d khi ti trng tng. Khi cng
cn A
C
m my tiu th

tng ln, vn tc
0
gim xung, khin lc nng P
A
gim xung, lm
cho qu nng A v con trt D i xung, thng qua h thng cnh tay n EFGH m rng van
V, tng thm cht sinh cng i vo ng c. Nh cng ng A
cung cp cho my tng

ln, s cn bng gia cng ng v cng cn c phc hi, vn tc gc
0
tr li n nh
(hnh 8.2).
3) Mt s khi nim c bn
Hy lm quen vi mt vi khi nim c bn dng trong l thuyt iu khin t ng :
+ ng c n c gi i tng cn iu chnh
+ Vn tc gc
0
ca trc quay OO c gi l thng s cn iu chnh
+ S thay i bt thng ca ti trng bn ngoi c gi l kch ng
+ S sai lch ca thng s iu chnh
0
so vi gi tr ban u c gi l tn hiu iu chnh
+ Con trt D v c cu tay quay con trt kp ABCD c nhim v pht hin s sai lch ca
thng s iu chnh so vi yu cu c gi l phn t nhy
+ H thng cnh tay n EFGH chu tc ng ca phn t nhy v c nhim v ng m van
V, iu chnh cht sinh cng i vo ng c, a thng s iu chnh tr v gi tr yu cu,
c gi l phn t chp hnh.
+ H thng gm b iu chnh t ng v i tng cn iu chnh (ng c) c gi l h
iu chnh t ng.
4) u nhc im ca b iu chnh vn tc ly tm trc tip
B iu chnh va nu trn y c gi l b iu chnh vn tc ly tm trc tip. S d c tn
gi nh vy, bi v phn t nhy ca b iu chnh ny c ni trc tip vi phn t chp
hnh.
u im
B iu chnh vn tc ly tm trc tip c kt cu n gin.
Nhc im
- B iu chnh vn tc ly tm trc tip khng nhy vi cc tn hiu nh :
Cng pht sinh do s bin thin ca lc qun tnh P
A
khi
0
thay i, va dng nng h cc
qu nng (tc l cung cp nng lng cho
phn t nhy), va c dng ng m
van V (tc l dn ng phn t chp hnh).
Do , khi kch ng khng ln, nng
lng ni trn khng dn ng phn
t chp hnh, h thng s khng hot
ng.
- B iu chnh vn tc ly tm trc tip
li mt sai s tnh khc khng sau qu
trnh iu chnh:
Khi chuyn ng bnh n mi c xc
lp, cng cn A
C
v do vy cng ng A

khc trc, do v tr van V v con
trt D cng phi khc trc. V mi v tr
ca con trt D ng vi mt vn tc
0

t
chuyn tip
0
0
0
c
mi
Hnh 8.2

81
nht nh, nn trong ch chuyn ng bnh n mi c ti lp, vn tc
0
c mt tr s
,
0
khc trc :
,
0 0
. Sai s
,
0 0
= c gi l sai s tnh : 0 (hnh 8.2).
3. Cc b iu chnh vn tc ly tm gin tip
khc phc nhc im khng nhy vi cc tn hiu nh ca b iu chnh trc tip,
ngi ta dng b iu chnh gin tip, trong nng lng dn ng phn t chp hnh khng
ly trc tip t phn t nhy m thng qua mt phn t khuych i.
Trong cc b iu chnh vn tc ly tm gin tip, phn t khuych i l mt h thng
thy lc cn c gi l ng c tr ng.
1) B iu chnh vn tc ly tm gin tip phi tnh
a) Cu to
Khc vi b iu chnh vn tc ly tm trc tip ch c thm mt h thng thu lc gm
pttng 1 v 2 chuyn ng trong cc xi lanh 1 v 2 cha du v cc ng dn a, b, c, d , e (hnh
8.3).
b) Nguyn l lm vic
Khi my chuyn ng bnh
n, c cu c mt v tr cn bng
nht nh ng vi mt v tr nht
nh ca con trt D, ng vi
mt vn tc gc trung bnh
0

nht nh ca trc quay OO. Khi
pttng nm v tr ng kn
cc ca d, e. Cc khoang ca
xilanh 2 c tc du, s c
gi mt v tr xc nh, ng vi
mt v tr xc nh ca van V.
Khi c s thay i bt thng
ca ti trng bn ngoi, v d khi
ti trng tng. Khi cng cn
A
C
m my tiu th

tng ln,
vn tc
0
gim xung, khin
lc nng P
A
gim xung, lm
cho qu nng A v con trt D
i xung, thng qua h thng
cnh tay n EFGH ko pttng
1 i xung, ca a thng vi d,
ca e thng vi c, du cao p t
ng a i qua ng d vo khoang
trn ca xilanh 2, du mt di
ca pttng 2 theo ng e v c
thot ra ngoi. Nh pttng 2 i xung, thng qua h thng cnh tay n EFGH m rng
van V, tng thm cht sinh cng i vo ng c, khin cng ng A
cung cp cho my tng

ln, mt mt phc hi s cn bng gia cng ng v cng cn, vn tc gc
0
tng tr li.
Mt khc, khi vn tc gc
0
bt u tng tr li, lc nng P
A
tng ln, con trt D v pttng
1 i ln tr li, ng dn hai ca d, e. Ch khi no pttng 1 tr v v ng kn hon ton hai
ca d, e (v tr ban u) th pttng 2 mi thi i xung v van V mi ngng hn, khng m
rng na.
c) u nhc im
u im
O

D

A

B

C

O

E

a

b

d

e

c

F
G

H

V

pttng 2
xi lanh 2

pttng 1
xi lanh 1

O
1
Hnh 8.3

82
- B iu chnh vn tc ly tm gin
tip phi tnh nhy vi nhng tn hiu
nh, bi v nng lng dn ng
phn t chp hnh khng ly trc
tip t phn t nhy m thng qua
phn t khuych i.
- B iu chnh vn tc ly tm gin
tip phi tnh khng li sai s tnh :
,
0 0
0 = = . Tht vy, khi ch
chuyn ng bnh n mi c
xc lp, cng cn A
C
v do vy cng
ng A
khc trc, do v tr
van V cng khc trc. Tuy nhin v
tr pttng 1 vn nm ti v tr ng
kn cc ca d v e, ngha l vn nh trong ch bnh n ban u, do v tr ca con trt D
cng nh vn tc gc
0
vn khng khc trc :
,
0 0
= tc l sai s tnh
,
0 0
0 = =
(hnh 8.4).
Nhc im
Trong b iu chnh vn tc ly tm gin tip phi tnh c th xy ra hin tng mt n nh
ng lc hc : Tht vy, khi cng ng A
tng ln phc hi ch chuyn ng bnh n

th
0
hin ang gim tng tr li, lm cho pttng 1 i ln tr li, tr v v tr ng kn hai
ca d v e. Ch khi no pttng 1 ng kn hon ton hai ca d v e th van V mi ngng hn,
khng m rng na. Tuy nhin, do c qun tnh, van V c th m qu mc cn thit, lm
cho A
ln A
C
, qu trnh iu chnh ngc li c th xy ra, khin cho van V c th dao ng
lin tc (hin tng ny c gi l hin tng mt n nh ng lc hc).
2) B iu chnh vn tc ly tm gin tip c lin h ngc cng
khc phc hin tng
mt n nh ng lc
hc ca b iu chnh
vn tc ly tm gin tip
phi tnh th cn phi
ng dn hai ca d v e
ca xi lanh 1 ngay trong
qu trnh ng m van
V, tc l ngay trong qu
trnh iu chnh.
Mun vy, phi c thm
mt lin h ngc sao
cho ngay khi h thng
cnh tay n EFGH hot
ng ng m van V th
ng thi, thng qua lin
h ngc, cng a
pttng 1 v v tr ng
dn hai ca d, e.
a) Cu to
Tng t nh b iu
chnh vn tc ly tm gin
tip phi tnh, nhng
y c thm lin h
ngc. l h thng cnh
t
chuyn tip
0
= 0
0
c
mi
Hnh 8.4
O

D

A

B

C

O

E

a

b

d

e

c

F
G

H

V

pttng 2
xi lanh 2

pttng 1
xi lanh 1

M

P

N

Q

E
Hnh 8.5

83
tay n PMDNQ ni t phn t chp hnh EFGH n pttng 1. Lin h ngc ny c gi
l lin h ngc cng v h thng cnh tay n PMDNQ l h thng cng, gia tn hiu hai
u lin h ngc c quan h t l (hnh 8.5).
b) Nguyn l lm vic
Khi my chuyn ng bnh n, c cu c mt v tr cn bng nht nh ng vi mt v tr
nht nh ca con trt D, hay ng vi mt vn tc gc trung bnh
0
nht nh ca trc quay
OO. Khi pttng nm v tr ng kn cc ca d, e. Cc khoang ca xilanh 2 c tc du,
s c gi mt v tr xc nh, ng vi mt v tr xc nh ca van V.

Khi c s thay i bt thng ca ti trng bn ngoi, v d khi ti trng tng. Khi cng
cn A
C
m my tiu th

tng ln, vn tc
0
gim xung, khin lc nng P
A
gim xung, lm
cho qu nng A v con trt D i xung. Do lc bt u qu trnh iu chnh, hai khoang ca
pttng 2 c tc du, nn khi con trt D i xung, im N v v vy pttng 1 cng i
xung, m ng a thng vi d, ng e thng vi c. Du cao p t a qua d vo khoang trn ca
pttng 2, du t khoang di ca pttng 2 qua e v c chy ra ngoi, khin cho pttng 2 i
xung:
- Mt mt, thng qua h thng cnh tay n EFGH, m rng van V, tng thm cht sinh cng
i vo ng c, nh cng ng A
tng ln, phc hi s cn bng gia cng ng v cng

cn.
- Mt khc, thng qua lin h ngc PMDNQ, ko pttng 1 i ln, ng dn dn hai ca d v
e. Khi s cn bng gia cng ng v cng cn c phc hi hon ton th pttng 1 cng
va ng kn hai ca d v e, van V khng m rng thm na. Nh vy khc phc c hin
tng mt n nh ng lc hc.
c) u nhc im
u im
Khc phc c hin tng mt n nh ng lc hc.

Nhc im
B iu chnh vn tc ly tm gin tip c lin h ngc cng li sai s tnh khc 0. Tht
vy, khi ch chuyn ng bnh n mi c phc hi, cng ng A
v v vy v tr van V
khc trc. Do h thng cnh tay n HGFEPM l mt h thng cng nn v tr im M cng
phi khc trc. Trong khi khi chuyn ng bnh n mi c ti lp, v tr pttng 1 v do
vy v tr im N vn nh c, nn con trt D phi c mt v tr mi khc trc ng vi mt
vn tc gc
,
0
khc trc : sai s tnh
,
0 0
0 = .
3) B iu chnh vn tc ly tm gin tip c lin h ngc mm
khc phc nhc im l li sai s tnh khc 0 ca b iu chnh vn tc ly tm gin
tip c lin h ngc cng, ng thi vn bo m vn m bo c tnh n nh ng lc
hc ca h thng, ngi ta phi dng lin h ngc mm. Lin h ngc mm cng ni t
im E n im M nh lin h ngc cng, nhng c b tr thm mt l xo v mt b gim
chn, nh quan h chuyn v ca hai im E v M khng cn l tuyn tnh.
Vi lin h ngc mm, hai nhc im l mt n nh ng lc hc v sai s tnh khc
khng ca cc b iu chnh vn tc ly tm c khc phc.
3. Nhn xt v cu trc ca mt h iu chnh t ng
Mt h iu chnh t ng ni chung bao gm (hnh 8.6)
i tng cn iu chnh vi thng s cn iu chnh
2. B iu chnh t ng gm c cc phn t :
+ Phn t nhy : c nhim v pht hin lch ca thng s iu chnh so vi yu cu v a
ra tn hiu iu khin.
+ Phn t khuych i : nhm tng thm cng sut ca tn hiu iu khin.

84
+ Phn t chp hnh: c nhim v thc hin ng tc iu chnh a thng s iu chnh
tr v gi tr yu cu
+ Ngoi ra, cn c lin h ngc (hay cn gi l phn hi ph) ci thin iu kin lm vic
ca h thng.

B iu chnh t ng
Phn t
chp hnh
Phn t khuych i
Phn t
khuych i
Lin h ngc
0
i tng iu chnh
Phn t
nhy
Hnh 8.6

85
Chng IX

C CU CAM

1. i cng
1) Khi nim v c cu cam
C cu cam l c cu c khp cao, c dng to nn chuyn ng qua li (c th c lc
dng) theo mt quy lut cho trc ca khu b dn.
Khu dn ca c cu c gi l cam, cn khu b dn c gi l cn (hnh 9.1).
C cu cam phng l c cu cam, trong cam v cn chuyn ng trong cng mt mt
phng hay trong cc mt phng song song vi nhau. Trong chng ny, chng ta ch nghin
cu c cu cam phng.
Trong c cu cam, cam v cn c ni vi gi bng khp thp (khp trt, khp quay) v
c ni vi nhau bng khp cao. Thng thng, cam c ni vi gi bng khp quay.
Khi cn ni vi gi bng khp trt, tc l cn chuyn ng tnh tin qua li, ta c c cu cam
cn y (hnh 9.1a). Khi cn ni vi gi bng khp quay, tc l cn chuyn ng lc qua li,
ta c c cu cam cn lc (hnh 9.1b).

Hnh 9.1
bin
dng
cam
O
2
b)
O
1
B
con ln
cn
cam
R
min
cn
cn
R
max
a)
a
B
O
1
b
c
d
O
1
a
b
c
d
Hnh 9.3 : Cc gc cng ngh
V
Hnh 9.2
1
B

86
Thnh phn khp cao trn cam trong khp cao ni cam vi cn l mt ng cong kn gi l
bin dng cam. Bn knh vect ln nht ca bin dng cam l R
max
, bn knh vect nh nht l
R
min
(hnh 9.1a).
Thnh phn khp cao trn cn trong khp cao ni cn vi cam c th l mt im hay mt
ng thng. Khi thnh phn khp cao ny l mt im, ta c cn y nhn (hnh 9.1a), cn
khi n l mt ng thng, ta c cn y bng (hnh 9.2).
gim ma st v mn, ta lp trn cn y nhn mt con ln, khi cn c gi l cn y
ln (hnh 9.1b).
Xt c cu cam cn y y nhn nh trn hnh 9.1a. Cam v cn tip xc nhau ti im B.
Bin dng cam c bn phn khc nhau: Hai cung trn bc v da c tm O
1
v c bn knh ln
lt bng R
max
v R
min
. Khi cho cam quay (1) quay lin tc, cn (2) s chuyn ng c nh
s thay i ca bn knh vect
1
O B
ca im tip xc B gia cam v cn.

Vi chiu quay ca cam (1) nh hnh 9.1a, ta thy khi im tip xc B nm trong cung ab, bn
knh vect
1
O B
tng dn t R
min
n R
max
: cn i xa dn tm cam (t v tr gn n v tr xa
tm cam nht); ng vi cung cd, bn knh vect
1
O B
gim dn: cn i v gn tm cam (t v

tr xa n v tr gn tm cam nht); ng vi cung trn bc (hay cung trn ad), bn knh vect
1
O B
khng i: cn s ng yn v tr xa tm cam nht (hay gn tm cam nht).

2) Cc thng s c bn ca c cu cam
a) Thng s hnh hc ca cam
Bn knh vect ln nht R
max
v bn knh vect nh nht R
min
ca bin dng cam.
Cc gc cng ngh l gc c xc nh trn bin dng cam ng vi cc cung lm vic
khc nhau ca bin dng ny. cn chuyn ng qua li v c lc dng th trn bin dng
cam phi c bn gc cng ngh :
Gc cng ngh i xa
d
: ng vi giai on cn i xa tm cam
Gc cng ngh ng xa
x
: ng vi giai on cn ng yn v tr xa tm cam nht

Gc cng ngh v gn
v
: ng vi giai on cn v gn tm cam

Gc cng ngh ng gn
g
: ng vi giai on cn ng yn v tr gn tm cam nht

cn chuyn ng qua li, ti thiu trn bin dng cam phi c hai gc
d
v
v
.
b) Thng s ng hc ca c cu cam
i vi c cu cam cn y y nhn (hnh 9.4a) :
lch tm e = O
1
H
0
, trong H
0
l chn ca ng vung gc h t tm cam O
1
n
gi trt xx ca cn.
Khi e = 0 tc l khi gi trt xx i qua O
1
, ta c c cu cam cn y chnh tm.
i vi c cu cam cn lc y nhn (hnh 9.4b) :
- Khong cch tm cam - tm cn l
O1O2

- Chiu di cn l
O2B0
(chiu di on thng ni tm cn v y nhn ca cn)
Cc gc nh k l gc quay ca cam ng vi cc giai on chuyn ng khc nhau ca
cn. C bn gc nh k tng ng vi bn gc cng ngh ni trn :
Gc nh k i xa
d
ng vi giai on cn i xa dn tm cam
Gc nh k ng xa
x
ng vi giai on cn ng yn v tr xa tm cam nht
Gc nh k v gn
v
ng vi giai on cn i v gn tm cam
Gc nh k ng gn
g
ng vi giai on cn ng yn v tr gn tm cam nht
Cch xc nh gc nh k i xa trong c cu cam cn y y nhn (hnh 9.4a)
Gi B
0
v B
m
l im u v im cui ca cung i xa trn bin dng cam :
0 1 m d
B O B = .
Gi s ban u cam v cn ang tip xc nhau ti im B
0
, lc ny y cn ang v tr gn
tm cam O
1
nht. Gi B
m
l giao im ca vng trn tm O
1
bn knh R
max
= O
1
B
m
vi gi

87
trt xx. Cho cam quay t v tr ban u n khi im B
m
n trng vi im B
m
, khi y
cn s n v tr B
m
xa tm cam O
1
nht. Nh vy, gc nh k i xa bng
,
1 d m m
B O B = .
Tng t i vi c cu cam cn lc y nhn (hnh 9.4b), nu gi B
m
l giao im ca
vng trn tm O
1
bn knh R
max
= O
1
B
m
vi vng trn tm O
2
bn knh l
cn
= O
2
B
0
th gc nh
k i xa bng
,
1 d m m
B O B = .

Ni chung cc gc cng ngh v cc gc nh k tng ng khng bng nhau :
;
d d v v

i vi c cu cam cn y y nhn, gc cng ngh v gc nh k tng ng bng nhau,
th gi trt xx phi i qua tm cam O
1
, tc l ng vi c cu cam cn y y nhn chnh tm
(hnh 9.4a), cn i vi c cu cam cn lc y nhn, phi c iu kin : ba im O
1
, B
0
v
B
m
thng hng (hnh 9.4b).
O
1
B
m
B
0
Hnh 9.4 : Gc nh k

H
0

B
m

x

x

a)

O
1
B
0
B
m
B
m
O
2
d
b)
Hnh 9.5 : Gc p lc y cn

B

O
1
n

n

1

2

2 B
V

a)
n

n

2 B
V
B

O
1
O
2
b)

88
c) Thng s lc hc ca c cu cam
Gc p lc y cn l gc hp bi php tuyn Bn ca bin dng cam ti im tip xc B
gia cam v cn v vn tc
2 B
V
ca y cn B ti v tr ny :
2
( , )
B
Bn V =

(hnh 9.5).
Gc p lc y cn ni chung bin thin theo v tr tip xc B gia cam v cn.
Gc p lc y cn c trng cho kh nng truyn lc ca c cu cam. Tht vy, xt c cu
cam cn y y nhn trn hnh 9.5a. Gi N
v F
ln lt l p lc v lc ma st t cam tc
dng ln cn, v P N F = +

th cng sut c truyn t cam sang cn:
2
. .cos( )
B
W PV = + vi l gc ma st gia cam v cn. Khi gc p lc cng b, cng
sut truyn ng cng ln, hay ni khc i hiu qu ca lc y P
cng ln.
2. Phn tch ng hc c cu cam
Ni dung ca bi ton phn tch ng hc c cu cam :
+ S liu cho trc : Lc ng ca c cu cam, quy lut chuyn ng ca cam.
+ Yu cu : Xc nh quy lut chuyn ng ca cn, c th l xc nh quy lut chuyn v,
quy lut vn tc v quy lut gia tc ca cn.
Trong chng ny ch yu gii thiu phng php th (phng php v - dng hnh).
1) Bi ton chuyn v
+ S liu cho trc : Lc ng ca c cu cam.
+ Yu cu : Xc nh quy lut chuyn v ca cn theo gc quay ca cam, c th l quy lut
bin thin gc lc ( ) = ca cn theo gc quay ca cam i vi c cu cam cn lc, quy
lut chuyn v ( ) s s = ca cn theo gc quay ca cam i vi c cu cam cn y.
a) Xc nh quy lut chuyn v ca cn trong c cu cam cn y y nhn
ng vi cung ng xa v cung ng gn trn bin dng cam, chuyn v s ca cn l khng
i, do ta ch cn xc nh chuyn v ca cn ng vi cung i xa v cung v gn.
Gi s ban u cn v cam ang tip xc nhau ti im gn tm cam nht B
0
(im u ca
cung i xa). Gi H
0
l chn ng vung gc h t O
1
xung gi trt xx ca cn. Ti v tr
ban u ny, gi trt xx ca cn tip xc vi vng trn tm l O
1
, bn knh e = O
1
H
0
(gi l
vng trn tm sai) ti im H
0
(hnh 9.6).
Chuyn v ca cn so vi gi khng ph thuc vo vic chn khu no lm h quy chiu, do
ta c th xt chuyn v ca cn so vi gi trong h quy chiu gn lin vi cam, tc l xt
trong chuyn ng tng i ca c cu i vi cam.
Trong chuyn ng tng i ny, cam coi nh ng yn, cn cn v gi coi nh quay xung
quanh tm cam O
1
vi vn tc gc bng
1
, tuy nhin gi trt xx ca cn vn lun tip xc
vi vng trn tm sai (O
1
, e).
Khi cho gi quay t v tr ban u ng vi im H
0
n v tr m im tip xc gia gi trt
xx v vng trn (O
1
, e) l im H
i
th gc quay ca gi trong chuyn ng tng i bng
0 1 i i
H O H = . Gc quay
0 1 i i
H O H = cng chnh bng gc quay ca cam trong chuyn ng
tuyt i (hnh 9.6).
Ti v tr mi ny ca gi, giao im B
i
ca bin dng cam v ng thng qua H
i
tip xc vi
vng trn (O
1
, e) chnh l im tip xc tng ng ca cam v cn. Ly im H
i
lm gc
xc nh chuyn v s
i
ca cn so vi gi th
i i i
s H B = chnh l chuyn v tng ng ca cn so
vi gi.
Nh vy, trong chuyn ng tuyt i ca c cu,
i i i
s H B = cng chnh l chuyn v ca cn
so vi gi tng ng vi gc quay
0 1 i i
H O H = ca cam.
T c th xy dng th chuyn v ( ) s s = ca cn theo trnh t sau y :

89
- Xc nh gc nh k i xa
d
: V vng trn tm sai (O
1
, e). Qua B
m
, k ng thng tip
xc vi vng (O
1
, e) ti im H
m
. Suy ra :
0 1 d m
H O H = .
- Chia cung
0 m
H H ca vng trn (O
1
, e) thnh n phn u nhau bng cc im H
0
, H
1
, H
2
,
...H
i
,..., H
m
. Tng ng trn trc ca th s(), chia on 0m biu th gc
d
thnh n phn
u nhau bng cc im 0, 1, 2, ..., i.., m, ta c c cc gi tr
0
,
1
,
2
,...,
i
,...,
m
=
d
.
- T H
i
, k tip tuyn vi vng trn (O
1
,e

) ct bin dng cam ti im B
i.
.
Suy ra:
i i i
s H B = chnh l chuyn v ca cn ng vi gc quay
0 1 i i
H O H = ca cam (gc
xc nh chuyn v ca cn l im H
0
). Nu k vng trn c tm l O
1
, bn knh l O
1
B
i
, ct
gi trt xx ti im B
i
th ta cng c:
,
0 i i i i
s H B H B = = .
Nu ly im gn tm cam nht ca cn (im B
0
) lm gc xc nh chuyn v s
i
, th :
,
0 0 0 i i i i
s H B H B B B = = .
- Vi cc cp ( , )
i i
s khc nhau, ta xy dng tng im ca th s(). Ni cc im ny li
s c phn th chuyn v ( ) s s = ca cn ng vi gc nh k i xa
d
.
- Tin hnh tng t nh trn xy dng phn th chuyn v ( ) s s = ca cn ng vi gc
nh k v gn
v
.
- ng vi cc gc nh k i xa
x
v v gn
g
, th chuyn v ( ) s s = ca cn l cc
on thng nm ngang.

b) Xc nh quy lut chuyn v ca cn trong c cu cam cn lc y nhn
Tng t nh trong c cu cam cn y y nhn, ta cng xt chuyn ng tng i ca
c cu i vi cam. Trong chuyn ng tng i ny, cn v gi quay xung quanh tm cam
O
1
vi vn tc gc bng
1
, tm cn O
2
vch nn vng trn tm cn (c tm O
2
, bn knh
bng l
cn
= O
2
B
0
). Khi cho gi quay theo chiu
1
, t v tr ban u ng vi O
1
O
2
n v tr
1
O
1
1

H
m

H
0
H
1
B
m
B
0
B
m
B
1
B
1

s
x

v

g

2
s
1

Hnh 9.6
s
m
0
m
d

x
x

90
1 2
i
OO , tc l quay mt gc
2 1 2
i
i
O OO = th im tip xc gia cam v cn di chuyn n v tr
B
i
, giao im ca vng trn tm
2
i
O , bn knh l
cn
vi bin dng cam. Gc lc tng ng ca
cn so vi gi s bng :
1 2
i
i i
OO B = .
1 2
i
i i
OO B = chnh l gc lc ca cn so vi
gi ng vi gc quay
2 1 2
i
i
O OO = ca cam (hnh 9.7).

