HCM City Univ. of Technology, Mechanical Engineering Department HCM City Univ.

of Technology, Mechanical Engineering Department Nguyen Tan Tien Nguyen Tan Tien
2.
2.

NG H
NG H


C C C
C C C


U
U
Theory of Machine Theory of Machine 2.01 2.01 Kinematic Kinematic Analysis of Mechanisms Analysis of Mechanisms
HCM City Univ. of Technology, Mechanical Engineering Department HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien Nguyen Tan Tien
Theory of Machine Theory of Machine 2.02 2.02 Kinematic Kinematic Analysis of Mechanisms Analysis of Mechanisms
1. 1. i i cng cng
Phn Phn t t ch ch ng ng h h c c c c c c u u l l nghin nghin c c u u quy quy lu lu t t chuy chuy n n ng ng c c a a c c c c u u khi khi
bi bi t t tr tr c c l l c c ng ng c c a a c c c c u u v v quy quy lu lu t t chuy chuy n n ng ng c c a a khu khu d d n n
I. I. N N i i dung dung
- - B B i i to to n n v v tr tr
- - B B i i to to n n v v n n t t c c
- - B B i i to to n n gia gia t t c c
II. II. ngh ngh a a
- - X X c c nh nh v v tr tr ph ph i i h h p p v v s s d d ng ng chuy chuy n n ng ng c c a a c c c c c c c c u u ho ho n n
th th nh nh nhi nhi m m v v c c a a c c c c m m y y t t ra ra, , b b tr tr khng khng gian gian, , v v m m y y, ,
- - V V n n t t c c v v gia gia t t c c l l nh nh ng ng thng thng s s c c n n thi thi t t ph ph n n nh nh ch ch t t l l ng ng l l m m vi vi c c
c c a a m m y y
HCM City Univ. of Technology, Mechanical Engineering Department HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien Nguyen Tan Tien
Theory of Machine Theory of Machine 2.03 2.03 Kinematic Kinematic Analysis of Mechanisms Analysis of Mechanisms
1. 1. i i cng cng
III. III. Phng Phng ph ph p p
- Ty theo ni dung, yu cu ca tng bi ton, ta c th s dng cc phng
php khc nhau: gii tch, th, ha vct,
- - Phng Phng ph ph p p th th , , phng phng ph ph p p h h a a v v ct ct
u u i i m m
+ + n n gi gi n n, , c c th th , , d d nh nh n n bi bi t t v v ki ki m m tra tra
Nh Nh c c i i m m
+ + Thi Thi u u ch ch nh nh x x c c do do c c sai sai s s d d ng ng h h nh nh, , sai sai s s c c, ,
+ + Phng Phng ph ph p p th th , , k k t t qu qu cho cho quan quan h h gi gi a a m m t t i i l l ng ng ng ng h h c c
theo theo m m t t thng thng s s nh nh t t nh nh th th ng ng l l khu khu d d n n
+ + Phng Phng ph ph p p h h a a v v ct ct, , k k t t qu qu khng khng lin lin t t c c, , ch ch c c c c i i m m r r i i r r c c
- - Phng Phng ph ph p p gi gi i i t t ch ch
u u i i m m
+ + Cho Cho m m i i quan quan h h gi gi a a c c c c i i l l ng ng b b ng ng bi bi u u th th c c gi gi i i t t ch ch, , d d d d ng ng cho cho
vi vi c c kh kh o o s s t t d d ng ng m m y y t t nh nh
+ + ch ch nh nh x x c c cao cao
Nh Nh c c i i m m
+ i vi mt s c cu, cng thc gii tch rt phc tp v rt kh kim tra
HCM City Univ. of Technology, Mechanical Engineering Department HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien Nguyen Tan Tien
Theory of Machine Theory of Machine 2.04 2.04 Kinematic Kinematic Analysis of Mechanisms Analysis of Mechanisms
A
B
C
1

x
y
e
1
l
2
l
C
x
1

1 2 3
2 2 1 1
cos cos l l x
C
+ =

+
= = +
= = = =
2
1 1
2 2 2 1 1
1 2 2 1 1 1
sin
arcsin sin sin
) ( ) ( ) (
l
e l
l e l
f t t t