T c th xy dng th bin thin gc lc ( ) = ca cn theo trnh t sau :
- Xc nh gc nh k i xa
d
: V vng trn tm cn (O
1
, l
cn
). V vng trn tm B
m
, bn
knh l
cn
, ct vng trn tm cn ti
2
m
O . Ta c :
2 1 2
m
d
O OO = .
- Chia cung
2 2
m
O O ca vng trn tm cn thnh n phn u nhau bng cc im
1 2
2 2 2 2 2
, , ,..., ,...,
i m
O O O O O . Tng ng trn trc ca th (), ta cng chia on biu th gc
d
thnh n phn u nhau, ta c c cc gi tr
0
,
1
,
2
,...,
i
,,,,
m
=
d
.
- T
2
i
O , v vng trn tm
2
i
O , bn knh l
cn
, ct bin dng cam ti B
i
. B
i chnh
l im tip xc
tng ng gia cam v cn. Suy ra
1 2
i
i i
OO B = chnh l chuyn v gc ca cn ng vi gc
quay
2 1 2
i
i
O OO = ca cam.
( ) =
m
O
1
Hnh 9.7
2
O
1
O
1
2
O
2
2
O
3
2
O
2
m
O
0
B
1
B
2
B
3
B
m
B
0
a)
b)
3

91
- Vi cc cp ( , )
i i
khc nhau, ta xy dng c th chuyn v ( ) = ca cn tng
ng vi gc nh k i xa
d
.
- Tin hnh tng t nh trn xy dng th ( ) = ca cn tng ng vi cc gc
v
.
- ng vi cc gc nh k i xa
x
v v gn
g
, th ( ) = ca cn l cc on thng
nm ngang.
c) Xc nh quy lut chuyn v ca cn
trong c cu cam cn y ln
Trong chuyn ng tng i ca c cu
i vi cam, tm I ca con ln vch nn mt
ng cong cch u bin dng cam mt
khong bng bn knh r
L
ca con ln. ng
cong cch u ny gi l bin dng cam l
thuyt, cn bin dng cam ban u gi l bin
dng cam thc.
Nh vy bi ton phn tch ng hc c cu
cam cn y ln c quy v bi ton phn
tch ng hc c cu cam cn y nhn vi
y nhn nm ti tm I ca con ln, cn bin
dng c s dng khi phn tch ng hc l
bin dng cam l thuyt.
Cch v bin dng cam l thuyt t bin
dng cam thc : V mt h vng trn con ln
c tm nm trn bin dng thc, c bn knh
bng r
L
. Bao hnh ca h vng trn ni trn
chnh l bin dng cam l thuyt tng ng
(hnh 9.8).

d) Xc nh quy lut chuyn v ca cn trong c cu cam cn y y bng

O
1
Bin dng l thuyt
I

Bin dng thc
Hnh 9.8 : Cch v bin dng
thc t bin dng l thuyt
B
1 B
0
Hnh 9.9
1
O
1
x
0
= x
8
x
1
x
2
x
3
x
4
x
5
s
0 1 2 3 4 5 6 7 8
x
7
x
6
B
2
B
3
B
4
B
5
B
6
B
7
I
1 I
0
I
2
I
3
I
4
I
5
I
6
I
7
2 =

92

Tng t nh trong c cu cam cn y y nhn, ta cng xt chuyn ng tng i ca
c cu i vi cam. Trong chuyn ng tng i ny, cn v gi coi nh quay quanh tm cam
O
1
vi vn tc gc bng
1
, tuy nhin gi trt xx ca cn vn lun i qua tm O
1
(hnh 9.9).
Khi cho gi quay theo chiu
1
, t v tr ban u O
1
x
0
n v tr O
1
x
i
, tc l quay c mt
gc

0 1 i i
x O x = , th im tip xc gia y cn v cam di chuyn n v tr B
i
. Nu ly tm
cam O
1
lm gc xc nh chuyn v s
i
ca cn so vi gi, th
1 i i
s O I = chnh l chuyn v
tng ng ca cn so vi gi trong chuyn ng tng i.
1 i i
s O I = chnh l chuyn v ca cn so vi
gi tng ng vi gc quay
0 1 i i
x O x = ca cam.
T c th xy dng th chuyn v ( ) s s = ca cn theo trnh t sau y :
- Qua tm cam O
1
, cc k ng thng O
1
x
i
phn b u xung quanh O
1
. Suy ra :
0 1 i i
x O x = .
- Tng ng trn trc ca th s(), ta cng chia on biu th gc 2 = thnh n phn
u nhau bng cc im 0, 1, 2, ..., i.., m, ta c c cc gi tr
0
,
1
,
2
,...,
i
, 2
m
= =
(trn hnh 9.9, ta chia lm 8 phn).
- K ng thng I
i
B
i
vung gc vi O
1
x
i
v tip xc vi bin dng cam ti B
i.
. im B
i
chnh
l im tip xc tng ng gia cn v cam. Suy ra
1 i i
s O I = chnh l chuyn v ca cn ng
vi gc quay
0 1 i i
x O x = ca cam.
- Vi cc cp ( , )
i i
s khc nhau, ta xy dng c th chuyn v ( ) s s = ca cn.
2) Bi ton vn tc v gia tc
Ni dung ca bi ton vn tc v gia tc
S liu cho trc
Lc ng ca c cu cam,
vn tc gc
1
ca cam.
Gi thit
1
= hng s (tc l gia
tc gc ca cam :
1
0 = ).
Yu cu
Xc nh quy lut vn tc v gia
tc ca cn theo gc quay ca
khu dn. i vi cn y, quy
lut vn tc di v gia tc di l
v v( ) = v ( ) a a = . i vi
cn lc, quy lut vn tc gc v
gia tc gc l ( ) = v
( ) = .
Trc y, khi gii bi ton
vn tc v gia tc, ta dng
phng php ho vect.
Phng php ny c s dng
ch yu cho cc c cu phng
ton khp thp. i vi c cu
cam l c cu c khp cao,
thun tin ta s dng phng
php th ng hc.
Sau y trnh by cch gii bi
ton vn tc v gia tc cho c cu cam cn y y nhn bng phng php th ng hc.
s

ds
d
2
2
d s
d
d
Hnh 9.10 : th vn tc v gia tc ca cn

a)
c)
b)

93

Bi ton vn tc
Ta c :
1
v
ds ds d ds
dt d dt d

= = = (9.1)
T th chuyn ( ) s , dng phng php vi phn th, ta suy c th ( )
ds
d

(hnh
9.10b). Do
1
= hng s, nn t biu thc (9.1) ta thy th ( )
ds
d

cng c th dng biu

din vn tc di v( ) ca cn.

Bi ton gia tc
Ta c :
2 2 2
2 1
1 1 1 1 1 1 2 2
v
.
d d d ds ds d s ds d d s ds d s
a
dt dt d dt d dt d d dt d d d

= = = + = + = +

Do :
1
0 =
2
2
1
2
d s
a
d
= (9.2)
T th ( )
ds
d

, dng phng php vi phn th, ta suy c th

2
2
( )
d s
d

(hnh 9.10c).
Do
1
= hng s, nn biu thc (9.2) cho thy th
2
2
( )
d s
d

cng c th dng biu din

gia tc ( ) a ca cn.
3. Phn tch lc trn c cu cam
1) Lc tc dng trn c cu cam - Gc p lc ti hn v gc p lc cc i cho php

Hy xt c cu cam cn y y nhn (hnh 9.11a). Gi B l im tip xc gia cam v cn,
nn l php tuyn ca bin dng cam ti im tip xc B.
+
12
32
B

O
1
P

n

t

12
32
1
Hnh 9.11
32
F
32
R
n

(1)

(2)

(3)

32
N
2 B
V
12
N
12
F
32
R
b)
a)

94
Lc tc dng ln cn bao gm :
Lc t cam tc ng ln cn :
p lc
12
N
nm theo phng php tuyn nn.

Lc ma st
12
F
vung gc vi php tuyn nn.

Gi P
l hp lc ca
12
N
v
12
F
:
12 12
P N F = +

. Gc gia P
v
12
N
bng gc ma st
12

gia cam v cn.
Ti trng Q
(bao gm trng lng, lc qun tnh ca cn, lc phc hi ca l xo bo ton

khp cao gia cam v cn...).
Lc t gi tc ng ln cn :
p lc
32
N
vung gc vi gi trt xx ca cn.

Lc ma st
32
F
song song vi gi trt xx ca cn.

Gi
32
R
l hp lc ca
32
N
v
32
F
:
32 32 32
R N F = +

. Gc gia
32
R
v
32
N
bng gc ma st
32
gia cn v gi.
iu kin cn bng lc ca cn cho ta :
32
0 R P Q + + =

T ho lc trn hnh 9.11b, suy ra :
32 32 12
sin sin
2 2
P Q

=

+

( )
32
32 12
cos
cos
P Q

=
+ +
(9.3)
T biu thc (9.3) ta thy khi
32 12
2
+ + = th P . iu ny c ngha l ngay khi

lc cn Q rt nh, cho d gi tr ca lc y P
c gi tr ln bao nhiu i na, c cu vn

khng th chuyn ng c : c cu cam ri vo trng thi t hm.
Gc p lc ng vi khi c cu b t hm gi l gc p lc ti hn v c k hiu l
th
:

32 12
2
th
=
Nh vy, khi
th
th c cu cam b t hm.
trnh hin tng t hm ca c cu, hn th na c cu lm vic c nh nhng, bo
m mt hiu sut hp l, phi thit k sao cho ti mi v tr tip xc gia y cn v cam, gc
p lc y cn phi nh hn hay bng mt gi tr cc i cho php [ ]
max
:
[ ]
max
:
i i

Trong : [ ]
max th
<
2) Quan h gia gc p lc, v tr tm cam v quy lut chuyn ng ca cn
- Xc nh gc p lc v php tuyn ca bin dng cam
a) Trng hp c cu cam cn y y nhn
Hy xt c cu cam cn y y nhn (hnh 9.12). Gi s cam v cn ang tip xc nhau ti
im B, ti php tuyn vi bin dng cam l nn. H O
1
H
0
vung gc vi gi trt xx ca
cn. Gc gia php tuyn nn v vn tc
2 B
V
ca im tip xc B trn y cn chnh l gc p

lc y cn .
Ta hy tm tm quay tc thi ca cn trong chuyn ng tng i i vi cam.
Trong chuyn ng tng i ny, vn tc ca im B
2
trn y cn l
2/(1) B
V
vung gc vi
php tuyn nn, cn vn tc ca im H
0
trn cn l
02/(1) H
V
vung gc vi O
1
H
0
. Do , tm
quay tc thi ca cn trong chuyn ng tng i i vi cam l im
1 0
P O H nn = .

95
Nu gi P
1
v P
2
l hai im ln lt thuc khu (1) v (2) hin ang trng nhau ti P, th trong
chuyn ng tuyt i ca c cu, ta c :
1 2 P P
V V =

1 1
ds
PO
dt
= vi s l chuyn v ca cn.

1
ds
PO
d
= vi gc quay ca cam.
Hn na, trn hnh 9.12a ta thy phng chiu ca vect
1
PO
l phng chiu ca vect

2 B
V

quay i 90
0
theo chiu ca
1
.

Ti v tr tip xc B gia cam v cn (hnh 9.12a), ta c :
0 1 1 0
0 0
PH PO O H
tg
H B H B
+
= =
0
ds
e
d
tg
s s
+
=
+
(9.4)

Trong : s l chuyn v ca cn (gc xc nh chuyn v s l im B
0
, v tr gn tm cam
nht ca y cn), e l lch tm ca c cu,
2 2
0 0 0 max
s H B R e = = , R
min
: bn knh nh
nht ca bin dng cam.
H thc (9.4) cho ta mi quan h gia gc p lc y cn , v tr tm cam O
1
(hay tm sai e)
v quy lut chuyn ng ca cn (s v
ds
d
).
Xc nh gc p lc v php tuyn ca bin dng cam
Nu bit v tr B ca y cn (B cng l im tip xc gia y cn v bin dng cam), tm
cam O
1
, vn tc
2 B
V
ca im B trn y cn v gi tr
ds
d
tng ng th c th xc nh c
gc p lc y cn v php tuyn nn ca bin dng cam ti im tip xc B ni trn nh
s
0
= H
0
B
0
s

= B
0
B
B

O
1
P

n

t

1
Hnh 9.12
n

(1)

(2)

(3)

2 B
V
2/(1) B
V
H
0
02/(1) H
V
B
0
B

O
1
P

n

1
b)
n

2 B
V
a)
E

96
sau: Dng im E vi
ds
BE
d
= , phng chiu ca vect BE
l phng chiu ca vect

2 B
V

quay i 90
0
theo chiu ca
1
. Ni O
1
E. Ta thy
1
BE PO =

nn O
1
E song song vi PB. Nh
vy php tuyn nn ca bin dng cam ti im tip xc B l ng thng song song vi O
1
E;
gc gia
2 B
V
v O
1
E chnh l gc p lc y cn (hnh 9.12b).
b) Trng hp c cu cam cn lc y nhn
Trong chuyn ng tng i ca c cu i vi cam, vn tc
2
/(1)
B
V
ca im B
2
trn cn
vung gc vi php tuyn nn ca bin dng cam ti im tip xc B, vn tc
2
/(1)
O
V
ca im
O
2
trn cn vung gc vi O
1
O
2
. Do tm quay tc thi P trong chuyn ng tng i gia
cn v cam l
1 2
P OO nn = (hnh 9.13a).
Tng t c cu cam cn y y nhn, ta cng tm c mi quan h gia gc p lc y
cn , v tr tm cam O
1
, v tr tm cn O
2
v quy lut chuyn ng ca cn ( v
d
d
).
Xc nh gc p lc v php tuyn ca bin dng cam
+ Do P l tm quay tc thi trong tng i gia cn v cam, nn trong chuyn ng tuyt i,
ta c :

1 2 P P
V V =

1 1 2
d
PO PO
dt
=
1 2
d
PO PO
d
= (9.5)
T O
1
k ng thng O
1
E song song vi PB, suy ra :
1
2 can
PO BE
PO l
=
Kt hp vi biu thc (9.5), suy ra :
can
d
BE l
d
= .
Hn th na, phng chiu ca vect BE
chnh l phng chiu ca vect

2 B
V
quay 90
0
theo
chiu
1
.

+ Nh vy nu bit v tr B ca y cn, tm cam O
1
, vn tc
2 B
V
ca im B trn y cn v
gi tr
d
d
tung ng th c th xc nh c gc p lc y cn v phng ca php

tuyn nn ca bin dng cam ti im tip xc B nh sau : Dng im E vi
can
d
BE l
d
= ,
Hnh 9.13
a)
1
O
2
O
B
P
n
n
1
2
/(1)
O
V
2
/(1)
B
V
2 B
V
b)
1
O
2
O
B
P
n
n
2 B
V

97
phng chiu ca vect BE
l phng chiu ca vect

2 B
V
quay 90
0
theo chiu
1
. Ni O
1
E.
Php tuyn nn s l ng thng song song vi O
1
E v gc gia
2 B
V
v O
1
E chnh l gc p
lc y cn.
4. Tng hp c cu cam
Ni dung ca bi ton tng hp c cu cam
Cho trc quy lut chuyn ng ca cn, phi thit k c cu cam thc hin c quy lut
chuyn ng ny.
Vi c cu cam cn y: cho trc quy lut chuyn v ( ) s s = ca cn theo gc quay ca
cam, vi c cu cam cn lc: cho trc quy lut bin thin gc lc ( ) = ca cn
( ) = theo gc quay ca cam.
Bi ton tng hp c cu cam gm hai bc :
+ Xc nh v tr tm cam
+ Tng hp ng hc c cu cam hay xc nh bin dng cam
1) Tng hp c cu cam cn y nhn
Trong c cu cam cn y nhn, gc p lc y cn thay i theo v tr tip xc gia cam
v cn. ng vi mi v tr tip xc, gc p lc y cn c mt gi tr xc nh.
bo m cho c cu cam lm vic c nh nhng, khng b t hm, th gc p lc y cn
ng vi mi v tr tip xc phi nh hn hay bng mt gi tr cc i cho php :
[ ]
max
:
i i th
< (9.6)
Th m, nh chng minh phn trn, khi cho trc quy lut chuyn ng ca cn, gc p lc
y cn li ph thuc vo v tr tm cam O
1
. Nh vy, tho mn iu kin (9.6), cn phi
chn v tr tm cam O
1
mt cch hp l.
a) Xc nh v tr tm cam cn y y nhn
Min tm cam trong c cu cam cn y y nhn
Xt c cu cam cn y y nhn (hnh
9.14). Gi B
i
l im tip xc gia cam v cn
v
i
l gc p lc y cn ti v tr ang xt.
Khi cho trc tm cam O
1
, nu dng im E
i
vi
i i
i
ds
B E
d
= trong
i
ds
d
l gi tr tuyt i
ca
ds
d

ng vi v tr ni trn, phng chiu
ca vect
i i
B E
l phng chiu ca vect vn

tc
2
i
B
V
ca im B
i
trn y cn quay i 90
0

theo chiu
1
, th gc p lc
i
ng vi v tr
tip xc B
i
chnh l gc gia
2
i
B
V
v
1 i
O E
.
Ngc li, khi cha bit v tr tm cam O
1
,
nu qua E
i
k ng thng ( )
i
hp vi vn tc
2
i
B
V
mt gc bng [ ]
max
(hnh 9.14) th :
Khi O
1
thuc ng ( )
i
, ta c : [ ]
max i
=
Khi O
1
nm pha di ( )
i
, ta c : [ ]
max i
<
Khi O
1
nm pha trn ( )
i
, ta c : [ ]
max i
>
Hnh 9.14
O
1
E
i
1
B
i
(i)

[ ]
max
[ ]
max
2
i
B
V
( )
i
*
( )
i

98
Lu rng ta c th t ng ( )
i
v pha bn phi hay v pha bn tri ca im E
i
, ng vi
pha phi ta c ng( )
i
, cn ng vi pha tri ta c ng
( )
*
i
.
Nh vy tha mn iu kin [ ]
max i
th tm cam O
1
phi nm pha di hai ng
thng
( )
i
v
( )
*
i
, hay ni khc i tm cam O
1
phi nm trong min ( )
i
.
tha mn iu kin [ ]
max
,
i i
th tm cam O
1
phi nm pha di mi ng
thng
( )
i
v
( )
*
i
, tc l trong min ( ) giao ca mi min ( )
i
ni trn (hnh 9.15).

Cch dng hnh tm min tm cam

Ta cn dng tt c c cc ng ( )
i
v
*
( )
i
ng vi cc v tr tip xc khc nhau, khi bit
trc th chuyn v ( ) s s = v gc p lc cc i cho php [ ]
max
.
Trnh t tin hnh :
- Dng gi trt xx ca cn (xx song song vi trc s ca th ( ) s s = ). Dng im B
0
- v
tr gn tm cam nht ca y cn, im B
m
- v tr xa tm cam nht ca y cn.
- Chia hnh trnh s
max
= B
0
B
m
ca cn thnh n phn u nhau nh cc im B
0
, B
1
,..., B
i
,..., B
m
.
s
2
E
4
s
1
E
2
B
1
1
E
0
= B
0
= E
0
B
2
B
3
B
4
E
m
= B
m
= E
m
E
1
[
max
]
1
d

1
*

1
*v

1
V

E
3
E
4

E
3

E
2

E
1

Min tm
cam ()

(E)

(
v
)
(

)
Hnh 9.15

s

s
max
ds/d

(ds/d)
1

(ds/d)
1
V
D
2
iV
B
V
2
id
B
V

99
- T th ( ) s s = , dng phng php vi phn th, suy c th ( )
ds
d

. T xc
nh c gi tr
i
ds
d

tng ng vi v tr B
i
ca y cn.
- T B
i
, dng im E
i
tng ng. ng vi gc
d
, ta dng c cc im E
0
, E
1
,

E
2
, E
3
..., E
m
.
ng vi gc
v
, ta dng c cc im E
0
, E
1
,

E
2
, E
3
..., E
m
.
V d dng im E
1
ng vi gc
d
ta tin hnh nh sau : Dng on
1 1
1
d
ds
B E
d
= , phng
chiu ca vect
1 1
B E
l phng chiu ca vect vn tc

1
2
d
B V
ca im B
1
trn y cn ng vi
hnh trnh i quay mt gc 90
0
theo chiu
1
.
- T E
i
, dng hai ng( )
i
v
*
( )
i
tng ng : ng vi gc
d
s c cc ng ( )
d
i
v
*
( )
d
i
, cn ng vi gc
v
s c cc ng ( )
v
i
v
*
( )
v
i
.
- Min tm cam ( ) chnh l min nm di mi ng ( )
d
i
,
*
( )
d
i
, ( )
v
i
v
*
( )
v
i
ni trn.

Ghi ch
i vi c cu cam cn y y nhn, cc ng
*
( )
d
i
v
( )
v
i
song song vi nhau, cc
ng ( )
d
i
v
*
( )
v
i
song song vi nhau, do vy ch cn ni cc im E
i
thnh ng cong
kn (E) v k hai tip tuyn ( )
d
v ( )
v
pha di ca (E), hp vi phng trt xx mt
gc bng [ ]
max
: min tm cam l min nm pha di hai ng ( )
d
v ( )
v
.

2
O
2
i
B
2
i
B
V
i
E
n
n
[ ]
max
1
O
1
O
1
O
1
( )
i
Hnh 9.16
[ ]
max
( )
i
*
( )
i

100
Min tm cam trong c cu cam lc y nhn

Tng t nh trn, tha mn iu kin [ ]
max
,
i i
th tm cam O
1
phi nm pha
di mi ng thng ( )
i
v
*
( )
i
. im E
i
c xc nh nh sau : T B
i
dng im E
i
vi
i i can
i
d
B E l
d
= , trong
i
d
d
l gi tr tuyt i ca
i
d
d

ng vi v tr ni trn,
can
l l
chiu di ca cn lc, phng chiu ca
i i
B E
l phng chiu ca vect vn tc

2
i
B
V
ca im
B
i
trn y cn quay i 90
0
theo chiu
1
. ng ( )
i
v
*
( )
i
hp vi vn tc
2
i
B
V
mt gc
[ ]
max
(hnh 9.16).

Hnh 9.17
d
d
0
1
2
3
4
5
m
m 5 4 3 1 2 5 m
0
1 2 3 4
1
d
d
d

1
v
d
d

max
E
5
E
m
=B
m
=E
m
1
O
2
E
0
=B
0
=E
0
B
2
B
1
B
3
B
4
B
5
E
4
E
3
E
2
E
1
E
1
E
2
E
4
E
5
[ ]
max
[ ]
max
E
3
O
1
max
D

101
Cch dng hnh tm min tm cam
- T th ( ) = , ta xc nh c gc lc cc i
max
ca cn. Dng cung trn B
0
B
m
c
tm l tm cn O
2
, bn knh bng chiu di cn l
can
v chn mt gc bng
max
.
- Chia gc lc cc i
max
ca cn thnh n phn u nhau bng cc im B
0
, B
1
, B
2
, ..., B
i
,...,
B
m
. Chia on biu din
max
trn trc tung ca th ( ) = cng thnh n phn u nhau
bng cc im 0, 1, 2,..., i,..., m.
- T th ( ) = , dng phng php vi phn th, suy c th ( )
d
d
. T xc
nh gi tr
i
d
d

tng ng vi v tr B
i
ca y cn (tc l tng ng vi gi tr
i
trn trc
tung ca th ( ) = ).
- T B
i
, dng im E
i
tng ng. ng vi gc
d
, ta dng c cc im E
0
, E
1
,

E
2
, E
3
..., E
m
.
ng vi gc
v
, ta dng c cc im E
0
, E
1
,

E
2
, E
3
..., E
m
.
V d dng im E
1
ng vi gc
d
, ta tin hnh nh sau : Dng on
1 1
1
d
can
d
B E l
d
= .
Phng chiu ca
1 1
B E
l phng chiu ca vect vn tc 2

id
B V
ca im B
i
trn y cn ng
vi hnh trnh i quay mt gc 90
0
theo chiu
1
.
- T im E
i
, dng hai ng ( )
i
v
*
( )
i
tng ng. ng vi gc
d
s c cc ng ( )
d
i

v
*
( )
d
i
, cn ng vi gc
v
s c cc ng ( )
v
i
v
*
( )
v
i
.
- Min tm cam( ) chnh l min nm di mi ng ( )
d
i
,
*
( )
d
i
, ( )
v
i
v
*
( )
v
i
(hnh
9.17).

Ghi ch
Tm cam O
1
c th chn ti mt v tr no trong min tm cam( ) . Khi chn O
1
ti
nh D ca min( ) th kch thc c cu cam s nh gn nht.
Khi chn xong tm cam O
1
, ta bit thm mt s thng s sau :
- i vi c cu cam cn lc y nhn :
Bn knh vect nh nht R
min
= O
1
B
0
v ln nht R
max
= O
1
B
m

Khong cch tm cam tm cn : l
O1O2

- i vi c cu cam cn y y nhn :
Bn knh vect nh nht R
min
= O
1
B
0
v ln nht R
max
= O
1
B
m

lch tm e = O
1
H
0
(H
0
l hnh chiu ca O
1
ln gi trt xx ca cn).
Nu [ ]
max
cng nh th min min tm cam ( ) cng xa im B
0
- v tr gn tm cam nht
ca y cn, c cu cam cng cng knh.
b) Tng hp ng hc c cu cam (V bin dng cam)
Bi ton tng hp ng hc chnh l bi ton ngc ca bi ton phn tch ng hc.

Tng hp ng hc c cu cam cn y y nhn

S liu cho trc
Quy lut chuyn v ca cn : ( ) s s = , bn knh vect nh nht
min
R , lch tm e .
Yu cu
V bin dng cam thc hin quy lut chuyn ng cho ca cn.

Cch v bin dng cam (hnh 9.6)

102
0
- v
tr gn tm cam nht ca y cn. Dng tam gic O
1
B
0
H
0
vi O
1
B
0
= R
min
, O
1
H
0
= e,
1 0
O H xx . Tm cam chnh l im O
1
.
- V vng trn tm sai (O
1
, e). Trn vng trn (O
1
,e), xut pht t im H
0
ln lt t cc
gc , , ,
d x v g
theo chiu ngc vi chiu ca
1
.
- Chia cung
d
trn vng trn (O
1
, e) lm n phn u nhau bng cc im H
0
, H
1
, H
2
, ..., H
i
,...,
H
m
. ng thi cng chia on biu din gc
d
trn trc ca th ( ) s s = lm n phn
u nhau, ta c cc gi tr
0 1
, ,..., , ...,
i m
. Da vo th ( ) s , xc nh gi tr chuyn
v
i
s ca cn tng ng vi gc quay
i
ca cam.
+ Qua im H
i
k tip tuyn vi vng trn (O
1
,

e), trn tip tuyn ny dng im B
i
vi
H
i
B
i
= H
0
B
0
+ s
i
. im B
i
chnh l mt im thuc bin dng cam. Ni cc im B
i
bng mt
ng cong trn, ta c bin dng cam ng vi gc
d
. Tng ng im H
m
, ta c c
im B
m
.
- Lm tng t v bin dng cam ng vi gc
v
.
- Bin dng ng vi cc gc
g
v gc
x
l hai cung trn tm O
1
, bn knh ln lt l
min 1 0
R O B = v
max 1 m
R O B = .

Tng hp ng hc c cu cam cn lc y nhn

S liu cho trc
Quy lut bin thin gc lc ca cn : ( ) = , bn knh vect nh nht
min
R , chiu di cn
l
can
, khong cch tm cam tm cn l
O1O2
.
Yu cu

- Dng vng trn tm cn c tm O
1
bn knh bng l
O1O2
. Trn vng trn tm cn, xut pht t
v tr ban u O
2
ca tm cn, ln lt t cc gc , , ,
d x v g
theo chiu ngc vi chiu
ca
1
.
- Chia cung
d
trn vng trn tm cn lm n phn u nhau bng cc im
1 2
2 2 2 2 2
, , , ..., , ...,
i m
O O O O O . ng thi cng chia on biu din gc
d
trn trc ca th
( ) = lm n phn u nhau, ta c cc gi tr
0 1
, ,..., , ...,
i m
. Da vo th
( ) = , xc nh gi tr chuyn v
i
ca cn tng ng vi gc quay
i
ca cam.
- Qua
2
i
O k ng thng hp vi
1 2
i
OO mt gc bng
i
, trn dng im B
i
vi
2
i
i can
O B l = . im B
i
chnh l mt im thuc bin dng cam. Ni cc im B
i
bng mt ng
cong, ta c bin dng cam ng vi gc
d
. Tng ng im
2
m
O , ta c c im B
m
.
- Lm tng t v bin dng cam ng vi gc
v
.
- Bin dng cam ng vi cc gc
g
v
x
l hai cung trn tm O
1
, bn knh ln lt l
min 1 0
R O B = v
max 1 m
R O B = .
2) Tng hp c cu cam cn y ln
Trong chuyn ng tng i ca c cu i vi cam, tm I ca con ln vch nn bin dng
l thuyt, ng thi ti im tip xc B
i
gia bin dng cam v con ln, php tuyn ca bin
dng l thuyt v bin dng thc trng nhau. Do vy, bi ton tng hp c cu cam cn y

103
ln c quy v bi ton tng hp c cu cam cn y nhn vi y nhn nm ti tm I ca
con ln, bin dng cam v c chnh l bin dng cam l thuyt.

Cch v bin dng thc t bin dng l thuyt
V h vng trn con ln c tm I, c bn knh bng bn knh r
L
ca con ln, tm I nm trn
bin dng l thuyt. Bao hnh ca h vng trn con ln ni trn chnh l bin dng cam thc
cn tm (hnh 9.18).

Cch chn bn knh con ln r
L

Khi bn knh r
L
cng ln, tn tht do ma st y cn cng b. Tuy nhin, nu r
L
ln n mc
min L
r > vi
min
l bn knh cong nh nht ca bin dng cam l thuyt, th trn bin dng
cam thc c th xy ra hin tng t giao. Cn nu
min L
r = th trn bin dng thc c th c
im nhn, ti im nhn s c va p gia cn v cam v im nhn d b mn.
Trn hnh 9.19, ta thy khi
min L
r > v bin dng cam thc l bao hnh pha trong ca h vng
trn con ln th trn bin dng cam thc s c hin tng t giao. Do trong trng hp ny,
bn knh r
L
phi tho mn iu kin :
min L
r < , thng thng nn ly
min
0, 7
L
r = .

3) Tng hp c cu cam cn y y bng
a) Xc nh v tr tm cam
Vi c cu cam cn y y bng, gc p lc y cn chnh l gc hp bi ng thng
vung gc vi y cn v gi trt xx ca cn. Do gc khng ph thuc v tr tm cam
nh trong trong c cu cam cn y nhn, m ch ph thuc vo hnh dng y cn: nu y
cn vung gc gi trt xx th 0 = (hnh 9.20a), nu khng bng hng s (hnh 9.20b).
Nh vy, khi tng hp c cu cam cn y y bng, khng cn a ra iu kin :
[ ]
max
,
i i

Tuy nhin, vi c cu cam cn y y bng, mi im ca bin dng cam c th tip
xc c lin tc vi cn th bin dng cam phi l mt ng cong li.
Khi cho trc quy lut chuyn ng ca cn, tu theo v tr tm cam O
1
m cam c th li hay
lm. Do , cn phi chn v tr tm cam hp l bin dng cam l mt ng cong li.
Bin dng thc
O
1
Bin dng l thuyt
I

Hnh 9.18 : Cch v bin dng
thc t bin dng l thuyt

B
i
Hnh 9.19 : Hin tng t giao
ca bin dng thc
Bin dng
l thuyt
Bin dng thc

104

ng cong li
Cho ng cong kn (C) v mt im M chy trn ng cong ny theo mt chiu c nh.
ng cong kn (C) c gi l li khi ti mi v tr ca im M trn ng cong ny, tm
cong ca ng cong lun nm v mt pha ca n. V d ng cong trn hnh 9.21 l mt
ng cong li, bi v khi cho M chy trn ng cong ny theo chiu ngc chiu kim ng
h, th tm cong I ca ng cong ng vi M lun lun nm v pha tri ca n.

iu kin li ca bin dng cam
Xt c cu cam cn y y bng (hnh 9.22). Gi B l im tip xc gia cam v y cn,
nn v A ln lt l php tuyn ca bin dng cam v tm cong ca bin dng cam ng vi
im tip xc B.
Khi xt chuyn ng tng i ca cn so vi cam, th im tip xc B coi nh chy dc theo
bin dng cam theo chiu
1
. bin dng cam l li, tm cong A phi lun lun nm pha
tri ca im B. Nh vy trong chuyn ng tuyt i, tm cong A phi lun nm pha di
im B.
T , nu chn chiu dng trn php tuyn nn hng ln trn nh trn hnh 9.22 th iu
kin li ca bin dng cam:
0 AB = > ( l bn knh cong ca bin dng cam ti im tip xc B)

Sau y suy din iu kin li cho trng hp y cn vung gc vi gi trt xx.
T O
1
v ng thng O
1
H

vung gc vi AB. ng thng song song vi y cn v tip xc
vi vng trn tm O
1
bn knh R
min
(R
min
l bn knh nh nht ca bin dng cam), ct AB ti
Hnh 9.20
B
= 0
n
n
a)
2 B
V

B
n
n
= hng
b)
2 B
V
M
(C)
M
Hnh 9.21
I
I '
n
B
O
A

1

(+)
Hnh 9.22

105
M. Ta c : s MB = chnh l chuyn v ca cn ti v tr ang xt, gc xc nh chuyn v s
l v tr gn tm cam nht ca cn.
Ta c : AB =
AH HM MB = + +

min
z R s = + +

Tnh z
Ti thi im hay v tr ang xt ca c cu, ta thay th khp cao ti B bng khu (3) v hai
khp thp : khp trt t ti B c phng trt song song vi y cn, khp quay t ti tm
cong A. Sau khi thay th nh vy, vn tc v gia tc ca cc im tng ng trn khu (1),
khu (2) trong hai c cu hnh 9.23 v hnh 9.24 l hon ton nh nhau.
Vi c cu trn hnh 9.24, do hai im B
2
v B
3
l hai im trng nhau thuc hai khu khc
nhau ni nhau bng khp trt, nn phng trnh gia tc:

2 3 2 3 2 3
k r
B B B B B B
a a a a = + +

(9.7)
Khu (3) ni vi khu (2) bng khp trt, khu (3) li ni gi bng khp trt, nn khu (3)
chuyn ng tnh tin. Suy ra :
3 3 1 B A A
a a a = =

.
2 3
r
B B
a
l gia tc tng i ca im B
2
so vi im B
3
,
2 3
r
B B
a
song song vi y cn.

2 3 3 2 3
2. . 0
k
B B B B
a V = = do
3
0 = .
2 B
a
song song vi phng trt ca cn.

T phng trnh (9.7), ta dng c ho gia tc (hnh 9.24).
Hai tam gic AO
1
H v a
1
b
2
ng dng nn :
, ,
2 1
1
b a
AH O A

=
2 1
1
B A
a a
z O A
=
2
2
2
1 1
1
.
d s
O A
dt
z O A
=
2
2 2
1
.
d s
z
dt
=
2
2
d s
z
d
=
n
n
M
B
H O
1
A
(1)
(2)
R
min
s

1

(+)
z
Hnh 9.23
B
O
1
A
(1)
(2)
1

(3)
H
z

a
1
= a
3
= b
3
b
2
Hnh 9.24
2 3
r
B B
a
1 3 3 A A B
a a a = =

2 B
a

106
Tm li, bin dng cam l li th ti mi v tr tip xc B gia cam v cn, hay ni khc
i ng vi mi gi tr ca s v
2
2
d s
d
phi c :

2
min
2
0
d s
R s
d

= + + >

Min tm cam trong c cu cam cn y y bng
bin dng cam l li th ti mi v tr tip xc gia cam v y cn, phi lun lun c:

2
min
2
0
d s
R s
d

= + + >

V R
min
> 0 v s > 0 (hnh 9.25), cn
2
2
d s
d
c th m hay dng tu theo v tr tip xc, do
ch cn xt iu kin trn ng vi cc v tr tip xc m ti :
2
2
0
d s
d
< .
T th ( ) s , dng phng php vi phn th, suy c th ( )
ds
d

. T th
( )
ds
d

, tip tc dng phng php vi phn th, suy c th

2
2
( )
d s
d

. Cng hai th
( ) s v
2
2
( )
d s
d

, ta c th
2
2
d s
s
d
+ (ch cn cng hai th ny ng vi phn m ca
th
2
2
( )
d s
d

).

O
1

R
min

s

2
2
min
d s
s
d

+

V tr thp nht ca y cn
Hnh 9.25 : Min tm cam trong c
cu cam cn y y bng
()
2
2
d s
d
ds
d
( ) s
2
2
d s
s
d
+

107
Gi
2
2
min
d s
s
d

+

l cc tr m ca th
2
2
d s
s
d
+ . Nh vy, bin dng cam l li
(tc l ng vi mi v tr tip xc gia cam v cn u c 0 > ), ta phi c iu kin :

2
min 2
min 0
d s
R s
d

= + + >

2
min
2
min
d s
R s
d

> +

Gi () l ng thng tip xc vi th
2
2
d s
s
d
+ ti im c cc tr m ca n. Ta thy,
nu tm cam O
1
nm pha di () th
2
min
2
min
d s
R s
d

> +

v bin dng cam l li.
Tm li, min tm cam l min nm pha di ng thng () (hnh 9.25).

Ghi ch
Sau khi chn c tm cam O
1
, ta xc nh thm c bn knh nh nht R
min
ca bin dng
cam (khong cch t tm cam O
1
n v tr thp nht ca y cn).
b) Tng hp ng hc c cu cam cn y y bng
S liu cho trc
Quy lut chuyn v ca cn : ( ) s s = , bn knh vect nh nht
min
R .
Yu cu

0
- v
tr gn tm cam nht ca y cn. Dng im O
1
nm trn gi trt xx vi O
1
B
0
= R
min
, y
chnh l tm cam.
- Chia mt phng lm n phn u nhau bng cc im tia O
0
x
0
, O
1
x
1
,

O
2
x
2
, ..., O
1
x
i
, ..., O
1
x
m
.
ng thi cng chia on biu din gc 2 = trn trc ca th ( ) s s = lm n phn
u nhau, ta c cc gi tr
0 1
, ,..., , ..., 2
i m
= = ( y ta chia lm 8 phn).
- Da vo th ( ) s , xc nh gi tr chuyn v
i
s ca cn tng ng vi gc quay
i
ca
cam.
- Trn tia O
1
x
i
, dng im I
i
vi O
1
I
i
= s
i
. Qua im I
i
v ng thng (D
i
) vung gc vi y
cn. Bao hnh ca h ng thng (D
i
) ni trn chnh l bin dng cam cn tm.
5. Bin php bo ton khp cao
i vi c cu cam l c cu c khp cao, cn phi c bin php thch hp bo m s
tip xc lin tc gia cc thnh phn khp cao ca cam v cn (bin php ny c gi l bin
php bo ton khp cao).
C hai cch bo ton khp cao : bo ton bng lc v bo ton bng hnh.

Bo ton bng lc
Dng lc phc hi ca l xo (hnh 9.26a), dng trng lng ca cn (hnh 9.26b) hoc nh p
lc ca cht lng...

Bo ton bng hnh
Dng cc rng buc hnh hc ph nh dng cam rnh (vi cam rnh, hai bin dng cam l hai
ng cch u nhau - hnh 9.26c), cam vnh (dng hai con ln tip xc hai pha vnh cam -
hnh 9.26d), cam kp (hai c cu cam cho cng mt quy lut chuyn ng ca cn - hnh
9.26e), cam u c (y chnh l c cu cam cn y chnh tm, bin dng cam c c im l
khong cch gia mi cp im i ng trn bin dng cam l thuyt ca cam l mt hng s

108
- hnh 9.26f), cam cn khung (bin dng cam c c im l khong cch gia hai tip tuyn
song song ca n l mt hng s - hnh 9.26g)...

Hnh 9.26e : Cam kp
Hnh 9.26g : Cam cn khung
Cn khung

Hnh 9.26f : Cam u c
Hnh 9.26c : Cam rnh
rnh
cam
Cam
vnh
Hnh 9.26d: Cam vnh
Hnh 9.26a
Hnh 9.26b
Q

109
Chng X

C CU BNH RNG THN KHAI PHNG

1. i cng
1) Khi nim
C cu bnh rng c hai khu ng c ni vi nhau bng khp cao, dng truyn
chuyn ng quay gia hai trc vi mt t s truyn xc nh (thng l bng hng s). Hai
khu ng c gi l bnh rng.
T s truyn ca c cu :
1
12
2
i

= vi
1
,
2
: vn tc gc ca trc dn v trc b dn.

C cu bnh rng truyn chuyn ng gia hai trc song song gi l c cu bnh rng
phng (v d c cu bnh rng tr trn rng thng - hnh 10.1a, c cu bnh rng tr trn rng
nghing v rng ch V - hnh 10.1b v 10.1c).
C cu bnh rng truyn chuyn ng gia hai trc khng song song gi l c cu bnh rng
khng gian. Hai trc c th ct nhau, v d c cu bnh rng nn - hnh 10.1d; c th cho
nhau, v d c cu bnh rng tr trc cho - hnh 10.1e, c cu bnh rng nn cho -
hnh10.1f, c cu bnh vt-trc vt - hnh 10.1g).
Ngi ta cng chia c cu bnh rng thnh: C cu bnh rng n khp ngoi (ngoi tip)
khi vnh rng bnh n nm ngoi bnh kia, vn tc gc hai bnh ngc chiu nhau; c cu
bnh rng n khp trong (ni tip) khi vnh rng bnh nh nm trong vnh rng bnh ln, vn
tc gc hai bnh cng chiu nhau (hnh 10.2).
Hnh 10.1d
Hnh 10.1a Hnh 10.1b
:\
Hnh 10.1c
Hnh 10.1e
Hnh 10.1f

110
Khi truyn ng, cc rng ca bnh dn ln lt thay nhau tip xc vi cc rng ca bnh
b dn, y bnh b dn cng chuyn ng. Qu trnh ny c gi l qu trnh n khp ca
cp bnh rng (hnh 10.3).

Bnh rng tr trn rng thng hay rng nghing, c dng hnh tr trn xoay. Vnh rng
gm cc rng ging ht nhau b tr cch u nhau. Trn mt mt ct vung gc vi trc quay
ca bnh rng hnh tr, vnh rng c gii hn bi hai vng trn ng tm O: vng nh
( , )
a
O r , vng chn ( , )
f
O r . Gia vng nh v vng chn c vng chia ( , ) O r chia rng thnh
hai phn: nh rng v chn rng. Mi rng ca bnh rng c gii hn bi hai on ng
cong, gi l bin dng rng (hay cnh rng), i xng nhau qua ng thng i qua tm O ca
bnh rng. Mi khong trng gia hai rng gi l mt rnh rng.
Ta c quan h :
x x x
p = s + w
Trn vng trn ( )
x
C tm O bn knh
x
r vi
f x a
r r r , ta c cc khi nim (hnh 10.4):
Bc rng
x
p : khong cch gia hai bin dng rng cng pha ca hai rng k nhau.
Chiu dy rng
x
s : khong cch ca hai bin dng rng ca mt rng.
Chiu rng rnh
x
w : khong cch ca hai bin dng rng ca mt rnh rng.
Hnh10.1g
O
O
O
O
1
Hnh 10.2

n khp ngoi

n khp trong

1
Hnh10.3
Bnh dn
w
P

M

N
1
N
2 Vng ln

Vng ln

Vng c s

Vng c s

111
Gi Z l s rng ca bnh rng. Do cc rng c b tr cch u nhau trn vnh rng,
nn chu vi ca vng (C
x
) bng : 2
x x
r Zp =
2
x
x
r
p
Z
=

2) nh l c bn v n khp bnh rng
(iu kin t s truyn ca mt cp bin dng rng bng hng s)
T s truyn trong c cu bnh rng ph thuc vo dng ng cong c chn lm bin dng
rng (cn gi l cnh rng). Vi iu kin no t s truyn ca mt cp bin dng rng bng
hng s ?
a) T s truyn ca cp bin dng rng
Xt hai bin dng rng (b
1
) v (b
2
) bt k ln lt
thuc bnh rng (1) v (2) tip xc nhau ti im M
(hnh 10.5). Gi M
1
v M
2
l hai im thuc bnh rng
(1) v (2) hin ang trng nhau ti M. Gi nn l php
tuyn chung ti M ca (b
1
) v (b
2
). Bnh (1) v bnh
(2) ln lt quay quanh tm O
1
v O
2
vi vn tc gc
1
v
2
.
Xt chuyn ng tng i ca c cu i vi bnh
(1).
Trong chuyn ng tng i ny, vn tc ca im
O
2
trn bnh (2) :
2 1 1 2
v
O O
OO
, vn tc ca im M
2

trn bnh (2) nm trn tip tuyn chung ti M vi hai
bin dng :
2 1
v
M M
nn
. Do , tm quay tc thi P
trong chuyn ng tng i ca bnh (2) so vi bnh
(1) :
1 2
P OO nn =
Trong chuyn ng tuyt i ca c cu, ta c :
1 2
v v
P P
=

vi P
1
v P
2
l hai im ln lt thuc bnh
(1) v bnh (2) hin ang trng nhau ti P.
T suy ra :
1 1 2 2
O P O P =
Nh vy t s truyn ca cp bin dng rng (b
1
) v
(b
2
) bng :
1 2
12
2 1
O P
i
O P
= =
b) nh l c bn v n khp (nh l Willis)
Do cc tm quay O
1
v O
2
c nh nn t s truyn i
12
ca cp bin dng rng bng hng s
th im P phi l im c nh trn
1 2
OO .
Vng chnC
f
)
Vng trn(C
x
)
Vng nh (C
a
)
Rnh rng
Rng
B rng b
w
p
x
Bnh rng tr trn rng thng
Hnh 10.4 :

Bin dng rng
(cnh rng)

s
x

w
x
Hnh10.5
O
2

O
1

P
(b
1
)
(b
2
)
M
n
n
1
2 1 O O
V
2 1 M M
V

112
T ta c nh l c bn v n khp nh sau: " thc hin c mt t s truyn bng hng
s, cp bin dng rng n khp vi nhau phi tho mn iu kin : Php tuyn chung nn ti v
tr tip xc bt k M phi ct ng ni tm
1 2
OO ca hai bnh rng ti mt im P c nh".
c) Mt vi khi nim v nh ngha
im tip xc M ca hai bin dng rng c gi l im n khp. Hai bin dng (b
1
) v
(b
2
) c gi l cp bin dng n khp (hay cp bin dng i tip).
im P, tm quay tc thi trong chuyn ng tng i gia hai bnh gi l tm n khp.
Trng hp t s truyn i
12
= hng s th P l im c nh trn O
1
O
2
. Khi c cu chuyn
ng, P vch nn trn bnh (1) vng trn C
W1
(O
1
, r
W1
= O
1
P) v trn bnh (2) vng trn C
W2
(O
2
,
r
W2
= O
2
P).
Do
P1 P2
v = v

nn (C
W1
) v (C
W2
) ln khng trt vi nhau. Hai vng trn ny c gi l hai
vng ln.
Khi n khp (khi tip xc v y nhau chuyn ng), hai bin dng (b
1
) (b
2
) va ln va
trt trn nhau. Vn tc trt tng i gia hai bin dng rng l
M2M1
v
nm theo phng
tip tuyn chung ti im tip xc M :
M2M1 2 1
v = - .PM (hnh 10.5).
Khi tip xc ti tm n khp P th PM = 0, vn tc trt tng i
M2M1
v 0 =
.
Hai bin dng rng n khp vi nhau l bao hnh
ca nhau trong chuyn ng tng i gia chng.
Tht vy, trong chuyn ng tng i ca khu (2)
i vi khu (1), (b
1
) coi nh ng yn, cn (b
2
)
chuyn ng v lun tip xc vi (b
1
), do trong
chuyn ng tng i ny, (b
1
) l bao hnh cc v
tr khc nhau ca (b
2
) (hnh 10.6).
3) Bin dng rng thn khai
Hai bin dng n khp (b
1
), (b
2
) l bao hnh ca nhau trong chuyn ng tng i gia
chng, nn v nguyn tc khi chn trc ng cong (b
1
) lm bin dng rng cho bnh (1) th
bng phng php bao hnh hon ton c th xc nh c ng cong (b
2
) lm bin dng
th hai, tho mn iu kin t s truyn bng hng s ca cp bin dng. Ni khc i, c v s
cp ng cong tng ng nhau m khi dng lm cp bin dng rng s tho mn iu kin t
s truyn bng hng s.
Trong thc t, ngi ta thng dng cc ng cong sau y lm bin dng rng : ng
xiclit, ng trn, ng thn khai vng trn, trong ng thn khai vng trn c s
dng rng ri hn c.
Trong chng ny, ta ch nghin cu bnh rng c bin dng rng l ng thn khai,
truyn chuyn ng quay gia hai trc vi t s truyn bng hng s v ch nghin cu trng
hp cp bnh rng ngoi tip.
a) ng thn khai vng trn v tnh cht
nh ngha
Khi cho ng thng( ) ln khng
trt trn vng trn ( , )
b b
C O r th mt
im M bt k trn ng( ) s vch
nn mt ng cong (E) gi l ng
thn khai vng trn. Vng trn
( , )
b b
C O r gi l vng trn c s ca
ng thn khai. im M
b
gi l gc
ca ng thn khai (E) trn vng c s
(hnh 10.7).
Tnh cht
Hnh 10.6 1
( ) b
2
( ) b
Hnh 10.7
,
b
M
b
r
( )
b
C
b
M
,
M
M
( )
ng thn
khai (E)

113
ng thn khai (E) khng c im no nm trong vng trn c s ( )
b
C
Php tuyn ti im M ca (E) cng l tip tuyn ti im N ca vng trn c s ( )
b
C v
ngc li.
Tm cong ti im M ca (E)
l im N nm trn vng trn c
s ( )
b
C . Bn knh cong ti im
M ca (E) l on NM bng cung
ln
b
M M :
b
NM M M =
Cc ng thn khai (E) v
(E) cng vng trn c s c th
chng kht ln nhau. Khong cch
trn cc php tuyn chung bng
chiu di cung gia gc ca
chng trn vng trn c s :
, ,
b b
MM M M =
b) Phng trnh ng thn khai
Dng phng trnh tham s trong h to cc (hnh 10.8).
Chn h ta cc tm O, trc
b
Ox OM =

.
Ta ca im M thuc ng thn khai vng trn (E) :
(
x
x b
r OM
M
MOM
(ban knh vect)

goc toa )

Th m:

b
x b x
b
NM
NOM NOM
r
= = vi ( , )
x x
r ON =

Theo tnh cht ca ng thn khai:

b
b x
b b
NM NM
NM NM tg
r r
= = =
x x x
tg =
Mt khc, ta c :
cos
b
x
x
r
r
=
Do , phng trnh ng thn khai :
cos
( )
b
x
x
x x x x
r
r
tg inv
= =

Vi ( )
x x x
inv tg = gi l hm thn khai (involute function).
Gc
x
c gi l gc p lc ca ng thn khai trn vng ( , )
x x
C O r bi v
x
chnh l
gc gia php tuyn( ) ca bin dng thn khai (E) ti im M thuc vng trn ( , )
x x
C O r vi
vn tc ca im M trn vng trn khi ( , )
x x
C O r quay quanh im O.
c) Bin dng thn khai tha mn nh l c bn v n khp
Khi dng ng thn khai vng trn lm bin dng rng th trong qu trnh n khp ca hai
bin dng, t s truyn i
12
bng hng s (hnh 10.9).
Tht vy, xt hai bin dng thn khai (E
1
) v (E
2
)

c vng c s l
1 1 1 2 2 2
( , ), ( , )
b b b b
C O r C O r , tip
xc vi nhau ti mt v tr bt k M. Gi nn l php tuyn chung ti M ca hai bin dng.
Theo tnh cht ng thn khai, php tuyn chung nn ti im M ca (E
1
) v (E
2
) cng l tip
tuyn chung N
1
N
2
ca hai vng trn c s (C
b1
) v (C
b2
). Do hai vng c s c nh nn tip
tuyn chung N
1
N
2
cng c nh.
Hnh 10.8
x
O
N
M
(E)
(C
b
)
r
b

x
M
b
V
M

114
Nh vy, php tuyn chung nn ti im M bt k ca hai bin dng thn khai (E
1
) v (E
2
) lun
ct ng ni tm O
1
O
2
ti mt im P c nh: cp bin dng thn khai tho mn nh l c
bn v n khp (tc l bo m t s truyn i
12
= hng s).
d) Mt vi khi nim
ng n khp - on n khp l thuyt
ng n khp l qu tch cc v tr tip xc M
gia hai bin dng rng trong qu trnh n
khp.
Trong qu trnh n khp ca cp bin dng
rng thn khai (E
1
), (E
2
), im tip xc M lun
lun di chuyn trn ng thng N
1
N
2
,

tip
tuyn chung ca hai vng trn c
s
1 2
( ), ( )
b b
C C . ng thng N
1
N
2
chnh l
ng n khp ca cp bin dng thn khai.
Tuy nhin, trong cp bnh rng ngoi tip,
im tip xc M khng th chy vt ra ngoi
on N
1
N
2
: on thng N
1
N
2
c gi l on
n khp l thuyt.
Gc n khp
Gc
W
to bi php tuyn chung ti im tip xc M ca hai bin dng (cng chnh l ng
n khp nn) v tip tuyn chung tt ti P vi hai vng ln
1 2
( ), ( )
b b
C C : ( , )
W
nn tt =
Ta c:
b1 b2
W
W1 W2
r r
cos = =
r r

Vi cp bin dng thn khai, hai tm quay O
1
, O
2
cho trc, cc bn knh
1 2
,
b b
r r ca cc vng
trn c s l khng i nn ng n khp N
1
N
2
c nh. Nh vy, gc n khp
W
trong cp
bin dng thn khai l khng i.
Kh nng dch trc ca cp bin dng rng thn khai
Ta c:
1 1 1
.cos cos
b w w w
r OP r = =
V
2 2 2
.cos cos
b w w w
r O P r = =

2 2 2
12
1 1 1
w b
w b
r r O P
i
O P r r
= = =
Ngha l t s truyn c th xc nh theo bn knh cc vng trn c s, khng ph thuc vo
khong cch trc
1 2 1 2 w w w
a OO r r = = + . Do , khi thay i (mt cht t) khong cch trc
W
a
ca cp bin dng rng thn khai cho trc, th bn knh cc vng ln
1 2
,
W W
r r u thay i,
nhng t s truyn i
12
vn khng thay i, bi v bn knh cc vng c s
1 2
,
b b
r r vn khng
thay i .
c im quan trng ny ca cp bnh rng thn khai gi l kh nng dch trc. Khi lp rp,
nu khong cch trc
w
a ca cp bnh rng thn khai c khng chnh xc th t s truyn vn
khng thay i.
2. iu kin t s truyn ca mt cp bnh rng thn khai bng hng s
Vi mt cp bnh rng thn khai, mi cp bin dng rng n khp
1
( ) E v
2
( ) E b gii hn
bi hai vng nh rng
1
( )
a
C v
2
( )
a
C .
Gi s bnh dn l bnh (1) v c chiu quay nh hnh 10.10. Cp bin dng
1
( ) E ,
2
( ) E tip
xc nhau ti M. Php tuyn chung ti M ca
1
( ) E ,
2
( ) E l ng thng nn, tip xc vi hai
w
2 b
r
1 b
r
2
( )
b
C
1
( )
b
C
n
n
M
2
( ) E
1
( ) E
Hnh 10.9
t
t

115
vng trn c s
1 2
( ), ( )
b b
C C . ng N
1
N
2
chnh l ng n khp ca cp bin dng
1
( ) E ,
2
( ) E . Gi
1 2 1 2
( ) ( )
a
B C N N = v
2 1 1 2
( ) ( )
a
B C N N = .
Ch khi no im tip xc M ca cp bin dng rng (E
1
), (E
2
) di chuyn trong on B
1
B
2
, t
im B
1
n im B
2
, th php tuyn chung nn ca cp bin dng mi ct ng ni tm O
1
O
2

ti im P c nh. Lc t s truyn ca cp bin dng l hng s.
im
1
B gi l im vo khp, im
2
B gi l im ra khp.
on thng
1 2
B B gi l on n khp thc.
Sau im ra khp B
2
, nu cp bin dng ni trn cn tip tc y nhau chuyn ng, v d
y nhau ti v tr
, ,
1 2
( ), ( ) E E , chng s tip xc nhau ti im M nm trn vng nh
1
( )
a
C
ca bin dng
,
1
( ) E . Ti M, php tuyn ca
,
1
( ) E l v nh v M l im nhn, cn php
tuyn ca
,
2
( ) E l ng thng
, ,
2
M N , tip tuyn vi vng trn
2
( )
b
C . Khi , php tuyn
chung ti im M ca
, ,
1 2
( ), ( ) E E s l ng thng
, ,
2
M N v tm n khp by gi l
, , ,
2 1 2
P M N OO = . im P tin dn v pha tm quay O
1
, t s truyn i
12
ca cp bin
dng b thay i.