)) ( ( ) (
1 1
t x x x
C C C
= =
vi
2. 2. Phn Phn t t ch ch ng ng h h c c c c c c u u ph ph ng ng b b ng ng phng phng ph ph p p gi gi i i t t ch ch
X X t t c c c c u u tay tay quay quay - - con con tr tr t t l l ch ch tm tm c c v v tr tr ang ang x x t t nh nh h h nh nh v v
Cho: l
AB
, l
BC
,
1
l hng s v lch tm e
Xc nh: x
C
, v
C
, a
C

+
+
= =
+ = =

2
3
2
1
2
1
2
2 1 2
1 1
2 1 1 1 1
cos
cos
cos
) cos(
) (
) tan cos (sin ) (

l
l
l t a a
l t v v
C C
C C
HCM City Univ. of Technology, Mechanical Engineering Department HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien Nguyen Tan Tien
Theory of Machine Theory of Machine 2.05 2.05 Kinematic Kinematic Analysis of Mechanisms Analysis of Mechanisms
Cho: l
AB
, l
BC
, l
CD
, l
DA
,
1
hng s
Xc nh:
3
,
3
,
3
B
C
D
1

1
2
4
5
6
7
8
9
10
11
12
2
1

2
3

A
1 2 3
3
1

1
1

2
1

n
1
L
3

1
3

2
3

n
3
L
Xc nh gi tr
3
t phng php v,
o v lp bng
Xy dng th
3
=
3
(
1
)
3. 3. Phn Phn t t ch ch ng ng h h c c c c c c u u ph ph ng ng b b ng ng phng phng ph ph p p th th
X X t t c c c c u u 4 4 khu khu b b n n l l c c v v tr tr ang ang x x t t nh nh h h nh nh v v
HCM City Univ. of Technology, Mechanical Engineering Department HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien Nguyen Tan Tien
Theory of Machine Theory of Machine 2.06 2.06 Kinematic Kinematic Analysis of Mechanisms Analysis of Mechanisms
O
1

1
3

d
d
O
1

2
1
3
2

d
d
1
3

d
d
2
1
3
2

d
d
) (
1 3 3
=

1
3
1
1
3 1 3
3

d
d
d
d
dt
d
dt
d
= = =
2
1
3
2
2
1
1
3
1
3
3

d
d
d
d
dt
d
dt
d
=
|
|

\
|
= =
3. 3. Phn Phn t t ch ch ng ng h h c c c c c c u u ph ph ng ng b b ng ng phng phng ph ph p p th th
O
1

HCM City Univ. of Technology, Mechanical Engineering Department HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien Nguyen Tan Tien
Theory of Machine Theory of Machine 2.07 2.07 Kinematic Kinematic Analysis of Mechanisms Analysis of Mechanisms
1
2
2 1
A A

r
1
A
v
r
+ + Hai Hai i i m m A A, , B B kh kh c c nhau nhau c c ng ng thu thu c c m m t t khu khu ang ang chuy chuy n n ng ng song song ph ph ng ng
+ + Hai Hai i i m m A A
1 1
, , A A
2 2
tr tr ng ng nhau nhau, , thu thu c c hai hai khu khu ang ang chuy chuy n n ng ng song song ph ph ng ng
tng tng i i i i v v i i nhau nhau
A
B
A
v
r
B
v
r
BA
v
r
A
v
r