Tm li, trong cp bnh rng thn khai, mi cp bin dng n khp (E
1
), (E
2
) ch cho t s
truyn i
12
bng hng s khi im tip xc M ca chng chy trong on n khp thc B
1
B
2
, t
im B
1
n im B
2
.

Qu trnh n khp ca cp bnh rng thn khai l s lin tc k tip nhau vo tip xc ca
nhiu cp bin dng rng n khp. Do , t s truyn i
12
ca mt cp bnh rng l hng
s, th mi cp bin dng rng ch c tip xc vi nhau trong on n khp thc B
1
B
2
.
Mun vy th khi cp bin dng n khp th nht (E
1
), (

E
2
) ang tip xc ti B
2
(ang bt u
ra khp ti B
2
) th cp bin dng k tip (E
1
), (

E
2
) phi bt u vo tip xc hay vo tip
xc trn on n khp thc B
1
B
2
.
B
2

N
2

N
1

O
2

O
1

M
B
1

n
n
2
( )
b
C
2
( )
a
C
1
( )
a
C
1
( )
b
C
1
ban h dn,
Hnh 10.10
,
2
N
M

P
P
(E
2
)
(E
1
)
(E
2
)

(E
1
)

116
iu kin ny gi l iu kin n khp u ca cp bnh rng thn khai. tha mn iu
kin n khp u, cn phi tha mn ng thi hai iu kin sau y : iu kin n khp ng
v iu kin n khp trng.
1) iu kin n khp ng v n khp trng ca cp bnh rng thn khai
Gi s cp bin dng th nht l (E
1
), (

E
2
) ang chun b ra khp ti im B
2
. Cp bin
dng k tip l (E
1
), (

E
2
) phi ang tip xc nhau ti mt im M nm trong on B
1
B
2
.
Gi p
N1
v p
N2
l bc rng o trn ng n khp N
1
N
2
(khong cch o trn ng n khp
gia hai bin dng rng cng pha k nhau, cn gi l bc n khp).
(E
1
) v (

E
2
) c th tip xc vi nhau, phi c iu kin :
1 1 N N N
p p p = = (10.1)
Hn na, (E
1
) v (

E
2
) c th tip xc vi nhau ti mt im M nm trong on n khp
thc B
1
B
2
, phi c thm iu kin:
1 2 N
p B B
Hay :
1 2
1
N
B B
p
= (10.2)
iu kin (10.1) c gi l iu kin n khp ng.
iu kin (10.2) c gi l iu kin n khp trng.
1 2
N
B B
p
= c gi l h s trng khp.

Theo tnh cht ng thn khai, ta c :
1 1 N b
p p = ;
2 2 N b
p p = vi
1 2
;
b b
p p l bc rng o
trn vng c s ca bnh (1) v bnh (2).
B
2

M
M
N
2

N
1

O
2

O
1

P
B
1

n
n
1 N
p
2
( )
b
C
2
( )
a
C
1
( )
a
C
1
( ) E
1
ban h dn,
Hnh 10.11 : iu kin n khp ng v n khp trng
2
( ) E
1
( )
b
C

117
iu kin n khp ng vit li nh sau :
1 2 b b b
p p p = =
iu kin n khp ng cng c th vit theo bc rng trn vng ln :
w1 w2
p = p vi
w1 w2
p ;p
l bc rng trn vng ln ca bnh (1) v bnh (2).
2) iu kin n khp kht ca cp bnh rng thn khai
Sau khi iu kin n khp ng v n khp trng tho mn, t s truyn i
12
ca cp bnh
rng s bng hng s nu nh bnh dn khng i chiu quay.
Vi bnh (1) l bnh dn v c chiu quay
1
th cp bin dng lm vic l (E
1
), (

E
2
) ang
tip xc nhau ti M, on n khp l thuyt l N
1
N
2
, on n khp thc l B
1
B
2.

Nu bnh dn i chiu quay th cp bin dng lm vic i pha thnh (E
1
), (E
2
), on n
khp l thuyt v on n khp thc tr thnh N
1
N
2
v B
1
B
2
(hnh 10.12).
Nu gia (E
1
), (

E
2
) khng c tip xc (gia hai bin dng c khe h gi l khe h cnh
rng) th trc tin s c hin tng gin on truyn ng, sau l va p. Do trong qu
trnh chuyn tip t khi cp bin dng (E
1
), (E
2
) thi n khp n khi cp bin dng (E
1
), (E
2
)
vo n khp, t s truyn i
12
ca cp bnh rng b thay i.
Nh vy, t s truyn i
12
ca cp bnh rng bng hng s khi bnh dn (1) i chiu quay
th, tng ng vi im M, cp bin dng lm vic phi l (E
1
), (E
2
) ang tip xc vi
nhau.
n khp khng c khe h cnh rng c gi l n khp kht.

Suy din iu kin n khp kht (hnh 10.12)

Gi
1 1
( ) ( )
W
a E C = ;
,
1 1
( ) ( )
W
b E C = ;
2 2
( ) ( )
W
c E C = ;
,,
2 2
( ) ( )
W
d E C =
Khi bnh dn quay theo chiu
1
n khi im tip xc M ca (E
1
), (E
2
) trng vi P th :
a P v c P . V
1 2
( ), ( )
W W
C C ln khng trt trn nhau nn :

aP cP = (10.3)
Khi bnh dn quay theo chiu ngc li n khi im tip xc M ca (E
1
), (E
2
) trng vi P
th: b P v d P . V
1 2
( ), ( )
W W
C C ln khng trt trn nhau nn :

bP dP = (10.4)
Hnh 10.12 : iu kin n khp kht
1
( ) E
2
( ) E
,
2
( ) E
,,
2
( ) E
,
1
( ) E
1
( )
b
C
1
( )
a
C
2
( )
a
C
2
( )
b
C
M
,
M
a
b
c
d
1
( )
w
C

118
T (10.3) v (10.4) suy ra :

ab cd = , ngha l :
1 2 W W
W S = .
Tng t , ta cng c :
1 2 W W
S W =
Vi
1 2
,
W W
W W ln lt l chiu rng rnh trn vng ln ca bnh (1) v bnh (2);
1 2
,
W W
S S ln
lt l chiu dy rng trn vng ln ca bnh (1) v bnh (2).
Tm li, iu kin n khp kht ca cp bnh rng thn khai: Chiu dy rng trn vng
ln ca bnh n bng chiu rng rnh trn vng ln ca bnh kia.
Tuy nhin trn thc t, b li cc sai s do ch to v lp rp, phng nga s dn n v
nhit v lu thng du bi trn, ngi ta thng to ra mt khe h cnh rng nht nh, do
rt kh bo m c iu kin n khp kht.
3. Cc thng s ch to c bn ca bnh rng thn khai
1) Phng php bao hnh to hnh bin dng thn khai
Xt c cu cam cn y y bng, c bin dng cam l ng thn khai (E), c vng trn
c s l ( , )
b b
C O r , y cn l ng thng (K), gc p lc y cn l
0
(hnh 10.13).
Lc u, cam v cn v tr (E) v (K), tip xc nhau ti im M, php tuyn chung ti M ca
(E) v (K) l ng thng NM tip xc vi vng c s ( )
b
C . Sau khong thi gian dt, cam v
cn n v tr mi l (E) v (K), tip xc nhau ti M, cn i c mt on dS, cam quay
c mt gc d , php tuyn chung ti M ca (E) v (K) l ng thng NM tip xc vi
vng c s( )
b
C .
Do (K) v (K) song song vi nhau nn
, ,
NM N M .

Ta c :
,
0
cos
MM
dS
= v
, ,
b b
b b
M M MM
d
r r
= =
0
cos
b
r dS
d
= (10.5)
Gi V v ln lt l vn tc tnh tin ca cn v vn tc gc ca cam, ta c :
dS
V
dt
= (10.6)
Hnh10.13 : Nguyn tc bao hnh to hnh bin
dng rng thn khai
b
r
(K)
(K)
(E)
(E)
(M)
(M)
0
dS
t
t
(C)
(C
b
)
d
O
N = N
P
V
M
b

M
b

119
V :
d
dt
= (10.7)
T (10.5), (10.6) v (10.7) suy ra :
0
V
cos
b
r

= hay :
0
.
cos
b
r
V
=
T O, v dng thng vung gc vi phng trt ca cn, ct NM ti P. t r = OP.
Ta c :
0
cos
b
r
r
= . V r =
Gi (C) l vng trn tm O, bn knh r = OP gn trn cam. (tt) l ng thng gn cng trn
cn, song song vi phng trt ca cn v tip xc vi (C) ti im P.
Do . V r = , tc l vn tc tnh tin ca cn bng vn tc tip tuyn ca vng trn (C) nn
ng thng (tt) ln khng trt trn vng trn (C).
Nh vy, khi cho cam v cn tip xc v y nhau chuyn ng th
0
.
cos
b
r
V
= v ng
thng (tt) gn trn cn s ln khng trt vi vng trn (C) gn trn cam.
Ngc li, khi cho (tt) gn trn cn ln khng trt vi vng trn (C) gn trn cam, tc l cho
cam quay vi vn tc gc , cn tnh tin vi vn tc V vi
0
.
cos
b
r
V
= , th cam v cn s
tip xc v y nhau chuyn ng v do bin dng thn khai (E) s l bao hnh ca cc v
tr khc nhau ca (K) trong chuyn ng tng i i vi cam.
T , suy ra phng php bao hnh to hnh bin dng rng thn khai :
Cho ng thng (tt) ln khng trt vi vng trn (C). Gi (K) l on thng gn cng
trn (tt), c php tuyn lm vi (tt)
mt gc bng
0
. Ti nhng thi
im khc nhau trong chuyn ng
tng i ca (tt) i vi vng (C), ta
ghi li cc vt ca (K) trn mt
phng gn lin vi vng (C). Ta s
nhn ch ng thng m bao
hnh l ng thn khai vng trn
(hnh 10.16).
Nu thay v on thng (K), ta
gn cng ln (tt) thanh rng hnh
thang th trn mt phng gn lin vi
vng trn (C), s nhn c nhng
h ng thng m bao hnh l cc
cp bin dng thn khai i xng vi
nhau tng i mt ca bnh rng
thn khai (hnh 10.14).
2) Thanh rng sinh v thng s ca thanh rng sinh
Thanh rng dng to hnh bnh rng thn khai gi l thanh rng sinh. Hnh dng v kch
thc thanh rng sinh quyt nh hnh dng v kch thc ca dao dng ct bnh rng theo
phng php bao hnh, do thanh rng sinh c tiu chun ho.
Thanh rng sinh c cc rng hnh thang cn, ging ht nhau v b tr cch u nhau.
ng thng t
0
t
0
song song vi ng nh v ng chn, chia i rng theo chiu cao gi l
ng trung bnh. Trn t
0
t
0
, chiu rng rng s
0
bng chiu rng rnh w
0
:
0 0
= w s .
Cc thng s ca thanh rng sinh
Bc rng ca thanh rng
0
p (khong cch gia hai bin dng rng cng pha ca hai rng
k nhau o trn mt ng thng song song vi ng nh hoc ng chn)
Hnh 10.14
P
V
t t
( ) C

120
Moun :
0
0
p
m
= . Moun
0
m c tiu chun ho.
Gc p lc ca thanh rng
0
: na gc nh ca hnh thang cn. Gc
0
cng c tiu
chun ho :
0
0
20 = v l mt thng s v hnh dng rng.
Chiu dy rng
0
s v chiu rng rnh
0
w o trn ng trung bnh.
Ta c :
0 0
0 0
= w
2 2
p m
s

= =
Chiu cao nh rng
,
0
h v chiu cao chn rng
,,
0
h (khong cch t ng trung bnh n
ng nh v ng chn) :
, ,,
0 0 0
1, 25 h h m = =
Chiu cao rng
0 0
2, 5 h m =
Chiu cao phn ln trn nh rng v chn rng:
0 0
0, 25 c m =
Thc ra, phn ln trn nh rng khng c ngha g trong vic to hnh bin dng thn
khai, do vy ngi ta thng dng chiu cao l thuyt ca nh rng
,
0 0
1. h m = v chiu cao l
thuyt ca rng
0 0
2, 25 h m = .

3) Cc thng s ch to c bn ca bnh rng thn khai
Trong phng php to bin dng rng bng bao hnh ni trn, vng trn (C) c gi l
vng chia ca bnh rng. ng thng (tt), gn cng vi thanh rng sinh v ln khng trt
vi vng chia (C), c gi l ng chia.
Bn knh vng chia r ph thuc vo vn tc V ca thanh rng v vn tc gc ca bnh rng
c to hnh:
0
V
cos
b
r
r
= = .
Cc thng s ch to c bn ca bnh rng thn khai
Bc rng p trn vng chia :
V vng chia ln khng trt vi ng chia nn
0
p p =
Moun ca bnh rng:
p
m
=
0
0
p p
m m

= = = .
Gc p lc trn vng chia :
Gc n khp ca thanh rng v bnh rng trong qu trnh to hnh bnh rng thn khai bng
phng php bao hnh (gc gia php tuyn PN vi cnh rng ca thanh rng sinh v ng
chia (tt)) (hnh 10.16).
Ta c : cos
b
r
r
= v
0
=
S rng Z ca bnh rng c ct :
Hnh 10.15: Thanh rng sinh
ng nh rng
ng trung bnh
ng nh l thuyt (T)
ng chn rng
0
h
,
0
h
,,
0
h
0
s
0
w

121
Chu vi vng chia: 2 Zp r = 2 Z m r =
2r
Z
m
= hay :
1
2
r mZ =
Khong dch dao - H s dch dao x :
Trong qu trnh to hnh bnh rng thn khai bng phng php bao hnh, ng trung bnh
t
0
t
0
ca thanh rng sinh khng nht thit phi trng vi ng chia tt. Khong cch gia ng
trung bnh t
0
t
0
v ng chia tt gi l khong dch dao . H s x
m
= gi l h s dch dao.

Quy c v du:
x = 0 : nu ng trung bnh tip xc vi vng chia
x > 0: nu ng trung bnh nm ngoi vng chia
x < 0 : nu ng trung bnh ct vng chia.
Bnh rng c x = 0 gi l bnh rng tiu chun; bnh rng c 0 x gi l bnh rng dch dao
(nu x > 0 - bnh rng dch dao dng; nu x < 0 - bnh rng dch dao m).
Bn thng s m, , Z v x l bn thng s c bn ca bnh rng thn khai. m l thng s v
kch thc, tt c cc kch thc ca bnh rng u c tnh theo m. l thng s v bin
dng rng. Khi bit bn thng s trn, kch thc ca bnh rng hon ton xc nh.

Xc nh mt vi kch thc ca bnh rng
Vi bnh rng tiu chun (x = 0) : ng chia v ng trung bnh trng nhau.
Do trn ng chia, ta c :
0 0
0 0
s = w
2 2
p m
= =
Mt khc, ng chia v vng chia ln khng trt trn nn :
0 0
s = w ,w = s , vi s v w l
chiu dy rng v chiu rng rnh ca bnh rng o trn vng chia.
Suy ra : s = w
2 2
p m
= =
Vi bnh rng dch dao (hnh 10.17) :
Trn ng chia tt, chiu dy rng ca thanh rng :
, , ,
0
= A B 2 s AB AA =

0
0 0 0
m
= 2 .
2
s xm tg

0 0 0
= m 2 .
2
s x tg

O

P
t
t
0

> 0
0
(C
b
)
(C)
V

Hnh 10.16
N

122
Do ng chia (tt) ln khng trt trn vng chia (C), nn:
0
w = s

0
w = s = m 2 .
2
x tg

Bng cch l lun tng t, ta cng suy c : s = m 2 .
2
x tg

+

Ghi ch
Chu vi vng c s : . 2
b b
Z p r = Bc rng trn vng c s :
2
b
b
r
p
Z
=
Mt khc :
1
2
r mZ = v
cos
b
r
r
= cos
b
p m = .
Do , c th vit li iu kin n khp ng nh sau :
1 2 b b
p p =

1 1 2 2
cos cos m m =

1 2
m m m = = v
1 2
= =

Nh vy tha mn iu kin n khp ng, hai bnh rng n khp phi c cng moun v
gc p lc trn vng chia, tc l hai bnh rng phi c to hnh t cng mt thanh rng sinh.
4) Hin tng ct chn rng S rng v h s dch dao ti thiu
a) Hin tng ct chn rng
Hin tng ct chn rng l hin tng phn bin
dng thn khai gn gc M
b
b dao thanh rng ct lm
i trong qu trnh ct bnh rng bng phng php
bao hnh (hnh 10.18).
Trong qu trnh to hnh bnh rng thn khai bng
thanh rng sinh, im tip xc M ca cnh rng (K)
ca thanh rng v bin dng (E) ca bnh rng vch
nn ng thng PN gi l ng n khp ca qu
trnh to hnh.
Hin tng ct chn rng xy ra khi ng nh l
thuyt (T) ca thanh rng sinh ct ng n khp PN ti mt im khng thuc na ng
thng Nx (hnh 10.19).
Chng minh
Gi s ng nh l thuyt (T) ca thanh rng ct ng n khp PN ti mt im S
khng thuc na ng thng Nx. Gi s ti thi im ang xt, cnh rng (K) ca thanh rng
v bin dng thn khai (E) ang tip xc nhau ti im N: bin dng (E) ang nm bn phi
ca cnh rng (K).
Khi vng chia (C) quay c mt gc d , bin dng (E) v cnh rng (K) dch chuyn
n v tr mi (E) v (K). Bin dng (E) i c mt khong
,,
NN trn vng trn (C
b
), mt
Phn cnh rng
gn chn b dao
ct lm i
Hnh 10.18
Hnh 10.17
. x m =
Khng dch dao: t
0
t
0
= tt
C dch dao: t
0
t
0
A
B
C D
A B
0
t t

123
khong
,
aa trn vng chia (C); cnh rng (K) i c mt khong NN trn PN, mt khong
bb = ds trn ng chia (tt).
Ta c :
, ,
cos .cos NN bb ds = =

,, ,
. cos . cos
b
NN r d r d aa = = =
Do ng chia (tt) ln khng trt trn vng chia (C) nn :
, ,
aa bb ds = =
Suy ra :
,,
.cos NN ds =
Hay :
,, ,
NN NN =
Ngha l phn gc ca ng thn khai (E) by gi nm bn tri cnh rng (K). Ni khc
i phn chn gn gc ca bin dng thn khai b dao thanh rng ct lm i khi to hnh.

Ghi ch
Trong qu trnh n khp ca cp bnh
rng, ch c mt phn bin dng rng
thn khai tham gia n khp v c gi
l phn lm vic ca bin dng rng.
Xc nh phn lm vic ca bin dng
rng nh sau: T im vo khp B
1
, v
vng trn tm O
1
, bn knh O
1
B
1
, ct bin
dng thn khai (E) ti im b. Cung ab
chnh l phn lm vic ca bin rng (E)
(hnh 10.20)
Khi chn rng b ct lm i, nhng
khng lm vo phn lm vic ca bin
dng rng, th v mt ng hc t s
truyn i
12
vn khng thay i. Tuy nhin
sc bn un ca rng gim xung (do
gim tit din y rng). Khi phn lm vic ca bin dng rng b ct lm i, th h s trng
khp b gim xung, iu kin n khp trng c th b vi phm.
Hin tng ct chn rng l mt hin tng c hi, cn phi trnh.
b) S rng v h s dch dao ti thiu
T N h NQ OP . khng xy ra hin tng ct chn rng : e PQ (hnh 10.21).
M :
2
.sin .sin .sin sin PQ PN OP OP = = =
(E)
N
N
Hnh 10.19
O
(K) (K)
(E)
ds
b
b
P
N
(C
b
)
(C)
a
a
d
1
(tt)
(T)
x
2
( )
b
C
B
1

a
b
2
( )
a
C
1
( )
b
C
1
( )
a
C
Hnh 10.20 : Phn lm vic ca cnh rng
1
(E)

124

2 2
1
.sin .sin
2
PQ r mZ = =
V :
0 0
1. . e h m x m = =
(1 ) e m x =
Do vy iu kin khng xy ra hin tng ct chn rng :

2
1
(1 ) .sin
2
e m x PQ mZ = =
Vi
0
20 = , ta c :
2
2
sin
17
= .
Do h s dch dao v s rng ca bnh rng phi tha mn iu kin: 1
17
Z
x
+ Khi bit trc h s dch dao x, s rng ti thiu ca bnh rng:
min
17(1 ) Z x =
+ Khi bit trc s rng Z, h s dch dao ti thiu ca bnh rng:
min
17
17
Z
x

=
i vi bnh rng tiu chun (x = 0), khng xy ra hin tng ct chn rng, s rng ti
thiu ca bnh rng phi l Z = 17.

4. Cc thng s n khp ca cp bnh rng thn khai
1) Phng trnh n khp kht
Gi s diu iu kin n khp ng tho mn, tc l :
1 2
1 2 1 2
1 2
b b b W W W
m m m
p p p p p p

= =
= = = =

= =

iu kin n khp kht :
w1 w2 w2 w1
s = w ; s = w
Th m :
w w1 w1
p = s + w
Suy ra :
w w1 w2
p = s + s (10.8)
H thc (10.8) cng l mt dng ca iu kin n khp kht.
Tnh bc
w
p trn vng ln
Ta c :
b
r = rcos v
b w w
r = r .cos
w
w
cos
r = r.
cos

t
0
t
0

(T)
O
=
0

P
tt
(C
b
)
(C)
Hnh 10.21 : Tnh h s dch dao v s rng ti thiu
N
. x m =
x
Q
h
e

125
Chu vi vng ln :
w w
2 r = p .Z
w
w
2 r
p =
Z

w
w
2 cos
p = r.
Z cos

w
w
2 1 cos
p = mZ.
Z 2 cos

w
w
cos
p = m
cos

(10.9)

Tnh
w1 w2
s ;s trn vng ln : (hnh 10.23)
Ta c :
w w
+ = + trong :
w
w
w
s
2r
= ;
s
2r
=
Mt khc, da vo phng trnh ng thn khai, ta c :
w w
inv( ) = ; inv( ) =

w
w
w
s s
inv( ) inv( )
2r 2r
+ = +

w w w
s
s 2r inv( ) inv( )
2r

= +

M :
w
w
cos
r r
cos

=
;
1
r mZ
2
= ; s m 2x.tg
2

= +

Suy ra :
( )
w w
w
cos
s m 2x.tg Z inv( ) inv( )
cos 2

= + +

Nh vy :
( )
w1 1 1 w
w
cos
s m 2x .tg Z inv( ) inv( )
cos 2

= + +

(10.10a)
Hnh 10.22
( )
b
C
( ) C
( )
W
C
( )
a
C
W
s
s
W

126
( )
w2 2 2 w
w
cos
s m 2x .tg Z inv( ) inv( )
cos 2

= + +

(10.10b)
Thay (10.9) v (10.10) vo (10.8), ta c :
( )
1 2 1 2 w
w w
cos cos
m m 2(x x )tg (Z Z ) inv( ) inv( )
cos cos

= + + + +

Suy ra :
1 2
w
1 2
2(x x )
inv( ) tg inv( )
Z Z
+
= +
+
(10.11)
Phng trnh (10.11) c gi l phng trnh n khp kht ca cp bnh rng thn khai.

ngha ca phng trnh n khp kht
Phng trnh (10.11) cho ta mi lin h gia mt thng s n khp c bn ca cp bnh rng
(gc n khp
w
) v cc thng s ch to c bn ca tng bnh rng trong c cu
(
1 2 1 2
, , , , x x Z Z ). Do phng trnh n khp kht cho php :
- Hoc cn c vo cc thng s ch to ca tng bnh rng, suy ra iu kin n khp ca cp
bnh rng.
- Hoc tu theo yu cu n khp, c th chn cc thng s ch to (x
1
, x
2
) cho thch hp.
2) Cc ch n khp ca cp bnh rng thn khai
T phng trnh n khp kht (10.11), ta thy rng khi cho trc
1 2
, , Z Z th ng vi cc gi
tr khc nhau ca tng x = x
1
+ x
2
, ta c cc gi tr khc nhau ca gc n khp
w
, ngha l c
cc ch n khp khc nhau.
Ch n khp tiu chun
Khi
1 2
0 x x = = : cp bnh rng c gi l cp bnh rng tiu chun.
Ch n khp dch chnh u
Khi
1 2
x x = : cp bnh rng c gi l cp bnh rng dch chnh u.
Ch n khp dch chnh dng
Khi
1 2
0 x x + > : cp bnh rng c gi l cp bnh rng dch chnh dng.
3) Cc thng s n khp v c im ca chng trong tng ch n khp
Gc n khp
w

Khi
1 2
0 x x + > : T (10.11) suy ra :
w
inv( ) inv( ) > hay
w
>
Khi
1 2
0 x x + = : Tng t, ta c :
w
=
Bn knh vng ln r
w

Ta c :
w1 1
w
cos
r r
cos

=
;
w2 2
w
cos
r r
cos

=

Khi
1 2
0 x x + > th
w1 1 w2 2
r r , r r > >
Khi
1 2
0 x x + = th
w1 1 w2 2
r r , r r = =
Khong cch trc ca cp bnh rng a
w

Ta c :
w w1 w2 1 2
w
cos
a r r (r r )
cos

= + = +

w 1 2
w
1 cos
a m(Z Z )
2 cos

= +

t
0 1 2
1
a m(Z Z )
2
= + ; a
0
c gi l khong cch trc tiu chun
Khi
1 2
0 x x + > th
w 0
a a >
Khi
1 2
0 x x + = th
w 0
a a =

127
T s truyn i
12

Ta c :
2 2
w2 b2 1 2
12
2 w1 b1 1
1 1
1
m Z
r r r
2
i
1
r r r
m Z
2
= = = = =

iu kin n khp ng ca cp bnh rng : m
1
= m
2

Do :
2
12
1
Z
i
Z
=

4) Mt vi c im ca vic dch dao v dch chnh n khp
Vic ch to bnh rng c dch dao khng phc tp v t hn bnh rng khng dch dao, ch
khc l khi ct rng c dch dao dng hay m dng cc on thn khai khc nhau ca
cng mt vng trn c s lm cnh rng.

Vi bnh rng dch dao dng x > 0
S rng ti thiu ca bnh rng khng xy ra hin tng ct chn rng :
min
17(1 ) Z x = .
Nh vy vi bnh rng dch dao dng, s rng ti thiu Z
min
c th nh hn 17 m khng b
ct chn rng.
Khi dch dao dng, ngi ta dng phn ng thn khai xa gc hn lm bin dng
rng. Bn knh cong ca phn lm vic ca bin dng rng tng ln, nh sc bn tip xc
tng ln.
Tuy nhin dch dao dng lm chiu rng rng trn vng nh gim xung, c th gy nn
hin tng nhn nh rng. Khi thit k cn kim tra iu kin khng nhn nh rng :
a
s 0, 4.m vi m v
a
s ln lt l moun v chiu dy rng trn vng nh.
Khi dch dao dng, chiu dy chn rng tng ln, nh sc bn un tng ln.

Vi cp bnh rng dch chnh
Vi cp bnh rng dch chnh, ta c th phn b h s dch dao x
1
, x
2
mt cch hp l sao cho
bo m sc bn un u chn rng hai bnh. Mt khc, nu kho chn h s dch dao x
1
,

x
2

th h s trt ln nht chn rng hai bnh c th cn bng nhau, nh bo m c
bn mn u chn rng hai bnh.

Vi cp bnh rng dch chnh dng
Dch chnh dng
1 2
x + x > 0 dng bo m mt khong cch trc cho trc ca c cu
bnh rng. Tht vy, vi cp bnh rng c
1 2
0 x x + = th khong cch trc
w 0 1 2
1
a a m(Z Z )
2
= = + , trong m c tiu chun ho m = 1 ; 1,5 ; 2 ; 2,5..., Z
1
, Z
2
l s
nguyn. Do khng th bo m c mt khong cch trc l tu cho trc ca cp bnh
rng.
Vi cp bnh rng dch chnh dng :
1 2
x + x > 0, khong cch trc bng :
w 1 2
w
1 cos
a m(Z Z )
2 cos

= +
. Khi thay i gc n khp

w
, c th m bo mt khong cch trc
ty cho trc.
Tuy nhin dch chnh dng c th lm gim h s trng khp ca cp bnh rng, do
khng nn chn
1 2
x + x qu ln. Khi thit k cn kim tra iu kin n khp trng : 1 .
5. Hin tng trt bin dng rng
Hai bin dng n khp vi nhau l cc bao hnh ca nhau, do trong qu trnh n khp
chng va ln va trt trn nhau.

128
Vn tc trt tng i
2 1
M M
V
ti im tip xc M ca hai bin dng nm theo phng tip

tuyn chung tt vi hai bin dng ti im tip xc M :
2 1
2 1
.
M M
V PM =

, trong P l tm
n khp (hnh 10.5).
Vn tc trt
2 1
M M
V
cng ln khi v tr tip xc gia chng cng xa tm n khp v ch bng

khng khi v tr tip xc trng vi tm n khp.
Hin tng trt tng i ny c gi l hin tng trt bin dng.
Hin tng trt bin dng lm mn b mt lm vic ca rng, lm gim hiu sut ca b
truyn bnh rng. mn ca bin dng rng do hin tng trt gy ra phn chn rng bao
gi cng ln hn mn phn u rng.
6. Bnh rng tr trn rng thng v rng nghing
Trong phn trn, chng ta ch mi nghin cu bnh rng thn khai phng trn mt tit din
vung gc vi trc quay ca bnh rng. Khi xt n b rng bnh rng th ty theo hnh dng
ng rng (giao tuyn ca mt rng vi mt mt tr ng trc vi trc quay) s c cc kiu
bnh rng khc nhau :
- Bnh rng tr trn rng thng : ng rng l mt ng thng
- Bnh rng tr trn rng nghing : ng rng l mt ng xon c tr trn
- Bnh rng tr trn rng ch V : ng rng l hai ng xon c tr trn ni tip v i
chiu nhau.

1) Bnh rng tr trn rng thng
a) Mt rng
To hnh mt rng
Cho mt phng () ln khng trt trn mt tr (
b
) theo ng sinh NN. Gi () l mt
ng thng thuc mt phng () v song song vi NN. Khi , ng thng () vch nn
mt mt () gi l mt tr thn khai. Mt tr (
b
) c gi l mt tr c s (hnh 10.23).

Tnh cht
Giao tuyn ca mt rng () vi mt mt phng vung gc vi trc OO ca mt tr c s
(
b
) l mt ng thn khai vng trn (E) .
Hnh10.23 : Bnh rng tr trn rng thng
N
,
N
,
b
M
b
M
( )
( )
b
( )
,
b
M
b
M
N
,
N
( )
b
( )
( )
b
( )
O
Hnh10.24 : Bnh rng tr trn rng nghing

ng rng trn tr c s

129
Giao tuyn ca mt rng () v mt tr c s (
b
) l mt ng sinh
,
b b
M M ca mt tr c
s (
b
).
Giao tuyn ca mt rng () vi mt phng (), tip xc vi mt tr c s (
b
), l mt
ng thng () song song vi trc
,
OO ca mt tr c s (
b
).
Tip din () vi mt tr c s (
b
) cng l php din ca mt tr thn khai () v ngc
li.
b) c im tip xc ca hai mt rng
Cho mt phng () ln khng trt trn mt tr
1
( )
b
theo ng sinh
,
1 1
N N . Khi ,
ng thng
1
( ) thuc mt phng () vi
,
1 1 1
( ) // N N vch nn mt mt rng
1
( ) ca bnh
rng (1).
Cng cho mt phng () ln khng trt trn mt tr
2
( )
b
theo ng sinh
,
2 2
N N . Khi ,
ng thng
2
( ) thuc mt phng () vi
,
2 2 2
( ) // N N vch nn mt mt rng
2
( ) ca
bnh rng (2) (hnh 10.23).
V hai trc quay O
1
O
1
v O
2
O
2
song song vi nhau nn
1 2
( ) //( ) . Do vy khi cho bnh (1)
quay theo chiu
1
th c lc ng thng
1
( ) n trng vi ng thng
2
( ) . Hay ni khc
i, khi n khp hai mt rng
1
( ) v
2
( ) tip xc nhau theo mt ng thng () song song
vi cc trc ca hai bnh rng v nm trong mt phng n khp () - mt phng tip xc vi
chung ca hai mt tr c s
1
( )
b
v
2
( )
b
.

Ghi ch
Bnh rng tr trn rng thng c th xem nh l mt hnh khi do mt mt ct vung gc
vi trc ca n vch ra khi chuyn ng tnh tin dc theo trc ny.
Khi , cc phn t hnh hc trc y l im tr thnh ng, l on tr thnh min, l
vng trn tr thnh mt tr... V d vng chia, vng ln, vng nh.... tr thnh mt tr chia,
mt tr ln, mt tr nh.... ; on n khp thc tr thnh min n khp thc... ; ng n khp
tr thnh mt phng n khp...
Thng s ch to ca bnh rng tr trn rng
thng hon ton ging nh cc thng s ch to
xt trn mt mt ct ngang (mt ct vung gc vi
trc quay), ch thm mt thng s l b rng
w
b
ca bnh rng.
Do hai mt rng
1
( ) v
2
( ) khng phi di
v hn m b gii hn bi hai mt tr nh rng
1
( )
a
,
2
( )
a
v hai mt u ca cc bnh rng,
nn hai mt rng ch c th tip xc nhau trong
min n khp thc
, ,
1 1 2 2
B B B B (hnh 10.25) vi
,
1 1
B B v
,
2 2
B B ln lt l giao tuyn ca mt tr
nh
2
( )
a
v
1
( )
a
vi mt phng n khp ().
Khi ng thng tip xc chung () ca hai mt
rng di chuyn n v tr
,
1 1
B B th hai mt rng
mi vo khp theo on
,
1 1
B B . Khi () di chuyn
n
,
2 2
B B th hai mt rng ra khp theo on
,
2 2
B B . Nh vy, vi cp bnh rng tr trn rng thng, hai mt rng vo khp v ra khp t
ngt trn sut b rng bnh rng : n khp khng m, c va p v ting n.

Hnh10.25 : Qu trnh n khp ca
cp bnh rng tr trn rng thng
1
B
,
1
B
( )
( )
( )
2
B
,
2
B
( )

130
2) Bnh rng tr trn rng nghing
a) Mt rng
To hnh mt rng
Cho mt phng () ln khng trt trn mt tr (
b
) theo ng sinh NN. Gi () l mt
ng thng thuc mt phng () v hp vi NN mt gc 0
b
. Khi , ng thng ()
vch nn mt mt () gi l mt xon c thn khai. Mt tr (
b
) c gi l mt tr c s
(hnh 10.24).

Tnh cht
Giao tuyn ca mt rng () vi mt mt phng vung gc vi trc OO ca mt tr c s
(
b
) l mt ng thn khai vng trn (E) .
Giao tuyn ca mt rng () v mt tr c s (
b
) l ng xon c tr trn
,
b b
M M , c
gc nghing
b
, bi v
,
b b
M M chnh l vt in ca ng thng ( ) trn mt tr c s ( )
b
.
Giao tuyn ca mt rng () vi mt phng (), tip xc vi mt tr c s (
b
), l mt
ng thng () hp vi ng sinh
,
NN ca mt tr c s (
b
) mt gc bng
b
.
Tip din () vi mt tr c s (
b
) cng l php din ca mt xon c thn khai () v
ngc li.

Ghi ch
Bnh rng tr trn rng nghing c th coi nh l mt hnh khi do mt tit din ngang vch
ra, khi cho tit din ny chuyn ng xon c dc theo trc thng gc xuyn tm ca n. Do
vy, giao tuyn ca mt rng vi cc mt tr ng trc vi trc quay OO l nhng ng xon
c tr trn c cng bc xon.
b) c im tip xc ca hai mt rng
Cho mt phng () ln khng trt trn mt tr
1
( )
b
theo ng sinh
,
1 1
N N . Khi , ng
thng
1
( ) ca mt phng () vi
,
1 1 1
( , )
b
N N = s vch nn mt mt rng
1
( ) ca bnh
rng (1). Cng cho mt phng () ln khng trt trn mt tr
2
( )
b
theo ng sinh
,
2 2
N N .
Khi , ng thng
2
( ) ca mt phng vi
,
2 2 2
( , )
b
N N = s vch nn mt mt rng
2
( ) ca bnh rng (2) (hnh 10.24).
V hai trc quay O
1
O
1
v O
2
O
2
song song vi nhau nn
1 2
( ) //( ) . Do vy khi cho bnh (1)
quay theo chiu
1
th c lc ng thng
1
( ) n trng vi ung thng
2
( ) . Hay ni khc
i, khi n khp, hai mt rng
1
( ) v
2
( ) tip xc nhau theo mt ng thng () hp vi hai
trc quay ca hai bnh rng mt gc
b
. ng thng () nm trong mt phng n khp ()
ca cp bnh rng.
c) Cc thng s ch to ca bnh rng tr trn rng nghing
Ngoi nhng thng s ch to nh trong cp bnh rng tr trn rng thng l m, , Z, x
v mt s thng s ch to khc nh bn knh vng nh
a
r , bn knh vng chn
f
r , b rng
bnh rng
w
b ..., trong bnh rng tr trn rng nghing cn thm mt s thng s c trng
cho nghing ca rng.

131

Thng s xt trn mt ct vung gc vi trc quay ca bnh rng (mt ct ngang) :
Bc rng trn vng chia, c gi l bc trn mt u, k hiu
S
p (hay cn gi l bc
rng ngang).
Mun bnh rng, c gi l mun mt u, k hiu
S
m (hay cn gi l moun ngang).
Ta c :
S
S
p
m
= v
1
2
S
r m Z =
Gc p lc trn vng chia, c gi l gc p lc mt u, k hiu
S
(hay cn gi l gc
p lc ngang). Ta c : cos
b
S
r
r
=
Bc rng trn vng c s, c gi l bc c s trn mt u, k hiu
bS
p

Thng s c trng cho nghing ca bnh rng
Gc nghing ca ng rng trn mt tr c s
b

Gc nghing ca ng rng trn mt tr chia
Gc nghing ca ng rng trn mt tr ln
w

Ta c :
cos
b
S
tg
tg

=

Thng s o trn mt ct vung gc vi ng rng trn mt tr chia (mt ct php)
Bc php
n
p l bc rng o trn giao tuyn gia mt tr chia v mt mt ct php
Moun php :
n
n
p
m
=
Ta c (hnh 10.26) : .cos
n S
p p = .cos
n S
m m =
Gc p lc php
n
:
Ta c (hnh 10.27): .cos
n S
tg tg =
Ghi ch : Trong bnh rng nghing,
n
v
n
m c tiu chun ha :
0
20
n
=
d) Bnh rng thay th ca bnh rng tr trn rng nghing
thun tin cho vic gii mt s bi ton v cu to v ng lc hc ca cp bnh rng
tr trn rng nghing, ngi ta tm cch quy v cc bi ton tng ng ca cp bnh rng tr
trn rng thng bng khi nim bnh rng thay th.
Hnh 10.26 : Hnh khai trin
ca mt tr chia
Mt ct php
O
O
p
S
p
N
Hnh 10.27
O
C
A
B
Mt ct php
Mt ct ngang

132
Gi s cp bnh rng l dch chnh khng (x
1
+ x
2
= 0). Khi mt tr ln trng vi mt
tr chia tng ng.
Xt mt phng( ) P vung gc
ti P vi hai ng rng (E
1
) v
(E
2
) trn mt trc chia
1
( ) v
2
( ) (tc l vung gc vi tip
tuyn chung tt ca (E
1
) v (E
2
)).
Giao ca mt phng ( ) P vi
1
( ) v
2
( ) l hai tit din hnh
lp.
Ti ln cn tm n khp P, ta thy
s n khp ca cp bnh rng tr
trn rng nghing tng ng
vi s n khp ca cp bnh rng
tr trn rng thng c tit din l
cc hnh lp. Tuy nhin ti ln
cn tm n khp P, hai hnh lp gn trng vi hai vng trn mt tip
,
1
( ) C v
,
2
( ) C .
Do , ti ln cn tm n khp P, c th xem nh s n khp ca cp bnh rng tr trn rng
nghing tng ng vi s n khp ca cp bnh rng tr trn rng thng, c vng chia l hai
vng trn
, ,
1 2
( ), ( ) C C , c mun l m ng bng mun php m
n
ca cp bnh rng tr trn
rng nghing.
Cp bnh rng tr trn rng thng ni trn gi l cp bnh rng tr trn rng thng thay th
cho cp bnh rng tr trn rng nghing ang xt.

Thng s ca bnh rng thay th
+ Bn knh vng chia
, ,
1 2
r , r ca cp bnh rng thay th
(I)
Hnh 10.28 : Cp bnh rng lp trn mt ct php
(II)
P
1
(E )
1
(E )
(tt)
(P)
1
( )
2
( )
Hnh 10.29 : Bnh rng thay th
a
,
1
(C )
,
2
(C )
b
P
t
(P)
P
1
r
2
r
(I), (II)
Bnh (1)
Bnh (2)

133
Gi : r
1
, r
2
, ln lt l cc bn knh mt tr chia v gc nghing ca ng rng trn mt tr
chia ca cp bnh rng tr trn rng nghing.
Theo tnh cht ca lp, bn knh vng trn mt tip ti P :
2
a
b
= trong : a l bn trc ln,
b l bn trc nh ca lp.
Vi vng trn mt tip
,
1
( ) C (hnh 10.29), ta c :
1
cos
r
a
= ; b = r
1

Do bn knh vng trn mt tip
,
1
( ) C bng :
, 1
1 2
r
r =
cos

Tng t, vi vng trn mt tip
,
2
( ) C , ta c :
, 2
2 2
r
r =
cos

+ S rng
, ,
1 2
Z , Z ca cp bnh rng thay th
Ta c :
,
, 1 1
1
, 2
n
2r 2r
Z = =
m cos .m
vi :
n S
m = m cos ;
m
S
, m
n
l moun mt u v mun php ca bnh rng tr trn rng nghing. Do , s rng
ca bnh rng tr trn rng thng thay th :
, 1
1
3
2
cos .
S
r
Z
m
=
, 1
1 3
cos
Z
Z
=
Tng t :
, 2
2 3
cos
Z
Z
=
vi Z
1
, Z
2
: s rng ca cp bnh rng tr trn rng nghing :
1 2
1 2
2 2
;
S S
r r
Z Z
m m
= = .
e) c im n khp ca cp bnh rng tr trn rng nghing
Trn hai mt tr ln trong cp bnh rng tr trn rng nghing ngoi tip, hai ng rng
l hai ng xon c c cng gc nghing nhng
hng xon ngc nhau :
1 2 W W
=
Nh chng minh trn y, hai mt rng
1
( )
v
2
( ) trong cp bnh rng tr trn rng nghing
tip xc nhau theo mt ng thng () hp vi
hai trc quay ca hai bnh rng mt gc
b
v
nm trong mt phng n khp (), tip din chung
ca hai mt tr c s.
Tng t nh trong bnh rng tr trn rng
thng, do hai mt rng
1
( ) v
2
( ) khng phi
di v hn m b gii hn bi hai hnh tr nh
rng
1
( )
a
,
2
( )
a
v hai mt u ca cc bnh
rng, nn hai mt rng ch c th tip xc nhau
trong min n khp thc
, ,
1 1 2 2
B B B B (hnh 10.30).
Khi ng thng tip xc chung () ca hai mt
rng di chuyn n v tr
* ,
1 1
B B th hai mt rng vo
khp ti mt im
,
1
B trn mt u th nht. Chiu
di tip xc gia hai mt rng tng dn. Khi ()
n v tr
1
B th hai mt rng tip xc nhau trn
sut chiu di rng. Khi () n v tr im
,
2
B ,
Hnh10.30 : Qu trnh n khp ca
cp bnh rng tr trn rng nghing
1
B
( )
,
1
B
,
2
B 2
B
*
1
B

W
b
b
( )
(2)
(1)

134
chiu di tip xc bt u gim dn. Khi () n v tr im
2
B , hai mt rng bt u ra khp
ti mt im
2
B trn mt u th hai.
Tm li, cp bnh rng tr trn rng nghing vo khp ti mt im trn mt mt u, chiu
di tip xc nm cho trn mt rng v tng dn n mt gi tr cc i, sau gim dn v ra
khp ti mt im trn mt u bn kia. Do , qu trnh n khp din ra m hn so vi cp
bnh rng tr trn rng thng.

iu kin n khp ng v n khp trng vi cp bnh rng tr trn rng nghing

iu kin n khp ng :
1 2 N N N
p p p = =
Vi
1 2
;
N N
p p l bc rng o trn mt phng n khp () ca cp bnh rng trong mt ct
ngang, tc l o trn ng thng B
1
B
2
.

iu kin n khp trng :
Khi cp bnh rng th (1) ang ra khp ti im B
2
th cp rng k tip phi hoc ang vo
khp ti im
,
1
B . Mun vy phi c :
*
1 2 N
p B B .
Suy ra h s trng khp ca cp bnh rng nghing :
* *
1 2 1 2 1 1
nghieng
N N N
B B B B B B
p p p
= = +
.
W b
nghieng thang
N
b tg
p

= +
vi :
W
b l b rng bnh rng,
b
l gc nghing ca ng rng trn mt tr c s,
thang
: l
h s trng khp ca cp bnh rng tr trn rng thng tng ng.
Nh vy, vi cc iu kin khc nh nhau, h s trng khp trong cp bnh rng tr trn rng
nghing ln hn trong cp bnh rng tr trn rng thng.

S rng ti thiu ca bnh rng tr trn rng nghing
Gi
1 2
, Z Z l s rng ca cp bnh rng tr trn rng nghing,
, ,
1 2
, Z Z l s rng ca cp bnh
rng tr trn rng thng thay th. Ta c :
, 3
1,2 1,2
.cos Z Z = .
Khi bnh rng tr trn rng thng thay th b ct chn rng th bnh rng tr trn rng nghing
tng ng cng b ct chn rng. Th m, trong bnh rng tr trn rng thng tiu chun
(x = 0), s rng ti thiu khng xy ra hin tng ct chn rng l 17:
,
1,2min
17 Z = . Do vy,
vi bnh rng tr trn rng nghing tiu chun :
, 3 3
1,2min 1,2min
Z = Z .cos = 17.cos < 17 , ngha l
s rng ti thiu ca bnh rng tr trn rng nghing tiu chun c th nh hn 17 m khng
b ct chn rng.

Hnh 10.31 : Bnh rng nghing v bnh rng ch V
t
P
a
P
1
P
2
P
a2
P
a2
P
t1
P
t 2
P

135
Bnh rng tr trn rng nghing c nhc im l khi n khp c thnh phn phn lc
chiu trc khc 0, do i hi phi c bin php c nh bnh rng trn trc v phi dng
chn, khin cho kt cu gi trc cng nh vic tnh chn cng phc tp hn.
khc phc nhc im ny, ngi ta dng bnh rng ch V hoc trn mi trc lp hai bnh
rng nghing c gc nghing i ng nhau. Khi thnh phn phn lc chiu trc trit tiu
ln nhau, khng truyn ln cc gi trc (hnh 10.31).

136
Chng XI

C CU BNH RNG KHNG GIAN

C cu bnh rng khng gian l c cu bnh rng c dng truyn chuyn ng quay gia
hai trc khng song song vi nhau. Hai trc c th cho nhau nh trong c cu bnh vt - trc
vt, c cu bnh rng tr trc cho, c cu bnh rng nn cho. Hai trc c th giao nhau nh
trong c cu bnh rng nn rng thng.
1. C cu bnh rng nn rng thng
1) Mt ln v t s truyn
Mt ln trong c cu bnh rng nn rng thng
l hai mt nn trn xoay (N
1
) v (N
2
) c chung nh
O (hnh 11.1).
Tht vy, xt mt cp bnh rng nn rng thng,
hai trc quay (I) v (II) giao nhau di mt gc .
Gi P l mt im sao cho
1 2 P P
V V =

trong
1 2
, P P
l hai im ln lt thuc bnh (1) v bnh (2) hin
ang trng nhau ti P.
Nu t P h PO
1
v PO
2
ln lt vung gc vi hai
trc quay (I) v (II), ta c :
1 1 1
.
P
V O P = v
2 2 2
.
P
V O P =

1 1 2 2
. . O P O P =

1 1 2 2
. .sin . .sin OP OP =

1 2
12
2 1
sin
sin
i

= =
Bi v gc giao nhau gia hai trc
1 2
= + bng hng s v cp bnh rng thc hin t s
truyn i
12
khng i nn cc gc
1 2
, khng i, tc l ng thng OP c nh.
Nu ly mt im P bt k trn ng thng OP, ta u chng minh c :
1 2 P P
V V =

Nh vy ng thng OP l trc quay tc thi trong chuyn ng tng i ca khu (2) i
vi khu (1).
Khi c cu chuyn ng, ng thng OP ln lt vch nn trn bnh (1) v bnh (2) hai mt
nn trn xoay (N
1
), (N
2
) c chung nh O. Do
1 2 P P
V V =

nn hai mt nn (N
1
), (N
2
) ln khng
trt vi nhau theo ng OP ((N
1
), (N
2
) c gi l hai mt ln ca cp bnh rng nn).
2) Mt rng v c im tip xc
Gi (N
1
), (N
2
) l hai mt nn ln ca cp bnh rng nn ang n khp vi nhau. nh ca
(N
1
), (N
2
) trng nhau ti O (hnh 11.2).
Xt mt hnh cu (S), tm O. Hnh cu (S) ln lt giao vi mt nn (N
1
), (N
2
) theo hai vng
trn (C
1
) v (C
2
). (C
1
) v (C
2
) c gi l hai vng ln ca cp bnh rng nn.
Gi ( ) l vng trn ln ca hnh cu (S) sao cho mt phng cha ( ) tip xc vi cc mt
nn ln (N
1
), (N
2
). Gi (K) l mt phng gn trn( ) v i qua im O.

Cho mt phng( ) ln khng trt trn hnh nn (N
1
) theo ng sinh OP. Khi , bao
hnh cc v tr khc nhau ca mt phng (K) trong chuyn ng tng i vi bnh (1) s to
nn mt rng
1
( ) . Tng t, khi cho mt phng ( ) ln khng trt trn hnh nn (N
2
) theo
ng sinh OP th bao hnh cc v tr khc nhau ca mt phng (K) trong chuyn ng tng
i vi bnh (2) s to nn mt rng
2
( ) . Hai mt rng
1
( ) v
2
( ) l hai mt nn thn
khai.
(I)
(II)
O
1
O
2
(N
1
)
(N
2
)
O

P

(N
2
)
2
Hnh 11.1

137
Nh vy, cc mt rng trong c cu bnh rng nn rng thng l hai mt chp
1
( ) v
2
( ) c
chung nh O, v do chng tip xc vi nhau theo ng thng () i qua im O.

Ghi ch
Trong phng php to hnh mt rng ni trn, nu mt phng (K) i qua im O, ta c cp
bnh rng nn rng thng, cn nu mt phng (K) khng i qua im O, ta c cp bnh rng
nn rng nghing.
to hnh bnh rng nn, thay v dng thanh rng sinh nh trong bnh rng tr trn rng
thng, ta dng bnh rng dt sinh. Bnh rng dt sinh l mt bnh rng nn c bit c mt
ln l mt phng ( ) , mt rng l mt phng (K). Chuyn ng to hnh trong bnh rng tr
trn rng thng l chuyn ng tnh tin ca thanh rng sinh, cn trong bnh rng nn l
chuyn ng quay ca bnh dt sinh.
3) Cc thng s ca bnh rng nn
Thng s ca bnh rng tr trn c nh ngha trn mt mt ct vung gc vi hai trc
quay, ng thi cng vung gc vi mt ng sinh ca chung ca hai mt ln.
Trong bnh rng nn, mt ct vung gc vi hai trc quay v ng thi vung gc vi ng
sinh chung OP ca hai nn ln chnh l mt cu (S). Do , nu xt tng t nh trong bnh
rng tr trn th thng s ca bnh rng nn s c xc nh trn mt cu (S).
Tuy nhin, vic xc nh thng s trn mt cu khng thun tin. Hn na, xung quanh cc
vng ln (C
1
), (C
2
), mt cu (S) gn trng vi hai mt nn (N
1
), (N
2
), ln lt trc giao vi
(N
1
), (N
2
) v tip xc vi (S) theo (C
1
), (C
2
). Cc mt nn (N
1
), (N
2
) c gi l hai mt nn
ph ln.
Do vy, thng s ca bnh rng nn c xc nh trn hai mt nn ph ln (N
1
), (N
2
) (hnh
11.3).
Trong cp bnh rng nn, bo m gc giao nhau gia hai trc, ch c th dng cp bnh
rng tiu chun hay cp bnh rng dch chnh u, do vng ln v vng chia tng ng
trng nhau.
Thng s ca bnh rng nn trn mt nn ph ln
,
( ) N (hnh 11.3)
Bc rng p trn vng chia (C)
Chu vi vng chia bng 2 r pZ =
2 r
p
Z
=
(S)
(N
2
)
(I)
(II)
(N
1
)
(C
1
)
(C
2
)
O
P
()
(
1
)
(
2
)
(K)
Hnh 11..2
()

138
Moun m ca bnh rng :
p
m
=
1
2
r mZ =
Chiu cao nh rng h v chiu cao chn rng h :
h = m
h = 1,25.m
Chiu di ng sinh L :
sin
r
L
=
B dy B ca bnh rng, thng thng : B = 0,3.L
Bn knh vng nh :
,
cos cos
2
a
Z
r r h m

= + = +

Bn knh vng chn :
,,
cos 1, 25.cos
2
f
Z
r r h m

= =

4) Bnh rng thay th ca bnh rng nn
Gi OP l ng sinh chung ca hai nn chia (N
1
), (N
2
); O
1
, O
2
l nh ca hai mt nn
ph (N
1
), (N
2
); () l mt phng vung gc ti P vi ng thng OP. Mt phng () tip
xc vi cc hnh nn (N
1
), (N
2
) theo ng thng O
1
P O
2
(hnh 11.4).

Ti ln cn tm n khp P, ta thy s n khp ca cp bnh rng nn tng ng vi s n
khp ca cp bnh rng hnh phu trn mt nn ph ln (N
1
), (N
2
). Tuy nhin, ti ln cn
im P, hai mt nn ph (N
1
), (N
2
) li gn trng vi mt phng (). Nh vy c th ni rng
ti ln cn im P, s n khp ca cp bnh rng nn tng ng vi s n khp ca cp
bnh rng tr trn rng thng, c vng chia l ln lt l C
1
(O
1
,O
1
P), C
2
(O
2
,O
2
P), c
mun m ng bng mun m ca bnh rng nn.
Cp bnh rng tr trn rng thng ni trn c gi l cp bnh rng tr trn rng thng thay
th cho cp bnh rng nn.

Gi :
, ,
1 2
, r r l bn knh vng chia ca cp bnh rng thng thay th ;
1 2
, r r l bn knh vng
chia ca cp bnh rng nn.
Ta c :
, ,
1 1 1 1
, r O P r O P = =
, 1
1
1
cos
r
r
= . Tng t :
, 2
2
2
cos
r
r
= .
Gi
, ,
1 2
, Z Z l s rng ca cp bnh rng thng thay th,
1 2
, Z Z l s rng ca cp bnh rng
nn, ta c :
,
, 1 1
1
,
1
2 2
cos
r r
Z
m m
= =
, 1
1
1
cos
Z
Z
= . Tng t :
, 2
2
2
cos
Z
Z
=

L
B
Nn nh
Nn chia (N)
Nn chn
Vng chia (C)
Nn ph ln trn nh ngha cc
thng s ca bnh rng nn

h
h
Mt cu mt
ln (S)
O
O
Hnh 11.3

139

Ghi ch
Gi Z l s rng ca bnh rng nn,
,
Z l s rng ca bnh rng tr trn rng thng thay th.
Ta c :
,
cos Z Z = . Khi bnh rng tr trn rng thng thay th b ct chn rng th bnh rng
nn cng b ct chn rng. Th m, trong bnh rng tr trn rng thng tiu chun (x = 0), s
rng ti thiu khng xy ra hin tng ct chn rng l 17 :
,
min
17 Z = . Do vy, vi bnh
rng nn tiu chun:
,
min min
cos 17.cos 17 Z Z = = < , ngha l s rng ti thiu ca bnh rng
nn tiu chun c th nh hn 17 m khng b ct chn rng.
2. C cu bnh rng tr cho
1) Mt ln v t s truyn

C cu bnh rng tr cho thc cht l mt cp bnh rng tr trn rng nghing ngoi tip,
c gc nghing khng i ng
1 2
, c dng truyn chuyn ng gia hai trc quay
cho nhau. Do vy, hai mt ln
1 2
( ), ( ) trong c cu bnh rng tr cho l hai mt tr trn
xoay.

Gi P l im tip xc ca hai mt tr ln
1 2
( ), ( ) . Gi
1 2
( ), ( ) E E l ng rng trn
mt tr ln ca hai bnh rng. y l hai ng xon c tr trn, gi s ang tip xc vi
O
1
O
2
(N
1
)
(N
2
)
O

P

()

2
(S)
(N
1
)
(N
1
)
O
1
O
2

(C
1
)
(C
2
)
Hnh 11.4
(
1
)
()
(E
1
)
(I)
(II)
O
2

O
1

P
t
1
2
P
P

(
2
)
P

P

t

P

2
V
P2
V
P1
V
P2P1
Hnh 11.5 Hnh 11.6
(E
2
)
H

2

140
nhau ti im P. Gi tt l tip tuyn chung ti P vi
1 2
( ), ( ) E E ; tt nm trong tip din chung
(PPP) ti P ca
1 2
( ), ( ) ; gc hp bi tt vi PP v vi PP ln lt l
1
v
2
.
Gc cho nhau gia hai trc :
1 2
( ', '') PP PP = = +
Gi O
1
O
2
l ng vung gc chung ca hai trc (I) v (II).
Khong cch trc ca cp bnh rng : A
w
= O
1
O
2
= O
1
P + O
2
P= r
1
+ r
2

Trong : r
1
, r
2
l bn knh ca mt tr ln
1 2
( ), ( )
Gi P
1
v P
2
ln lt l hai im thuc bnh rng (1) v (2), ang trng nhau ti P, ta c :

2 1 2 1 P P P P
V V V = +

Vi :
2
"
P
V PP
;
1
'
P
V PP
;
2 1
//
P P
V tt

Ha vn tc trn hnh 11.6 cho ta :
2 2 1 1
cos cos
P P
PH V V = =
2 2 2 1 1 1
cos cos r r =

1 2 2
12
2 1 1
cos
cos
r
i
r

= = (11.1)
Nh vy, t s truyn trong cp bnh rng tr cho khng ch ph thuc vo bn knh vng ln
1 2
, r r , m cn ph thuc vo gc nghing
1 2
, ca ng rng trn mt tr ln.
Vn tc
2 1 P P
V
l vn tc trt tng i gia hai im P

2
v P
1
v c gi l vn tc trt
dc theo ng rng.
Gi m
S1
, m
S2
l moun ngang; Z
1
, Z
2
l s rng; m
n1
, m
n2
l moun php ca cc bnh rng,
ta c :
1 1 1
1
.
2
S
r m Z = ,
2 2 2
1
.
2
S
r m Z = ,
1 1 1
cos
n S
m m = ,
2 2 2
cos
n S
m m =
T (11.1) suy ra :
2 2 2
12
1 1 1
. cos
. cos
S
S
m Z
i
m Z

=
2 2
12
1 1
.
.
n
n
m Z
i
m Z
=
iu kin n khp ng ca cp bnh rng :
1 2 n n
m m =
Do :
2
12
1
Z
i
Z
=
Thc t thng dng cp bnh rng tr cho
c = 90
0
, khi :
0
2 1
90 =

2 1
12
1 1
sin
cos
r
i
r

=
2
12 1
1
r
i tg
r
=
Ghi ch
Khi thit k cp bnh rng tr cho, vi mt
chiu quay cho trc ca bnh dn, c th chn
tu chiu quay ca bnh b dn, bng cch
chn gc nghing
1 2
, cho ph hp (ch
khng cn thm bnh rng trung gian nh trong
cp bnh rng tr trn).
Tht vy, khi mun i chiu quay ca bnh b
dn (2), tc l mun
2 P
V
tr thnh
,
2 2 P P
V V =

th tip tuyn chung tt tr thnh tt (hnh 11.7).
Mun vy, phi thay i gc nghing
1 2
, ca
hai bnh rng sao cho gc nghing mi
, ,
1 2
,
tha mn h thc:

, , 0
1 2 1 2
180 ( ) + = + (11.2)

P
2
tt

P

1
V
P1
V
P2
V
P2P1
V
P2
tt

1
P
1
Hnh 11.7

141

2) Mt rng v c im tip xc
Mt rng ca cp bnh rng tr cho l hai mt xon c thn khai
1 2
( ), ( ) . Hai mt rng
1 2
( ), ( ) trong cp bnh rng tr cho ch tip xc nhau ti mt im.
Do tip xc im nn phn lm vic trn mt rng ca mi bnh rng tr cho l mt ng
cong nm vt cho trn mt rng. Cng do tip xc im v hin tng trt dc theo ng
rng, nn mt rng chng b mn v mn khng u. V vy cp bnh rng tr cho ch truyn
c cng sut khng ln.
3. C cu trc vt - bnh vt tr trn

C cu bnh vt tr trn
c dng truyn ng
gia hai trc cho nhau mt
gc . Thng thng, hai
trc trc giao vi nhau:
0
90 =
Hy xt mt cp bnh rng
tr cho c bit (hnh 11.8).
Bnh rng (1) c gc nghing
1
rt ln. Bnh rng (2) c
gc nghing
2
rt nh.
Khi , ng rng
1
( ) E ca
bnh (1) qun nhiu vng trn
mt tr ln
1
( ) . ng rng
2
( ) E ca bnh (2) l nhng
on ngn trn mt tr ln
2
( ) .
Bnh rng (1) c gi l trc
vt tr trn, rng ca trc vt
c gi l ren vt. Bnh rng
(2) c gi l bnh vt. y
chnh l b truyn bnh vt -
trc vt thn khai.
V l cp bnh rng tr cho nn hai mt rng
trong cp bnh vt - trc vt thn khai tip xc
nhau theo im.
T s truyn (ging nh cp bnh rng trc
cho):
1 2 2
12
2 1 1
cos
cos
r
i
r

= =
Thng thng, ngi ta dng cp bnh vt - trc
vt tr trn c gc giao nhau gia hai trc
0
1 2
90 = + = nn :
2
12 1
1
r
i tg
r
=
Vi trc vt, thay v dng khi nim gc
nghing
1
, ngi ta dng khi nim gc xon c ca ren vt trn mt tr ln
1
( ) :
0
1
90 =
O
2
(II)

(E
2
)
O
1
(I)

P

t

2
(E
1
)
Hnh 11. 8

(
2
)
(
1
)
z
d
1
p
X

z
(
1
)
(E
1
)
Hnh 11.9 : Khai trin
mt tr ln (
1
)

142
Suy ra :
2
12
1
r
i
rtg
=
Gi p
X
l bc xon c ca ng ren (E
1
) trn mt tr ln
1
( ) ca trc vt, d
1
l ng
knh ca mt tr ln
1
( ) (hnh 11.9), ta c :
1
2
X
p
tg
r
= (11.2)
Gi p l bc ren theo chiu trc ca trc vt, Z
1
l s rng ca trc vt (Z
1
c gi l s mi
ren), ta c : p
X
= Z
1
.p (11.3)
Mt khc, bc ren p theo chiu trc ca trc vt bng bc rng p
S2
trn mt u (bc rng
ngang) ca bnh vt :
p = p
S2
=.m
S2
(11.4)

Vi m
S2
l mo un mt u ca bnh vt.
T (11.2), (11.3), (11.4) suy ra :
1 2 1 1
1 1
s
Z m Z m
tg
d d
= =
Trong : m
1
= m
S2
c gi l moun ca trc vt.
hn ch s lng dao ct bnh vt, ng vi mi gi tr ca moun m
1
, ngi ta quy nh
mt s gi tr nht nh ca
1
1
d
q
m
= . Suy ra :
1
Z
tg
q
= v :
1 1
d mq =

Cp bnh vt - trc vt tr trn trong bnh vt l mt bnh rng thn khai rng nghing c
nhc im l tip xc im (do mt rng chng mn v mn khng u).
khc phc nhc im ny, ngi ta thay i cu to mt rng bnh vt : Mt rng ca
bnh vt c ct bng dao phay ln c hnh dng ging ht nh trc vt s n khp vi n v
qu trnh chuyn ng khi ct ging ht nh qu trnh chuyn ng khi n khp sau ny gia
trc vt v bnh vt. Khi mt chn rng ca bnh vt by gi l mt mt xuyn chn rng
(ch khng cn l mt tr nh trong bnh rng thn khai); tip xc gia bnh vt v trc vt
by gi l tip xc ng. tng cht lng n khp, phn gia ca mt tr nh rng ca
bnh vt cng c ch thnh mt xuyn nh rng (hnh11.10).

Hnh11.10
p
X

p
Mt xuyn
nh rng
Mt xuyn
chn rng

143
Chng XII
H BNH RNG

1. i cng
1) t vn
Mi cp bnh rng ch thc hin mt t s truyn i khng ln lm, thng thng 5 i .
Nu dng mt cp bnh rng thc hin mt t s truyn ln s dn n bt hp l v kch
thc, trng lng, kt cu ca b truyn v lng ph v vt liu ch to. Do , thc hin
mt t s truyn i ln, phi dng h bnh rng, gm nhiu cp bnh rng phi hp nhau.
Ngoi ra, h bnh rng c nhng cng dng khc nh thc hin nhiu t s truyn (hp
tc ...), truyn ng vi nhiu bc t do (hp vi sai t...) thc hin cc chuyn ng c
yu cu c bit (c cu my bn cp, c cu my tin trc khuu, c cu my trn hn hp
b tng..)
2) Cc loi h bnh rng
a) H bnh rng thng
H bnh rng thng l h bnh
rng trong cc bnh rng u c
ng trc c nh (trong mt h quy
chiu gn lin vi gi).
H gm nhiu cp bnh rng ni
tip nhau trn hnh 12.1 l mt h
bnh rng thng. Bc t do ca h :
5 4
3 2 W n p p = vi :
5
6 p = ;
4
5 p = ; 6 n = 1 W =
b) H bnh rng vi sai
H bnh rng vi sai l h bnh rng m trong mi cp bnh rng c t nht mt bnh
rng c ng trc di ng (khng c nh trong h quy chiu gn lin vi gi).
Bnh rng c ng trc c nh gi l bnh rng trung tm, bnh rng c ng trc di ng
gi l bnh rng v tinh. Khu ng mang trc ca bnh v
tinh gi l cn.
H bnh rng cho trn hnh 12.2 l mt h bnh rng vi
sai. Bc t do ca h:
5 4
3 2 W n p p = vi :
5
4 p = ;
4
2 p = ; 4 n = 2 W = . Bnh trung tm l bnh (1) v bnh
(3), bnh v tinh l bnh (2) v (2'). Cn l khu ng (C)
mang hai bnh v tinh (2), (2').
Khi c nh cn (C), h vi sai ni trn tr thnh h thng.
Trong chng ny, chng ta ch xt cc h vi sai c hai
bc t do.
c) H bnh rng hnh tinh
H bnh rng hnh tinh l h bnh rng vi sai (c W = 2) trong c mt bnh rng trung
tm c nh.
Khi c nh bnh trung tm (3) ca h vi sai trn hnh 12.2 th h ny tr thnh mt h hnh
tinh (hnh 12.3). Bc t do ca h :
5 4
3 2 W n p p = vi :
5
3 p = ;
4
2 p = ; 3 n = 1 W = .
Hnh 12.4, 12.5 m t mt s h hnh tinh trong c s dng cp bnh rng ni tip.
Trong h vi sai v hnh tinh phng (hnh 12.2, 12.3, 12.4, 12.5), ng trc ca cc bnh
trung tm (1), (3), v ng trc ca cn (C) phi nm trn cng mt ng thng. iu kin
ny c gi l iu kin ng trc ca h.
Hnh 12.2 : H vi sai
1
Z
2
Z
,
2
Z
3
Z
C
1
Z
2
Z
,
2
Z
,
3
Z
Hnh 12.1 : H thng
3
Z
4
Z
,
4
Z
5
Z
6
Z

144

d) H vi sai kn
H vi sai kn l h vi sai trong cc bnh trung tm u khng c nh, nhng hai bnh trung
tm hoc mt bnh trung tm v cn c ni vi nhau bng mt h thng.
V d h trn hnh 12.6 l mt h vi sai kn. y l mt h hn hp gm mt h vi sai (Z
1
, Z
2
,
cn C) v mt h thng (Z
3
, Z
4
, Z
4
, Z
5
). H thng ni bnh trung tm Z
1
v cn C ca h vi
sai. Bc t do ca h vi sai kn : W = 1.
2. Phn tch ng hc h bnh rng
1) T s truyn trong h bnh rng thng
a) H thng phng (hnh 12.1)
T s truyn ca h :
1
16
6
i

=
Vi
1 6
, l gi tr i s ca vn tc gc trc vo (1) v trc ra (6) ca h.
Ta c:
3 5 1 1 2 4
16
6 2 3 4 5 6
. . . . i

= =
Suy ra:
16 12 2'3 3' 4 4'5 56
. . . . i i i i i i =
T s truyn ca mi cp bnh rng c th tnh theo s rng:
2
12
1
Z
i
Z
= ;...,
4
3' 4 ,
3
Z
i
Z
= + ... Du
(-) ng vi cp bnh rng ngoi tip, du (+) ng vi cp bnh rng ni tip.
Hnh 12.3 : H hnh tinh
1
Z
2
Z
,
2
Z
3
Z
C
Hnh 12.4
1
Z
C
2
Z
,
2
Z
3
Z
C
Hnh12.5
,
2
Z
2
Z
1
Z
3
Z
1
Z
2
Z
3
Z
4
Z
'
4
Z
3 C
5
Z
Hnh 12.6 : H vi sai kn

145
Do :
3 5 6 1 2 4
16 , , , ,
6 1 2 3 4 5
Z Z Z Z Z
i
Z Z Z Z Z

= = +

Hay: ( )
3 6 1 2 4
16 , , '
6 1 2 3 4
1 . . .
k Z Z Z Z
i
Z Z Z Z
= =
Trong k l s cp bnh rng ngoi tip.

Ghi ch
Trong h bnh rng thng hnh 12.1, bnh rng (5) n khp ng thi vi hai bnh rng trn
trc trc v trc lin sau n nn s rng ca n khng c mt trong cng thc t s truyn i
16
.
Bnh rng (5) c gi l bnh rng ni khng. Bnh rng ni khng khng c ngha i vi
gi tr tuyt i ca t s truyn, m ch c ngha i vi chiu quay ca trc ra. Ngoi ra
cn c ngha v kt cu.
b) H thng khng gian
Do cc trc quay khng song song vi nhau nn
du ca vn tc gc v ca t s truyn khng cn
ngha na, v vy ta ch dng gi tr tuyt i.
T s truyn i
13
:
1 1 2
13
3 2 3
. i

= =
Suy ra:
3 1 2
13 ,
3 1 2
.
Z Z
i
Z Z
= =
Chiu quay ca trc ra (bnh rng Z
3
) c xc
nh da trn chiu quay ca trc vo (bnh rng
Z
1
) nh phng php nh du nh trn hnh 12.7.
2) Quan h vn tc gc trong h vi sai
H vi sai c 2 bc t do vn tc gc khu b dn
cui cng ph thuc vo vn tc gc ca hai khu dn. Do vy y, ta khng tnh t s
truyn m tm quan h vn tc gc ca khu b dn cui cng v hai khu dn.
a) H vi sai phng
Hy xc nh quan h gia cc vn tc gc
1 3
; ;
C
ca bnh (1), (3) v cn (C) trong h vi
sai trn hnh 12.2.
Xt chuyn ng tng i ca h i vi cn (C).
Trong chuyn ng tng i ny, ng trc ca cc bnh rng u c nh, do h tr
thnh h thng, vn tc gc ca cc khu (1), (3) tr thnh:
1 1
C
C
= ;
3 3
C
C
= .
T s truyn gia khu (1) v (3) trong chuyn ng tng i :

1 1
13
3 3
C
C C
C
C
i

= =

Th nhng trong chuyn ng tng i, h tr thnh h thng, t s truyn
13
C
i c th tnh
theo cc s rng:
3 2
13
,
1 2
C
Z Z
i
Z Z

=

Tm li :
1 3 2
13
,
3 1 2
C C
C
Z Z
i
Z Z

= =

(12.1)
Tng t nh trn, ta cng c :
1 2
12
2 1
C C
C
Z
i
Z

= =

Hnh 12.7 : H thng khng gian
1
Z
3
Z
2 Z
,
2
Z
2
Z

146
b) H vi sai khng gian
iu kin ng trc trong h vi sai khng gian: Mi bnh trung tm v cn u ng trc,
mi mt nn ln phi c chung mt nh (hnh 12.8).
Quan h gia cc vn tc gc
1 2
, ,
C

:
Xt chuyn ng tng i ca h i vi cn (C) trong h vi sai khng gian (hnh 12.8).
Trong chuyn ng tng i ny, h vi sai khng gian tr thnh h thng khng gian, vn
tc gc ca khu (1), khu (2):
1 1
C
C
=

,
2 2
C
C
=

T s truyn gia khu (1) v khu (2) trong chuyn ng tng i i vi cn C :
1 1
12
2 2
C
C
C
C
C
i

= =

Do trong chuyn ng tng i, h tr thnh h thng nn :
2
12
1
C
Z
i
Z
=
Suy ra:
1
2
12
1 2
C
C
C
Z
i
Z

= =

(12.2)
Ta c:
2
2 2
2 2 2
2
C C C
= +

Do
2 C

2
0
C
=

2
2 2
2 2 C C
= +

Do
1
//
C

1 1 C C
=

Tm li :
1 1
12
2 2
2
2
C
C
C
C
C
i

= =
+
vi
12
C
i c tnh ton nh trong h thng khng gian.

Quan h gia cc vn tc gc
1 3
, ,
C

:

Tng t nh trn, khi xt chuyn ng tng i ca h i vi cn C, ta c:
1 1
3 2
13
,
1 2 3 3
C
C
C
C
C
Z Z
i
Z Z

= = =

V
1 3
, ,
C

cng phng nn c th dng cc gi tr i s
1 3
, ,
C
ca vn tc gc v c
th xt n du ca t s truyn
13
C
i .
Hnh 12.8 : H vi sai khng gian
3
Z
1
Cn C
1
Z
,
2
Z
3
2
Z
Hnh 12.9 : H thng tng ng
3
Z
1
1
Z
,
2
Z
3
2
Z

147
Bng phng php nh du trong h thng tng ng (hnh 12.9) ta thy
1
C
v
3
C
ngc
chiu nhau. Suy ra :
3 1 2
13
,
3 1 2
C
C
C
Z Z
i
Z Z
= =
Tm li:
1 3 2
13
,
3 1 2
C C
C
Z Z
i
Z Z

= =

3) T s truyn trong h hnh tinh
H hnh tinh c mt bc t do. T quan h vn tc gc trong h vi sai, d dng suy ra t s
truyn trong h hnh tinh.
Xt h hnh tinh phng nh trn hnh 12.3, trong bnh trung tm (3) c nh:
3
0 =
T (12.1) suy ra :
1
13
C C
C
i

.
Hay:
1
1 13
1
C
C
C
i i
= = vi:
3 2
13 ,
1 2
C
Z Z
i
Z Z

=

Tng t, ta c:
2
2 23
1
C
C
C
i i
= = vi :
3
23
,
2
C
Z
i
Z

=

Lu bnh (3) l bnh trung tm c nh.
T suy ra:
3 2
,
1 2 1 1
12
2 2 3
,
2
1
1
C
C
Z Z
Z Z i
i
i Z
Z

= = =

5. Chn s rng cc bnh rng trong h hnh tinh
S rng trong h hnh tinh c chn da trn yu cu v t s truyn, ng thi phi tha
mn cc iu kin:

iu kin ng trc
Trong h hnh tinh phng trn hnh 12.3, 12.4, 12.5, ng trc ca cc bnh trung tm (1),
(3), v ng trc ca cn (C) phi nm trn cng mt ng thng.

iu kin lp
Trong h hnh tinh, khi chuyn ng, cc
bnh v tinh (hay cc khi bnh v tinh)
gy nn cc lc ly tm. cn bng cc
lc ly tm, cn (C) c dng mt chc gm
nhiu nhnh phn b u, mi nhnh mang
trc ca mt bnh v tinh (hay mt khi
bnh v tinh) (hnh 12.10). Dng nhiu
bnh v tinh phn b u, lc tc dng s
phn b cho cc bnh v tinh, nh
moun cc bnh rng c th nh, kch
thc hng knh ca h hnh tinh s nh
gn. ng thi, lc hng tm tc dng ln
trc ca bnh trung tm v cn (C) gn nh
bng khng.
Vn t ra l phi lp c cc bnh v
tinh ln cc nhnh ca cn (C), sao cho cc
Hnh 12.10
( ) C
3
Z
1
Z
2
Z
3
Z
1
Z
2
Z
2
Z
2
Z

148
bnh v tinh ng thi n khp vi cc bnh trung tm. y chnh l iu kin lp ca h
hnh tinh.

Xt h hnh tinh hnh 12.10. Cn phi xc nh cc s rng ca h ng thi bo m
c t s truyn, iu kin ng trc v iu kin lp. Gi s cc bnh rng u tiu chun
v cng mun.
1) iu kin ng trc
cc bnh trung tm
1 3
, Z Z v cn (C) ng trc vi nhau, phi c :
3 1 2
2 r r r = + (12.3)
Trong
1 2 3
, , r r r l bn knh vng ln ca cc bnh 1, 2, 3.
Do cc bnh rng n khp vi nhau phi c cng mun m, h thc (12.3) tr thnh:

3 1 2
1 1 1
2.
2 2 2
mZ mZ mZ = +

3 1 2
2 Z Z Z = +
Hay:
3 1
2
2
Z Z
Z

= .
Do
2
Z l s nguyn nn cc s rng
3 1
, Z Z phi u cng l s l hay u cng l s chn.
2) iu kin lp
c th lp c, cung in m ( ) t trn hnh
12.11 phi bng s nguyn ln bc rng p trn
vng ln ca cc bnh.
Do :
3 1
2
Z Z
Z k
n n
+ + = phi l s nguyn, vi n
l s bnh rng v tinh hay s chc ca cn C).
Suy ra :
1 3 2
( ) Z Z n k Z + =
Nh vy
1 3
Z Z + phi l bi s ca n.

Tm li tha mn c hai iu kin ng trc v
iu lp, cn phi c iu kin:
1 3
Z Z + phi l bi
s ca n nu n chn; bi s ca 2n nu n l.
3. Cng dng ca h bnh rng
1) Cng dng ca h thng
H bnh rng thng c dng thc hin cc t
s truyn ln m mt cp bnh rng khng th thc
hin c (h c gi l hp gim tc nu trc ra
quay chm hn trc vo, hp tng tc nu trc ra quay
nhanh hn trc vo); dng thc hin nhiu t s
truyn khc nhau (hp s, hp bin tc).
V d hp s (hnh 12.12) c hai khi bnh rng:
Khi (1) c ba bnh rng gn cng trn trc (I). Khi
(2) c 3 bnh rng c th di ng dc trc (II) (v
c gi l khi bnh rng di trt). Bn knh vng
ln ca cc bnh tho mn iu kin:
, , ,
1 1 2 2 3 3
r r r r r r + = + = +

1
Z
2
Z
3
Z
,
1
Z
,
2
Z
,
3
Z
( ) I
( ) II
Khi bnh rng c nh
Khi bnh rng di trt
Hnh 12.12
3
Z
2
Z
1
Z
( ) t
Hnh 12.11

149
Mt khc, khong cch gia cc vnh rng ca cc bnh rng trn trc (I) v (II) c tnh
ton sao cho khi cho khi bnh rng di trt di chuyn dc theo trc (II), ch c th c 1 cp
trong 3 cp bnh rng l n khp vi nhau thi.
Khi cho cp bnh rng (2,2) n khp vi nhau, t s truyn gia hai trc (I) v (II) bng :
,
2
,
2
I II
Z
i
Z
= . Khi cho cp bnh rng (1,1) n khp vi nhau (gt khi bnh rng di trt sang
bn tri) th :
,
1
,
1
I II
Z
i
Z
= . Khi cho cp bnh rng (3,3) n khp vi nhau (gt khi bnh rng
di trt sang bn phi) th :
,
3
,
3
I II
Z
i
Z
= . Ngha l hp s ni trn thc hin c ba t s
truyn khc nhau gia hai trc (I) v trc (II).
H bnh rng thng c dng
truyn ng gia hai trc xa nhau
vi mt t s truyn chnh xc (hnh
12.13). Nu dng mt cp bnh rng
truyn ng t trc (I) sang trc
(II) s dn n khng hp l v mt
kch thc v ch to. Nu dng b
truyn ai hay xch th t s truyn
khng chnh xc.
H bnh rng thng cn dng
o chiu quay trc b dn (hnh 12.14). Khi ko chc A xung, trc b dn (II) s i chiu
quay.
2) Cng dng ca h vi sai
H vi sai c hai bc t do, do n c
s dng trong cc trng hp cn tng hp
hai chuyn ng quay c lp thnh mt
chuyn ng quay hay phn tch mt
chuyn ng quay thnh hai chuyn ng
quay c lp.
Phn ny gii thiu hp vi sai trong t,
dng phn tch mt chuyn ng quay
thnh hai chuyn ng quay c lp.
Hp vi sai trong t
Gi
1 3
, , V V V

ln lt l vn tc t v vn tc
ca tm bnh xe sau (1) v (3);
1 3
, ln lt
l vn tc cc bnh (1) v (3) (hnh 12.15).
Khi xe chy trn ng thng:
1 3
V V V = =

1 3
=
Khi xe chy trn ng vng:
1 3
V V <
Do , xe i vng d dng, khng b trt
trn mt ng, phi c
1 3
< .
Th m, bnh (1) v bnh (3) cng nhn
chuyn ng t trc ng c (thng qua trc
cc ng), li phi c hai vn tc gc khc
nhau, do cn phi s dng hp vi sai phn tch mt chuyn ng quay thnh hai chuyn
ng quay c lp.
( ) I
( ) II
Bnh rng ni khng
Hnh 12.13
1
V
3
V
Bnh (1)
Bnh (3)
1
V
3
V
Hnh 12.15
Hnh 12.14 : C cu o chiu trc b dn (II)
( ) I
( ) II
A

150
Cu to hp vi sai
Hp vi sai t gm hai cp bnh rng nn (1,2) v (2,3) vi Z
1
= Z
3
. Bnh v tinh (2) c trc
vung gc vi trc cc bnh trung tm (1) (3) v cn C. Chuyn ng t trc ng c c
truyn ti cn C thng qua khp cc ng v cp bnh rng nn (4,5).

Nguyn l lm vic
Ta c :
1 3 3 2
13
3 1 2 1
1
C C
C
Z Z Z
i
Z Z Z

= = = =

(Du ca t s truyn c xc nh bng phng php nh du trong h thng tng ng
trn hnh 12.17)
Suy ra:
1 3
2
C
+ = = hng s (12.4)
Khi xe chy trn ng thng, sc cn ln trn hai bnh (1) v (3) nh nhau, do vn tc
gc hai bnh (1) v (3) nh nhau :
1 3
=
1 3 C
= = .
Khi xe chy trn ng vng, sc cn ln trn bnh (1) ln hn trn bnh (3), v vy bnh
(1) quay chm li,
1
gim xung. T (12.4) suy ra rng vn tc gc
3
ca bnh (3) tng
ln, nh xe i vng d dng, khng b trt trn mt ng.
3) Cng dng ca h hnh tinh
H hnh tinh cho php thc hin mt t s
truyn ln, c th rt ln. V d xt h hnh tinh
trn hnh 12.3.
Ta c:
3 1 2
1 13
,
1 2
1 1
C
C
C
Z Z
i i
Z Z
= = =
Nu chn hp l s rng ca cc bnh rng, v d
chn:
,
2 3 1 2
99, 101, 100 Z Z Z Z = = = = th :
1
1
10000
C
i =
Tuy nhin, khi chn t s truyn v khu dn cn
ch sao cho hiu sut ca h khng qu thp v
c bit phi trnh hin tng t hm.
Ngay c khi t s truyn nh v va, ngi ta
cng dng h hnh tinh v n c mt s u im
sau y v kt cu v ti trng: Cn C thng c nhiu chc phn b u, trn lp cc khi
bnh v tinh ging nhau, v vy phn lc trn trc ca cn C v trn trc cc bnh trung tm
C
Hnh 12.18:
1T
R
1
2
3
T
2T
R
3T
R
1 2 3
0
T T T
R R R + +

Bnh (1)
2
Z
Ni vi trc cc ng
Hnh 12.16 : Hp vi sai t
Bnh (3)
3
Z
5
Z
4
Z
Cn C
1
Z
,
2
Z
2
Z
Hnh 12.7 : H thng tng ng
3
Z
1
Z

151
gn nh bng 0 (hnh 12.18). Mi bnh rng ch chu
mt phn ti trng nn c th lm nh, nh kch
thc khun kh ca h thng nh gn. Mt khc,
trong h hnh tinh, thng dng cc cp bnh rng ni
tip c nhiu u im v mt sc bn so vi cp bnh
rng ngoi tip.

H hnh tinh c dng to nhng chuyn ng c bit cn thit cho mt s qu trnh
cng ngh.
V d xt h hnh tinh trn hnh 12.19. Bnh (1) l bnh trung tm c nh.
Ta c:
3 2 1 1
3 31
3 2 3
1 1 1
C
C
C
Z Z Z
i i
Z Z Z
= = = =
Nu ly
1 3
Z Z = th
3
0
C
i = khi cn C quay u th
3
0 = : bnh (3) chuyn ng tnh
tin trn. Trong trng hp ny, h hnh tinh c s dng trong c cu my tin trc khuu,
dng tin c bin (hnh 12.20).
tin c bin ca trc khuu, ta g trc khuu ln my tin sao cho tm O
1
ca c chnh
trng vi tm trc chnh my tin. Dao tin c g trn bnh rng (3). Khi cho trc khuu v
cn C ca h hnh tinh quay vi cng vn tc gc, do bnh (3) v dao tin chuyn ng tnh
tin trn, dao tin s lun lun ui theo c bin v c mt chuyn ng tng i trn chu vi
c bin, thc hin chuyn ng ct cn thit.
Nu ly
1 3
Z Z th h hnh tinh ny c s dng trong c cu my bn cp hay c cu
my bn x da (hnh 12.21). Cc dy cp c bn li t cc nhnh cp, cc nhnh cp li
c bn t cc si thp. Nu chiu bn cc nhnh cp trong cng mt dy cng chiu vi
chiu bn cc si thp trong cng mt nhnh, ta gi l cp bn xui. Ngc li, ta c cp bn
ngc.
Trong c cu my bn cp, cc si thp c mc trn cc bnh (3), (3) v (3). Khi cn C
quay th cc bnh (3), (3) v (3) cng quay theo, cc si thp c bn li thnh cc nhnh,
ng thi cc nhnh cng c bn thnh dy cp.
Khi chn
1 3
Z Z <
3
0
C
i >
3
cng chiu
C
: ta c cp bn xui. Khi
1 3
Z Z >
3
0
C
i <
3
ngc chiu
C
: ta c cp bn ngc

3
2
1
C
3
2
1
C
Hnh 12.19
(3)
(2)
(1)
C
Hnh 12.21: C cu my bn cp
Cc si thp
(3)
(3
Dao tin
C bin
Hnh 11.20: C cu my tin trc khuu
Truc khuu
1
O
3
O
(3)

152
Chng XIII
C CU PHNG TON KHP THP

1. i cng
1) Khi nim v c cu phng ton khp thp
C cu phng ton khp thp l c cu phng trong ch dng cc khp quay v khp
trt vi iu kin cc khp quay trong c cu phi c ng trc song song nhau vi nhau,
cc khp trt trong c cu phi c phng trt nm trong cc mt phng song song vi nhau
v vung gc vi ng trc ca cc khp quay.
iu kin ni trn c gi l iu kin phng ca c cu.
2) Cc c cu phng ton khp thp thng dng
Cc c cu phng ton khp thp thng dng l cc c cu c bn khu v su khu.
C cu phng ton khp thp c 4 khu c gi l c cu 4 khu phng gm c cc c cu
hng II.
C cu 4 khu phng ton khp quay gi l c cu 4 khu bn l.

Cc c cu bn khu phng thng dng c cho trn hnh 13.1, 13.2, 13.3, 13.4.
Hnh 13.1 : C cu bn khu bn l.
Hnh 13.2 v 13.3: C cu tay quay con trt.
Hnh 13.4 : C cu cult.
Mi c cu 4 khu phng c mt khu c nh l gi, mt khu khng ni gi gi l thanh
truyn v hai khu ni vi gi gi l cc khu ni gi.
Trong cc c cu 4 khu phng thng dng, c t nht mt khu c ni vi gi bng khp
bn l. Nu khu ni gi ny quay c lin tc quanh gi ca n th c gi l tay quay, nu
khng c gi l cn lc.
C cu 4 khu bn l l dng c bn nht ca c cu 4 khu phng.
Cc c cu 4 khu phng khc u c th xem l bin th ca c cu 4 khu bn l.
e
A
1
B
2
C
Hnh 13.2: C cu tay quay con trt
lch tm, lch tm : e
3
C
Hnh 13.4:
C cu cu lt
A
B
A
1
B
2
C
3
D
4
D
Hnh 13 .1: C cu
4 khu bn l
A
1
B
2
C
Hnh 13.3 : C cu tay quay
con trt chnh tm
3
x
4

153
V d : Xt c cu 4 khu bn l ABCD (hnh 13.1). Khi cho khp quay D tin ti v cng
trn phng CD th chuyn ng quay ca khu 3 quanh tm D bin thnh chuyn ng tnh
tin vi phng trt vung gc vi CD, do khp quay D gia khu 3 v gi s bin thnh
khp trt c phng trt vung gc vi CD. C cu tr thnh c cu tay quay con trt lch
tm (hnh 13.2).
Khong cch e t tm quay A n gi
trt ca con trt C c gi l
lch tm ca c cu.
Khi e = 0, c cu tr thnh c cu tay
quay con trt chnh tm (hnh 13.3).
Thay v chn khu 4 trong c cu tay
quay con trt chnh tm l gi, ta
chn gi l khu AB (khu 1), c cu
tr thnh c cu cult (hnh 13.4).
Cc c cu phng hng II u c
th xem l bin th hay pht trin ca
c cu 4 khu bn l. V d c cu my sng lc hng II trn hnh 13.5 c th xem l t hp
ca mt c cu bn khu bn l ABCD v mt c cu tay quay con trt DEF.
Cc c cu phng ton khp thp ni chung c dng bin i v truyn chuyn ng.
Bn cnh cn dng to ra cc qu o chuyn ng c bit.
2. C cu bn khu bn l
1) T s truyn trong c cu 4 khu bn l

Hy xc nh t s truyn
1
13
3
i

= gia khu 1 v khu 3 trong c cu 4 khu bn l, vi

1
v
3
l vn tc gc ca cc khu ni gi 1 v 3.
Ta c th dng phng php tm vn tc tc thi xc nh i
13
nh sau :
Xt chuyn ng tng i ca c cu i vi khu 3. Trong chuyn ng ny, khu 4 v
khu 2 quay xung quanh cc khp bn l C v D (hnh 13.6). Gi
1
/(3)
B
V
v
1
/(3)
A
V
ln lt
l vn tc ca im B v A trn khu 1 trong chuyn ng tng i ny, ta c :
1
/(3)
B
V BC

v
1
/(3)
A
V AD
.
Nh vy im P, giao im ca BC v AD, chnh l tm vn tc thc thi ca khu 1 trong
chuyn ng tng i i vi khu 3.
1 3 P P
V V =

, vi P
1
v P
3
l hai im ln lt
thuc khu 1 v khu 3 hin ang trng vi im P.
Suy ra :
1 1 3 3 P P
V AP V DP = = =
1
13
3
DP
i
AP
= =
B
1
2
Hnh 13.6 : C cu bn khu bn l
C
D
A
P
13
3
4
1
3
1
/(3)
B
V
1
/(3)
A
V
1 3 P P
V V

Hnh 13.5: C cu my sng
1
2
3
4
5
6
A
B
C
E
D
F

154
Nu xt gi tr i s ca vn tc gc, ta c:
1
13
3
DP
i
AP
= =
nh k Willis
T l lun trn y, ta c nh l Willis nh sau : Trong c cu 4 khu bn l, ng thanh
truyn BC chia gi AD thanh hai on t l nghch vi vn tc gc ca hai khu ni gi:
1
13
3
DP
i
AP
= =
Nhn xt
Khi c cu chuyn ng, phng ca thanh truyn BC v do v tr ca im P thay i
nn t s truyn i
13
cng thay i : nu
1
= hng s th
3
hng s v ngc li.
Khi im P chia ngoi on AD th
1
v
3
cng chiu nhau, khi
13
0 i > (hnh 13.6).
Khi im P chia trong on AD th
1
v
3
ngc chiu nhau v
13
0 i < (hnh 13.7).

Khi tay quay AB v thanh truyn BC chp nhau (v tr BC) hay dui thng (v tr BC)
th im P trng vi im A (hnh 13.8). Khi khu ni gi 3 c vn tc gc
3
0 = , khu 3
dng li sau i chiu quay. Hai v tr DC v DC c gi l hai v tr dng (v tr bin)
ca khu 3. Khu 3 l cn lc. Gc gia hai v tr bin gi l gc lc ca khu 3.
T s truyn
13
i = hng s trong cc trng hp c bit sau y (hnh 13.9, hnh 13.10) :

2) H s v nhanh
Trong c cu 4 khu bn l, khi khu ni gi 1 l tay quay, khu ni gi 3 l cn lc,
chuyn ng ca cn lc 3 gm hai hnh trnh (hnh 13.8): Hnh trnh i (lm vic) ng vi
khu dn i t v tr AB n v tr AB, ng vi gc quay
ca khu dn AB v hnh trnh

v (v khng) ng vi khu dn i t v tr AB n v tr AB, ng vi gc quay
v
ca khu
dn AB.
D
A
P
C
B
Hnh 13.7 : P chia trong AD
1
C
Hnh 13.9: C cu hnh bnh hnh:
AB = CD; AD = BC; i
13
= 1
D
B
A
P =
C
Hnh 13.10: C cu phn
hnh bnh hnh; i
13
= -1
A
B
D
P
C
P = A
B
D
C
C
B
B

v
Hnh 13.8

155
H s v nhanh c nh ngha nh sau: k

v

H s v nhanh k c trng cho nng sut ca my. Do vy, khi chn chiu quay ca khu
dn AB, lu chn sao cho >
v
, tc l sao cho k >1.
Vi chiu quay khu dn nh trn hnh 13.8, ta c :
= +
v =
v
1 k

+
= = >
v

3) iu kin quay ton vng ca khu ni gi
Khi c cu bn khu bn l nhn chuyn ng t ng c hay thng qua mt h truyn
ng nh c cu bnh rng, c cu truyn ng ai, truyn ng xch... th khu ni gi nhn
chuyn ng ny bt buc phi l mt tay quay. V vy, vic xc nh iu kin quay ton
vng ca khu ni gi c ngha quan trng trong vic thit k c cu.

Xt c cu 4 khu bn l ABCD. Hy xt iu kin quay ton vng ca khu ni gi AB.
Tng tng tho khp B ra. Qu tch ca im B
1
trn khu AB l vng trn (A, l
AB
). Qu
tch ca im B
2
trn khu BC l hnh vnh khn (V) gii hn bi hai vng trn ( , )
CD BC
D l l +
v ( , )
CD BC
D l l . Min (V) c gi l min vi ti ca u B
2
ca thanh truyn BC.
Nu vng trn (A, l
AB
) nm gn trong min vi ti (V) ca u B
2
ca thanh truyn BC (hnh
13.11) th khi B
1
i n u, B
2
cng c th vi ti c n . Khi khu AB quay c
ton vng.
Cn nu vng trn (A, l
AB
) khng nm gn trong min vi ti (V) th khu AB khng quay
c ton vng (khu AB l cn lc).

iu kin quay ton vng ca khu ni gi AB
Mt khu ni gi AB quay c ton vng khi v ch khi qu tch (A, l
AB
) ca n nm gn
trong min vi ti (V) ca u B
2
thanh truyn BC k n, tc l:
A
B
C
D
CD BC
l l +
CD BC
l l
Min vi ti
(V) ca thanh
truyn BC
Hnh 13.11

156
AB AD CD BC
AB AD CD BC
l l l l
l l l l
+ +

Quy tc Grasshof
phn on iu kin quay ton vng ca khu ni gi, ta c th dng quy tc Grasshof:
Trong c cu bn khu bn l :
1) Nu tng chiu di khu ngn nht v khu di nht nh hn hoc bng tng chiu di ca
hai khu cn li th:
a) Khi ly khu k vi khu ngn nht lm gi, khu ngn nht s l tay quay, khu ni gi
cn li s l cn lc.
b) Khi ly khu ngn nht lm gi, c hai khu ni gi u l tay quay.
c) Khi ly khu i din vi khu ngn nht lm gi, c hai khu ni gi u l cn lc.
2) Nu tng chiu di khu ngn nht v khu di nht ln hn tng chiu di ca hai khu
cn li th khi ly khu no lm gi, c hai khu ni gi u l cn lc.
3. C cu tay quay con trt
1) Quan h vn tc

Hy xc nh quan h gia vn tc gc
1
ca khu 1 v vn tc V
3
ca con trt C trong
c cu tay quay con trt (hnh 13.12).
Xt chuyn ng tng i ca c cu i vi khu 3.
Trong chuyn ng ny, vn tc ca im B
1
v A
1
trn khu 1 ln lt l
1
/(3)
B
V
v
1
/(3)
A
V
,
vi
1
/(3)
B
V BC
v
1
/(3)
A
V
song song vi phng trt xx ca con trt C.

Do im P, giao im ca BC v ng thng qua A v vung gc vi phng trt xx,
chnh l tm quay tc thi trong chuyn ng tng i gia khu 1 v khu 3.
Nu gi P
1
v P
3
l hai im ca khu 1 v khu 3 hin ang trng vi im P th trong chuyn
ng tuyt i ca c cu, ta c :
1 3 P P
V V =

1 1 3 3 P P
V AP V V = = =
1 3
AP V =

hnh trnh v
A = P
B
C
B
C
1

hnh trnh i
Hnh 13.13
A
1
B
2

3
P
13
C
x
x
Hnh 13.12
V
B1
/(3)
V
A1
/(3)

157
Nhn xt
Khi c cu chuyn ng, phng ca thanh truyn BC v do v tr ca im P thay i :
nu
1
= hng s th
3
V hng s v ngc li.
Khi tay quay AB v thanh truyn BC chp nhau (v tr BC) hay dui thng (v tr BC)
th im P trng vi im A, khi
3
0 V = : khu (3) dng li v i chiu chuyn ng. Hai
v tr C v C c gi l hai v tr dng (v tr bin) ca khu 3 (hnh 13.13).
2) H s v nhanh
Chuyn ng ca con trt C gm hai hnh trnh: Hnh trnh i (lm vic) ng vi khu
dn i t v tr AB n v tr AB, ng vi gc quay
ca khu AB v hnh trnh v (v

khng) ng vi khu dn i t v tr AB n v tr AB, ng vi gc quay
v
ca khu AB
(hnh 13.13).
Tng t nh c cu 4 khu bn l, h s v nhanh : k

v

Vi c cu tay quay con trt chnh tm: =
V
1 k =
Vi c cu tay quay con trt lch tm v chiu quay khu dn AB c chn nh trn hnh
13.13, ta c : = +
v =
v
k

+
= =
v

3) iu kin quay ton vng
Min vi ti (V) ca u B
2
thanh truyn BC gii hn bi hai ng thng ( ) v
,
( ) song
song vi phng trt xx v cch xx mt khong bng l
BC
(hnh 13.14).
Do iu kin quay ton vng ca khu ni gi AB :
BC AB
l l e +
3. C cu cult
1) T s truyn
Xt c cu cult trn hnh 13.15. Hy xc nh t s truyn
1
13
3
i

= gia khu 1 v khu 3.

Xt chuyn ng tng i ca c cu i vi khu 3.
1
B
A
2
3
e
l
BC

l
BC

Min
(V)
Hnh 13.14
C
()
()

158
Trong chuyn ng ny, khu 4 xem nh quay quanh C, khu 2 xem nh chuyn ng tnh
tin vi phng trt l Cx. Do vn tc ca im A
1
v B
1
thuc khu 1 ln lt l
1
/(3)
A
V

v
1
/(3)
B
V
vi
1
/(3)
A
V AC
v
1
/(3) //
B
V Cx
. Suy ra tm quay tc thi trong chuyn ng

tng i gia khu 3 v khu 1 chnh l im P, giao im ca AC v ng thng qua B v
vung gc vi Cx.
1 3 P P
V V =

1 1 3 3 P P
V AP V CP = = =
1
13
3
CP
i
AP
= =
Nhn xt
Nu l
AB
= l
AC
th khi c cu chuyn ng, P lun lun c nh (hnh 13.16).
Suy ra : l
PA
= l
AB
= l
AC

1
13
3
2
CP
i
AP
= = =
Ngoi trng hp ni trn, khi c cu chuyn ng, phng trt Cx v v tr con trt B
lun thay i, nn v tr im P v i
13
lun thay i: nu
1
= hng s th
3
hng s v
ngc li.
Khi AB vung gc vi phng trt Cx th im P trng vi im A, khi
3
0 = : khu
3 dng li v i chiu quay. Hai v tr Cx v Cx l hai v tr bin ca khu 3. Gc gia
Cx v Cx l gc lc ca khu 3 (hnh 13.17).

2) H s v nhanh
Trng hp khu 3 l cn lc, chuyn ng ca n gm hai hnh trnh (hnh 13.17) : Hnh
trnh i (lm vic) ng vi gc quay
ca khu dn AB, hnh trnh v (v khng) ng vi

gc quay
v
ca khu dn AB.
H s v nhanh : k

v

Vi chiu quay ca khu dn AB nh trn hnh 13.17, ta c : k

+
= =
v

3) iu kin quay ton vng

Khu ni gi AB
Gi s tho khp quay B ra. Qu tch ca im B
1
trn khu 1 l vng trn (A, l
AB
). Min vi
ti ca im B
2
trn con trt B l ton b mt phng. Do khu ni gi AB lun l tay
quay (hnh 13.18).
B
C
A
P
13
x
A
C
B
x
P
1
2
3 4
Hnh 13.15 Hnh 13.16
l
AB
= l
AC

159

Khu ni gi Cx
Gi s tho khp trt B ra. im B
3
trn khu 3 khng c v tr xc nh trn Cx, m c th
v nn mt ng cong bt k trn mt phng hnh v.
Min vi ti ca im B
2
trn khu 2 suy bin thnh vng trn (A, l
AB
).
Nu im C nm trong hay trn vng trn (A, l
AB
) nh trn hnh 13.19 th khu Cx s ct vng
trn (A, l
AB
), do khi khu Cx quay n bt k v tr no cng u ng khp trt B li
c to thnh c cu : Khu Cx quay c ton vng.
Nu im C nm ngoi (A, l
AB
) th khu Cx khng quay c ton vng.
Tm li, iu kin quay ton vng ca khu Cx:
AC AB
l l

C
x
A
B
x
B
V

Hnh 13.17
1
B
2
B
3
A
x
C
Hnh 13.19
A
x
B
2
B
1
C
Hnh 13.18

160
Chng XIV
CC C CU C BIT

1. C cu truyn ng ai
C cu truyn ng ai dng truyn chuyn ng quay gia hai trc O
1
v O
2
, nh ma
st gia cc bnh ai (1), (2) v dy ai (3) (hnh 14.1).

c ma st gia cc bnh ai v dy ai, cn phi c mt sc cng ban u trn dy ai.
Do vy, khi c cu cha chuyn ng, hai nhnh AB v CD c mt sc cng ban u S
0
.
Khi tc ng vo bnh ai (1) mt momen M, nhnh ai CD b ko cng thm, lc cng S
0

tng thnh S
2
(nhnh ai ny c gi l nhnh cng hay nhnh dn); cn nhnh AB chng
bt li, lc cng S
0
gim thnh S
1
(nhnh ai ny c gi l nhnh chng hay nhnh b dn) :
1 0 2
S S S < <

1) Quan h gia lc cng S
1
v S
2
trn hai nhnh ca b truyn ai (Cng thc Euler)
ai m ly puli mt gc
1
AOC = gi l cung m.
Lc cng trn on dy ai AC tng t S
1
A n S
2
C (hnh 14.2).
Xt mt phn t dy ai mn, chn cung d , v tr mn c xc nh bng gc .
Lc tc dng ln phn t dy ai mn bao gm : Lc cng S Om
v ( ) S dS On +

; lc ma
st dF dN

; p lc dN
v lc li tm dC
nm theo phn gic ca gc
1
mOn
Momen i vi im O
1
ca cc lc tc dng ln phn t mn :
S.R + dF.R - (S+dS).R = 0 vi R l bn knh ca bnh ai.
dF = dS
Gi f l h s ma st gia puli v dy ai, ta c :
dF = f. dN

dS
dN
f
=
iu kin cn bng lc ca phn t mn cho ta :
( ) 0 S S dS dN dF dC + + + + + =

Chiu ln phng ca dN
:
.sin ( ).sin 0
2 2
d d
S S dS dN dC

+ + + =
2 .sin .sin 0
2 2
d d
S dS dN dC

+ + =
Vi :
dS
dN
f
=
1
2
3
O
1
O
2
Nhnh chng
Nhnh cng
M
Hnh 14.1
B
A
C
D
0 1
S S

0 2
S S

161

2
2
. . .
V
dC R d V d
R
= =
: khi lng mt n v chiu di dy ai
V : vn tc di ca dy ai
Do dS v d l v cng b nn sin
2 2
d d
v sin 0
2
d
dS

Suy ra:
2
. . 0
dS
S d V d
f
+ + =

2
( )
dS
fd
S V

2
2
1 0
( )
S
S
dS
fd
S V

( )
2 2
2 1
f
S V S V e

= (14.1)
Cng thc 14.1 c gi l cng thc Euler.
Khi ai ng yn, h thc 14.1 tr thnh :
2 1
f
S S e

=

2) Momen ma st trong b truyn ai
Momen ma st ca lc dF i vi tm O
1
bng :
dM
MS
= R.dF = R. dS
Suy ra momen ma st trong b truyn ai :

2
2 1
1
. ( )
S
MS MS
S
M dM R dS R S S
= = =

(14.2)
Tr hai v ca h thc (14.1) vi S
1
, suy ra:
( )
2 2
2 1 1 1
f
S S S V e S V
= +

( )
2
2 1 1
( 1)
f
S S S V e

=
Thay vo (14.2), suy c :

( )
2
2 1 1
( ) ( 1)
f
MS
M R S S R S V e

= = (14.3)
Gi thit rng s thay i lc cng trn hai nhnh b truyn ai l nh nhau:

2 0 0 1
S S S S =
2 1 0
2 S S S + = (14.4)
Cng hai v ca h thc (14.1) vi S
1
, suy ra:
A

Nhnh chng

S
2
S
1

M

Bnh dn (1)
Hnh 14.2
C

d
1
O
m
n
, dN dC

dF
S dS +

S
Nhnh cng

162
( )
2 2
2 1 1 1
f
S S S V e S V
+ = + +

( )
2 2
0 2 1 1 1
2
f
S S S S V e S V
= + = + +

2
0
1
2 ( 1)
1
f
f
S V e
S
e
+
=
+
(14.5)
Thay (14.5) vo (14.3) suy ra :

2
0
( 1)
2 ( )
1
f
MS
f
e
M R S V
e
=
+
(14.6)
y cng chnh l momen ln nht m b truyn ai c th truyn ng c v M
MS
c
trng cho kh nng ti ca b truyn ai.
3) Nhn xt v kh nng ti ca b truyn ai
T h thc (14.6), ta c th rt ra cc kt lun sau:
Khi vn tc di V ca ai tng th M
MS
gim : kh nng ti ca b truyn ai gim.
Vn tc gii hn ca ai ng vi:
2
0
0 S V
0
gh
S
V

Khi lc cng ban u S
0
tng th kh nng ti ca b truyn ai cng tng ln.
Tuy nhin, khi S
0
tng, lc tc dng ln hai trc ca b truyn tng v ai chng b ro.

V 0
MS
dM
d
> nn khi gc m tng th kh nng ti ca b truyn ai cng tng theo.
tng gc m , cn ch :
+ Khi lp rp dy ai nn t nhnh chng pha trn.
+ Khong cch gia hai trc ca puli khng nn ly qu nh (nu qu nh s khin cho
gc m trn bnh nh gim xung). Tuy nhin, khong cch trc khng nn ly qu ln,
bi v khi kch thc b truyn s cng knh, cc nhnh ai b rung.
+ ng knh hai bnh ai khng nn chnh lch qu nhiu (t s truyn khng nn ly
qu ln), lm cho gc m trn bnh nh gim xung.
+ Dng puli cng ai tng gc m , ng thi khng ch lc cng trn dy ai (hnh
14.3). Tuy nhin khi ai b un nhiu, chng hng v mi.
V 0
MS
dM
df
> nn khi h s ma st f tng, kh nng ti ca b truyn cng tng ln.
tng f cn:
+ Chn vt liu dy ai c h s ma st cao
+ Dng ai thang, ai trn (hnh 14.4) c h s ma st thay th f ln hn f.

2. C cu Cc ng (Cardan)
C cu cc ng, cn gi l khp cc ng, c dng truyn chuyn ng quay gia
hai trc giao nhau mt gc c th thay i tu trong qu trnh chuyn ng.
Hnh 14.3 : Puli cng ai
Hnh 14.4 : ai thang, ai trn

163
1) Cu to
Lc cu to ca c cu cc ng cho trn hnh 14.5. Hai trc (1) v (2) giao nhau ti O
v hp vi nhau mt gc . Mi u trc mang mt chc (a) v (b). Hai chc ny c ni
vi nhau thng qua khu hnh ch thp (3) bng cc khp quay A, A v B, B. AA vung
gc vi trc (1). BB vung gc vi trc (2). AA vung gc vi BB.
Khi khu (1) quay trn th khu (2) cng quay trn, cn khu ch thp (3) chuyn ng
phc tp quanh im O.

2) Phn tch ng hc
Gi l gc hp bi trc (1) v trc (2) (hnh 14.6). Trn hnh 14.6, trc (1) v trc (2) to
nn mt phng thng ng. V tr ban u ca AA nm trong mt phng vung gc vi mt
phng cha trc (1) v trc (2). V tr ban u ca BB nm trong mt phng cha trc (1) v
trc (2).
Khi trc (1) quay, A v A vch nn vng trn (C
A
) vung gc vi trc (1). Khi B v B
vch nn vng trn (C
B
) vung gc vi trc (2). Khi im A di chuyn trn vng trn (C
A
)
n v tr mi l A
1
, th trn vng trn (C
B
), im B cng c v tr mi l B
1
. AA l giao tuyn
ca cc mt phng cha vng trn (C
A
) v (C
B
).
Gc quay ca khu (1) v khu (2) ln lt l
( )
1 1
, OA OA =

v
( )
2 1
, OB OB =

.
T A
1
h A
1
H vung gc vi mt phng ca vng trn (C
B
), t H h HI vung gc vi AA.
Theo nh l ba ng vung gc, ta suy ra :
1
' A I AA .
Hnh 14.5: C cu cc ng
A
A
B
B
O
Chc (a)
Chc (b)
3
1
2
1
Trc (2)
Trc (1)

164
Nh vy, gc
1
HIA chnh l gc nh din hp bi cc mt phng cha vng trn (C
A
) v (C
B
).
Do trc (1) v trc (2) ln lt vung gc vi mt phng cha vng trn (C
A
) v (C
B
), nn gc
1
HIA cng chnh l gc gia hai trc (1) v (2) :
1
HIA = .
Da vo tam gic A
1
HI vung ti H, ta c :
1
cos
IH
IA
= (14.7)
Da vo tam gic OA
1
I vung ti I, ta c :
1
1
IA
tg
OI
= (14.8)
Mt khc, do
1 1
OB OA (v chng l v tr mi ca hai thanh OA v OB lun lun vung gc
vi nhau) v
1
OB trc giao vi
1
HA (v
1
HA vung gc vi mt phng (C
B
) cha
1
OB ), nn
1
OB vung gc vi mt phng
1
OHA . Suy ra :
1
OB OH .
T suy ra rng :

1 2
AOH BOB = = (gc c cnh thng gc).
Da vo tam gic OIH vung ti I, ta c :
2
IH
tg tgIOH
OI
= = (14.9)
T (14.7), (14,8) v (14.9) suy ra :
1 2
.cos tg tg = (14.10)

`

o hm hai v ca (14.10) theo t :
( ) ( )
2 2
1 1 2 2
1 . .cos 1 . tg tg + = +

( )
2
1 2
12
2
2 1
1
1 cos
tg
i
tg

+
= =
+

( )
2 2
1 1
12
2
2 1
1 .cos
1 cos
tg
i
tg

+
= =
+

Khi
1
0 = v
1
= th :

2min 1
cos = .
Khi
1
2
= v
1
3
2
= th :
Hnh 14.7
2
1
cos
1
cos
2
0
3
2
1
HIA =
1 1
AOA =

2 1
BOB AOH = =
B
O
(2)
(1)
Hnh 14.6
1
B
A
A

A
1
B
1
2
1
I
(C
B
)
Chc (a)
(C
A
)
H
Chc (b)

165
1
2max
cos
= .
th biu din
2
theo gc quay
1
ca trc (1) cho trn hnh 14.7.
Khi gc hp nhau gia hai trc 0 = th t s truyn
12
1 i = . Khi gc 0 th t s truyn
12
i hng s. Khi cng ln th bin dao ng ca
2
cng ln, gy ra dao ng xon
ln trong cc b phn b dn (hnh 14.8).

3) C cu cc ng kp
trc dn (1) v trc b dn (3) c cng vn tc gc phi dng c cu cc ng kp. Trc (1)
c ni vi trc (3) thng qua trc (2) v hai khp cc ng.
Ta c :
( )
2 2
2 2 1
21
2
1 2 1
1 .cos
1 cos
tg
i
tg

+
= =
+

Vi
2
gc quay ca chc (b) tnh t mt phng vung gc vi mt phng cha trc (2) v (1).

( )
2 , 2
2 2 2
23
2 ,
3 2 2
1 .cos
1 cos
tg
i
tg

+
= =
+

Vi
,
2
gc quay ca chc (b) tnh t vung gc vi mt phng cha trc (2) v (1).

Do :
( )
( )
2
2 , 2
2 1
1 2 2
13
2 2 2 ,
3 2 1 2 2
1 cos
1 .cos
.
1 .cos 1 cos
tg
tg
i
tg tg

+
+
= =
+ +

i
13
bng hng s, phi c hai iu kin :
+
1 2
=
+
,
2 2
= (hai gc quay ca hai u chc nm trn trc (2) phi bng nhau).
0 50 100 150 200 250 300 350
94
96
98
100
102
104
106
Hnh 14.8
th biu din s bin
thin ca vn tc gc
2

theo gc quay
1
ca khu
dn ng vi cc gi tr khc
nhau ca gc gia hai trc
quay (
1
=100 Rad/s)
=10
0
=18
0
=5
0
2
[ / ] Rad s
1
1
2
Hnh 14.10
2
3
b
1
b
1
2
Hnh 14.9
b
2
b 3

166
Nh vy, trong trng hp trc (1) v trc (3) nm trong cng mt mt phng (trc (1) v (3)
song song nh trn hnh 14.9 hay ct nhau nh trn hnh 14.10) th hai chc (b) v (b) ca
trc (2) phi nm trn cng mt mt phng.
3. C cu Man
C cu Man c dng truyn chuyn ng quay lin tc ca khu dn thnh chuyn
ng quay gin on lc quay lc dng c chu k ca khu b dn. C cu Man c dng
trong c cu thay dao ca my t ng, c cu cp phi t ng, c cu a phim ca my
chiu phim...
1) Cu to
C cu Man ngoi tip gm mt a trn (1) c lp cht A, v a hnh sao (2) c nhiu
rnh hng tm i xng qua tm O
2
. Khi a (1) quay, c lc cht A lt vo mt rnh ca a
(2), khi a (2) quay quanh O
2
. Khi cht A ra khi rnh ny, a (2) dng li. Khi cht A
tip tc i vo rnh k tip trn a (2), a (2) li quay quanh O
2
.
trnh chuyn ng quay ngu nhin ca a (2) do tc ng ca cc momen ngu
nhin trong khong thi gian t khi cht A ra khi mt rnh ca a (2) n khi cht A i vo
rnh k tip trn a (2), th trong khong thi gian ni trn, ta phi kha cng a (2) li nh
cung trn ca a (1) ci vo cung trn EDC trn a (2) (hnh 14.11).
S cht trn a (1) c th bng 1 hay ln hn 1. S rnh trn a (2) thng l 4, 6, 8.

Ghi ch
Cc cht v cc rnh trn c cu Man c th phn b bt k (khong cch t tm cc cht
n tm O
2
c th khng bng nhau nh trn hnh 14.12, cc rnh ca a (2) c th khng
hng tm nh trn hnh 14.11), min l chng phi hp c vi nhau.

O
1
C
2
O
2
(2)

D

E
1
(1)
2
2
1
2
A
Hnh 14.11

167

2) Phn tch ng hc
a) S rnh ti thiu - S cht ti a
Trn hnh 14.11, ta c:
2
2
2
z
= vi z s rnh ca a.
cht A khng b va p khi i vo trong rnh :
2 1
O AO
z
=
Suy ra :
1 2
2
2 2 (1 )
z
= =
Gi t
C
l thi gian chuyn ng ca a (2); t
D
l thi gian dng ca a (2):
1
1 1
2 2
1
C
t
z

= =

1
1 1
2 2 2
1
D
t
z

= = +

vi :
1
l vn tc gc ca a (1) :
1
= hng s
T s
C
D
t
k
t
= gi l h s thi gian chuyn ng ca c cu:
2
1
2
2
2
1
C
D
t z
z
k
t z
z

= = =
+
+

V k > 0 v z nguyn nn 3 z hay s rnh ti thiu trong c cu Man : 3 z =

tng s ln chuyn ng ca a (2), ng vi mt vng quay ca a (1), c th tng s
cht trn a (1). Gi m l s cht, gc tm nh nht to gia hai cht phi bo m :
1
2
2
m
(tc khi cht A ra khi rnh ca a (2) th cht k tip trn a (1) mi c vo
khp vi a (2)) . Hay :
1
2 2 2
2
2 2
1
z
m
z
z
= =
S cht ti a:
2
2
z
m
z
=

b) T s truyn
xc nh vn tc v gia tc ca a (2) ta
xt mt v tr bt k ca c cu, khi tay quay
O
1
A v rnh O
2
A ca a to vi ng trc O
1
O
2

cc gc ln lt l
1
v
2
(hnh 14.14)
Trong tam gic O
1
AO
2
, ta c

:
( ) ( )
2 2
2 1 2 1
sin sin
sin sin
r
l

= = =
+

Trong :
1 2 1
,
O O O A
l l r l = =
1
O
Hnh 14.12

Hnh 14.13

O
1
2
O
2
1
Hnh 14.14
A
l
r

168
Suy ra:
1
2
1
sin
1 cos
tg

Hay :
1
2
1
sin
1 cos
arctg

(14.10)
o hm biu thc (14.10) theo
1
ta c :
( )
1
2
2
1 1
cos
1 2 cos
d
d

=
+
(14.11)
Vn tc ca a 2:
2 2 1 2
2 1
1 1
d d d d
dt d dt d

= = =

( )
1
2 1
2
1
cos
1 2 cos

=
+
(14.12)
Gia tc ca a 2 l :
2
2 1 2 2 1
2 1 2
1 1
d d d d d
dt dt d dt d

= = +
2
2 2 2
2 1 1 2
1 1
d d
d d

= +
Nu a 1 quay u (
1
=hng s) th :
( )
( )
2
2
1
2 2 2
2 1 1 2 2
2
1
1
sin . . 1
1 2 cos
d
d

= =
+
(14.13)
Cc cng thc (14.12), (14.13) chng t khi a 1 quay u (
1
const = ) th a 2 quay khng
u.

169

TI LIU THAM KHO

[1] Nguyn l my. inh Gia Tng, Nguyn Xun Lc, Trn Don Tin. Nxb i hc v
THCN, H ni 1969.
[2] Hng dn thit k n mn hc Nguyn l my. i hc Bch khoa nng xut
bn 1978 (bn in roneo).
[3] Nguyn l my Tp I. inh Gia Tng, T Khnh Lm. Nxb Khoa hc v K thut, H
ni 1995.
[4] Nguyn l my Tp II. inh Gia Tng, Phan Vn ng, T Khnh Lm. NXb Gio
dc, H ni 1998.
[5] ng dng tin hc trong thit k nguyn l my. inh Gia Tng, T Khnh Lm. Nh
xut bn Gio dc, H ni 1994.
[6] Bi tp Nguyn l my. Phan Vn ng, T Ngc Hi. Nxb Khoa hc v K thut
2002.
[7] Nguyn l my. Phan Vn ng, T Ngc Hi, Tp I v Tp II, i hc Bch khoa H
ni xut bn 1982, bn in roneo dnh cho sinh vin Ti chc.
[8] Nguyn l my, Bi Thanh Lim, Nxb Giao thng Vn ti, H ni 1981.
[9] C s k thut c kh. Xun nh, Bi L Gn, Phm nh Sng. Nh xut bn
Xy dng, H ni 2001.
[10] Chi tit c cu chnh xc, Nguyn Trng Hng, Nxb. Khoa hc v K thut, H Ni
2002
[11] Thorie des mcanisms et des machines - Artobolebski - Mir Publisher Moscou
1980.
[12] Liaisons et mcanismes. Pierre Agati, Marc Rossetto. Dunod Paris 1994.
[13] Theory of Machines and Mechanisms. Joseph Edward Shigley, John Joseph Uicker JR.
McGraw-Hill Inc., USA 1980.
[14] Design of Machinery, An introduction to the synthesis and analysis of mechanisms and
machines. Robert L. Norton. McGraw-Hill Inc., Singapore 1992.
[15] Systmes mcaniques : Thorie et dimensionnement. Michel Aublin et autres. Dunod
Paris 1998.

170
MC LC

CHNG M U.................................................................................................................. 2
1. Khi nim v my v c cu ............................................................................................. 2
1. My......................................................................................................................................... 2
2. C cu..................................................................................................................................... 2
2. Ni dung v phng php nghin cu ca mn hc Nguyn l my .............................. 3
Chng I ..................................................................................................................................... 4
CU TRC C CU................................................................................................................ 4
1. Khi nim v nh ngha ................................................................................................... 4
1) Khu v chi tit my............................................................................................................... 4
2) Ni ng, thnh phn khp ng v khp ng .................................................................... 5
3) Cc loi khp ng v lc khp ..................................................................................... 5
4) Kch thc ng ca khu v lc khu........................................................................... 8
5) Chui ng v c cu............................................................................................................. 8
2. Bc t do ca c cu ........................................................................................................ 9
1) Khi nim bc t do ca c cu ............................................................................................. 9
2) Cng thc tnh bc t do ca c cu.................................................................................... 10
3) Cng thc tnh bc t do ca c cu phng ......................................................................... 10
4) Khu dn - Khu b dn - Khu pht ng........................................................................... 12
3. Xp hng c cu phng .................................................................................................. 13
1) Nhm Atxua Hng ca nhm............................................................................................ 13
2) Hng ca c cu ................................................................................................................... 14
Chng II.................................................................................................................................. 17
PHN TCH NG HC C CU PHNG........................................................................ 17
1. Bi ton v tr (chuyn v) v qu o............................................................................. 17
2. Bi ton vn tc............................................................................................................... 18
3. Bi ton gia tc................................................................................................................ 21
Chng III ................................................................................................................................ 30
PHN TCH LC TRN C CU PHNG.......................................................................... 30
1. Lc tc ng trn c cu ................................................................................................. 30
1) Ngoi lc.............................................................................................................................. 30
2) Lc qun tnh ....................................................................................................................... 30
3) Phn lc khp ng.............................................................................................................. 30
2. S liu cho trc, gi thit v ni dung ca bi ton phn tch lc c cu..................... 31
3. Nguyn tc v trnh t gii bi ton phn tch lc c cu............................................... 31
1) Nguyn l almbe.............................................................................................................. 31
2) iu kin tnh nh ca bi ton phn tch p lc khp ng.............................................. 31
3) Trnh t v v d gii bi ton phn tch p lc khp ng ................................................. 33
4) Phng php di chuyn kh d tnh
cb
M

hay
cb
P
.......................................................... 35
Chng IV................................................................................................................................ 37
MA ST TRONG KHP NG............................................................................................ 37
1. i cng........................................................................................................................ 37
1) Khi nim............................................................................................................................. 37
2) Ma st trt kh - nh lut Coulomb................................................................................. 37
3) Ma st ln ............................................................................................................................. 40
2. Ma st trt kh trong khp trt................................................................................... 42
1) Ma st trong rnh hnh tam gic........................................................................................... 42
2) Ma st trn mt phng nghing ........................................................................................... 43
3) Ma st trn rnh nghing hnh tam gic ............................................................................... 45
4) Ma st trong khp ren vt .................................................................................................... 45

171
3. Ma st trt trong khp quay......................................................................................... 47
1) Momen ma st trong khp quay........................................................................................... 47
2) Tng p lc N
v tng lc ma st F
................................................................................. 49
3) Vng trn ma st v hin tng t hm trong khp quay.................................................... 51
4) Cc trng hp c th ca khp quay.................................................................................. 52
4. Ma st trong khp quay chn ......................................................................................... 54
1) Khp quay chn cn mi ( chn) ....................................................................................... 54
2) Khp quay chn chy mn .............................................................................................. 55
Chng V................................................................................................................................. 56
CN BNG MY................................................................................................................... 56
1. Ni dung ca cn bng my............................................................................................ 56
1) Tc hi ca lc qun tnh ..................................................................................................... 56
2) Ni dung ca cn bng my................................................................................................. 56
2. Cn bng vt quay........................................................................................................... 56
1) Cn bng vt quay mng...................................................................................................... 56
2) Cn bng vt quay dy ......................................................................................................... 58
3. Cn bng c cu nhiu khu............................................................................................ 62
Chng VI ................................................................................................................................ 65
CHUYN NG THC CA MY..................................................................................... 65
1. t vn ........................................................................................................................ 65
2. Phng trnh chuyn ng .............................................................................................. 65
1) Cc i lng thay th.......................................................................................................... 65
2) Phng trnh chuyn ng ca my..................................................................................... 66
3) Khu thay th ....................................................................................................................... 67
2. Vn tc gc thc ca khu dn ....................................................................................... 67
1) Cc ch chuyn ng ca my ........................................................................................ 67
2) Xc nh vn tc gc thc ca khu dn.............................................................................. 68
4. Lm u chuyn ng my ............................................................................................ 70
1) i cng v lm u chuyn ng my............................................................................. 70
2) Xc nh momen qun tnh ca bnh .............................................................................. 73
Chng VII............................................................................................................................... 76
HIU SUT............................................................................................................................. 76
1. Khi nim v hiu sut .................................................................................................... 76
2. Hiu sut ca mt chui khp ng (hay chui c cu) ................................................. 76
1) Trng hp chui khp ng ni tip.................................................................................. 76
2) Trng hp chui khp ng song song............................................................................. 77
3) Trng hp chui khp ng hn hp................................................................................ 77
Chng VIII ............................................................................................................................. 79
IU CHNH T NG CHUYN NG CA MY...................................................... 79
1. t vn ........................................................................................................................ 79
2. B iu chnh vn tc ly tm trc tip ............................................................................ 79
1) Cu to.................................................................................................................................. 79
2) Nguyn l lm vic .............................................................................................................. 79
3) Mt s khi nim c bn...................................................................................................... 80
4) u nhc im ca b iu chnh vn tc ly tm trc tip ................................................. 80
3. Cc b iu chnh vn tc ly tm gin tip ..................................................................... 81
1) B iu chnh vn tc ly tm gin tip phi tnh ................................................................... 81
2) B iu chnh vn tc ly tm gin tip c lin h ngc cng ............................................ 82
3) B iu chnh vn tc ly tm gin tip c lin h ngc mm............................................ 83
3. Nhn xt v cu trc ca mt h iu chnh t ng ..................................................... 83
Chng IX................................................................................................................................ 85
C CU CAM......................................................................................................................... 85

172
1. i cng....................................................................................................................... 85
1) Khi nim v c cu cam..................................................................................................... 85
2) Cc thng s c bn ca c cu cam.................................................................................... 86
2. Phn tch ng hc c cu cam...................................................................................... 88
1) Bi ton chuyn v................................................................................................................ 88
2) Bi ton vn tc v gia tc ................................................................................................... 92
3. Phn tch lc trn c cu cam ........................................................................................ 93
1) Lc tc dng trn c cu cam - Gc p lc ti hn v gc p lc cc i cho php........... 93
2) Quan h gia gc p lc, v tr tm cam v quy lut chuyn ng ca cn......................... 94
- Xc nh gc p lc v php tuyn ca bin dng cam......................................................... 94
4. Tng hp c cu cam...................................................................................................... 97
1) Tng hp c cu cam cn y nhn..................................................................................... 97
2) Tng hp c cu cam cn y ln...................................................................................... 102
3) Tng hp c cu cam cn y y bng ............................................................................ 103
5. Bin php bo ton khp cao ........................................................................................ 107
Chng X............................................................................................................................... 109
C CU BNH RNG THN KHAI PHNG................................................................... 109
1. i cng...................................................................................................................... 109
1) Khi nim........................................................................................................................... 109
2) nh l c bn v n khp bnh rng................................................................................. 111
3) Bin dng rng thn khai.................................................................................................... 112
2. iu kin t s truyn ca mt cp bnh rng thn khai bng hng s ................... 114
1) iu kin n khp ng v n khp trng ca cp bnh rng thn khai ........................... 116
2) iu kin n khp kht ca cp bnh rng thn khai ......................................................... 117
3. Cc thng s ch to c bn ca bnh rng thn khai................................................... 118
1) Phng php bao hnh to hnh bin dng thn khai .................................................... 118
2) Thanh rng sinh v thng s ca thanh rng sinh .............................................................. 119
3) Cc thng s ch to c bn ca bnh rng thn khai........................................................ 120
4) Hin tng ct chn rng S rng v h s dch dao ti thiu........................................ 122
4. Cc thng s n khp ca cp bnh rng thn khai ...................................................... 124
1) Phng trnh n khp kht.................................................................................................. 124
2) Cc ch n khp ca cp bnh rng thn khai .............................................................. 126
3) Cc thng s n khp v c im ca chng trong tng ch n khp ........................ 126
4) Mt vi c im ca vic dch dao v dch chnh n khp .............................................. 127
5. Hin tng trt bin dng rng................................................................................... 127
6. Bnh rng tr trn rng thng v rng nghing............................................................. 128
1) Bnh rng tr trn rng thng ........................................................................................... 128
2) Bnh rng tr trn rng nghing ....................................................................................... 130
Chng XI .............................................................................................................................. 136
C CU BNH RNG KHNG GIAN.............................................................................. 136
1. C cu bnh rng nn rng thng................................................................................. 136
1) Mt ln v t s truyn....................................................................................................... 136
2) Mt rng v c im tip xc ........................................................................................... 136
3) Cc thng s ca bnh rng nn......................................................................................... 137
4) Bnh rng thay th ca bnh rng nn ............................................................................... 138
2. C cu bnh rng tr cho............................................................................................. 139
1) Mt ln v t s truyn....................................................................................................... 139
2) Mt rng v c im tip xc ........................................................................................... 141
3. C cu trc vt - bnh vt tr trn................................................................................. 141
Chng XII............................................................................................................................. 143
H BNH RNG.................................................................................................................. 143
1. i cng..................................................................................................................... 143

173
1) t vn ........................................................................................................................... 143
2) Cc loi h bnh rng......................................................................................................... 143
2. Phn tch ng hc h bnh rng ................................................................................. 144
1) T s truyn trong h bnh rng thng ............................................................................ 144
2) Quan h vn tc gc trong h vi sai ................................................................................... 145
3) T s truyn trong h hnh tinh ......................................................................................... 147
5. Chn s rng cc bnh rng trong h hnh tinh........................................................... 147
1) iu kin ng trc........................................................................................................... 148
2) iu kin lp ...................................................................................................................... 148
3. Cng dng ca h bnh rng........................................................................................ 148
1) Cng dng ca h thng .................................................................................................. 148
2) Cng dng ca h vi sai ..................................................................................................... 149
3) Cng dng ca h hnh tinh............................................................................................... 150
Chng XIII ........................................................................................................................... 152
C CU PHNG TON KHP THP............................................................................... 152
1. i cng..................................................................................................................... 152
1) Khi nim v c cu phng ton khp thp ...................................................................... 152
2) Cc c cu phng ton khp thp thng dng .................................................................. 152
2. C cu bn khu bn l ................................................................................................ 153
1) T s truyn trong c cu 4 khu bn l ............................................................................ 153
2) H s v nhanh................................................................................................................... 154
3) iu kin quay ton vng ca khu ni gi ....................................................................... 155
3. C cu tay quay con trt ............................................................................................. 156
1) Quan h vn tc.................................................................................................................. 156
2) H s v nhanh................................................................................................................... 157
3) iu kin quay ton vng................................................................................................... 157
3. C cu cult .................................................................................................................. 157
1) T s truyn........................................................................................................................ 157
2) H s v nhanh................................................................................................................... 158
3) iu kin quay ton vng................................................................................................... 158
Chng XIV........................................................................................................................... 160
CC C CU C BIT..................................................................................................... 160
1. C cu truyn ng ai ................................................................................................ 160
1) Quan h gia lc cng S
1
v S
2
trn hai nhnh ca b truyn ai (Cng thc Euler)........ 160
2) Momen ma st trong b truyn ai..................................................................................... 161
3) Nhn xt v kh nng ti ca b truyn ai ....................................................................... 162
2. C cu Cc ng (Cardan) ............................................................................................ 162
1) Cu to................................................................................................................................ 163
2) Phn tch ng hc ............................................................................................................. 163
3) C cu cc ng kp........................................................................................................... 165
3. C cu Man .................................................................................................................. 166
1) Cu to................................................................................................................................ 166
2) Phn tch ng hc ............................................................................................................. 167
TI LIU THAM KHO...................................................................................................... 169
MC LC.............................................................................................................................. 170

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Bai Giang - Nguyen Ly May - Le Cung - Mangnoibo-2007

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i hc nng

Trng i hc Bch KHOA

Bc t do tng i gia hai khu

Ni ng, thnh phn khp ng, khp ng

(mi khp loi j hn ch j bc

Hnh 2.1: Ho chuyn

... ch ph thuc vo v tr c cu,

Hnh 2.6 : Ha gia tc

+ th mp trn ca nn ma st nm pha trn

= , thay gc ma st bng gc ma st thay th ' vi ' ' tg f = .

AB = . Gi s p sut t lt trc tc dng ln ngng

l h s phn b p sut (4.10)

AIB (hnh 4.19).

AIB = = i xng nhau

c gi l momen thay th v khu dn ca tt c cc lc tc ng ln c

coi nh t trn khu dn.

trit tiu c chu k.

phi trit tiu c chu k.

= + . Do vy khi dch trc ca th ( ) E xung pha di mt

l momen qun tnh thay th cho cc khu cn li ca my, J

= hng s (tc l momen qun tnh thay th lc ny

= hng s. Mun vy phi lp trn khu dn (hay trn

ca bnh phi c chn sao cho: [ ] .

c lp vo khu dn. Khi lp bnh vo khu

ca my, cng ng cung cp cho my v cng cn m my tiu hao phi cn

l cng ng cung cp. Cng c ch nhn c l A

cung cp cho my tng

cung cp cho my tng

tng ln phc hi ch chuyn ng bnh n

tng ln, phc hi s cn bng gia cng ng v cng

ca im tip xc B gia cam v cn.

gim dn: cn i v gn tm cam (t v

khng i: cn s ng yn v tr xa tm cam nht (hay gn tm cam nht).

Hnh 9.10 : th vn tc v gia tc ca cn

cng c th dng biu

, dng phng php vi phn th, ta suy c th

cng c th dng biu din

nm theo phng php tuyn nn.

vung gc vi php tuyn nn.

(bao gm trng lng, lc qun tnh ca cn, lc phc hi ca l xo bo ton

vung gc vi gi trt xx ca cn.

song song vi gi trt xx ca cn.

+ + = th P . iu ny c ngha l ngay khi

c gi tr ln bao nhiu i na, c cu vn

ca im tip xc B trn y cn chnh l gc p

l phng chiu ca vect

l phng chiu ca vect

chnh l phng chiu ca vect

tung ng th c th xc nh c gc p lc y cn v phng ca php

l phng chiu ca vect

l phng chiu ca vect vn

l phng chiu ca vect vn tc

l phng chiu ca vect vn tc

l phng chiu ca vect vn tc 2

song song vi y cn.

song song vi phng trt ca cn.

, tip tc dng phng php vi phn th, suy c th

(ban knh vect)

. Khi thay i gc n khp

ti im tip xc M ca hai bin dng nm theo phng tip

cng ln khi v tr tip xc gia chng cng xa tm n khp v ch bng

l vn tc trt tng i gia hai im P

= gia khu 1 v khu 3 trong c cu 4 khu bn l, vi

ca khu dn AB v hnh trnh