r
4. 4. Phn Phn t t ch ch ng ng h h c c c c c c u u ph ph ng ng b b ng ng phng phng ph ph p p h h a a v v ct ct
n n m m t t s s ki ki n n th th c c v v i i s s v v ct ct
- - nh nh l l lin lin h h v v n n t t c c
BA A B
v v v
r r r
+ =
1 2 1 2
A A A A
v v v
r r r
+ =
HCM City Univ. of Technology, Mechanical Engineering Department HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien Nguyen Tan Tien
Theory of Machine Theory of Machine 2.08 2.08 Kinematic Kinematic Analysis of Mechanisms Analysis of Mechanisms
+ + Hai Hai i i m m A A, , B B kh kh c c nhau nhau c c ng ng thu thu c c m m t t khu khu ang ang chuy chuy n n ng ng song song ph ph ng ng
+ + Hai Hai i i m m A A
1 1
, , A A
2 2
tr tr ng ng nhau nhau, , thu thu c c hai hai khu khu ang ang chuy chuy n n ng ng song song ph ph ng ng
tng tng i i i i v v i i nhau nhau
4. 4. Phn Phn t t ch ch ng ng h h c c c c c c u u ph ph ng ng b b ng ng phng phng ph ph p p h h a a v v ct ct
- - nh nh l l lin lin h h gia gia t t c c

=
=

AB BA AB
n
BA
l v l
BA
a
/
//
2 2

=
AB
BA
l
AB
a

r
A
B
A
a
r

BA
a
r
n
BA
a
r
BA
a
r
B
a
r
A
a
r

=
1 2
1 2
1 2
1
1
0
2
90 //
A A
A A
k
A A
v
theo quay v
a

r r
r

BA
n
BA A BA A B
a a a a a a
r r r r r r
+ + = + =
r
A A
k
A A A A
a a a a
1 2 1 2 1 2
r r r r
+ + =
HCM City Univ. of Technology, Mechanical Engineering Department HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien Nguyen Tan Tien
m n
m
n
m m m m
m m m m
m m m m
+ + = + +

+ + + =
+ + + =
r
L
r r
L
r
r
L
r r r
r
L
r r r
1 1
2 1
2 1
Theory of Machine Theory of Machine 2.09 2.09 Kinematic Kinematic Analysis of Mechanisms Analysis of Mechanisms


+ + + = + + +
?
?
2 1 2 1 n n
m m m m m m
r
L
r r r
L
r r
4. 4. Phn Phn t t ch ch ng ng h h c c c c c c u u ph ph ng ng b b ng ng phng phng ph ph p p h h a a v v ct ct
i i u u ki ki n n gi gi i i m m t t phng phng tr tr nh nh v v ct ct
m
r
1
m
r
2
m
r
n
m
r
1
m
r

2
m
r

m
m
r

HCM City Univ. of Technology, Mechanical Engineering Department HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien Nguyen Tan Tien
Theory of Machine Theory of Machine 2.10 2.10 Kinematic Kinematic Analysis of Mechanisms Analysis of Mechanisms
a

A
B
C
D
E
1

1
2
3
p
b
c
e
BC
CD
EC
EB
p

b
c
e
n
CB
a
r

CB
a
r
n
C
a
r

C
a
r
CD
C
a
r
BC
B
a
r
E
a
r
4. 4. Phn Phn t t ch ch ng ng h h c c c c c c u u ph ph ng ng b b ng ng phng phng ph ph p p h h a a v v ct ct
V V d d : : Cho Cho c c c c u u 4 4 khu khu b b n n l l t t i i v v tr tr nh nh h h nh nh v v . . Tay Tay quay 1 quay quay 1 quay u u v v i i v v n n
t t c c g g c c
1 1
. X . X c c nh nh v v n t n t c, c, gia gia t t c c i i m m B B, , C C, , E E v v gia gia t t c g c g c c kh kh u 2, 3 u 2, 3
HCM City Univ. of Technology, Mechanical Engineering Department HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien Nguyen Tan Tien
Theory of Machine Theory of Machine 2.11 2.11 Kinematic Kinematic Analysis of Mechanisms Analysis of Mechanisms
l

A
C
B
D
3 2

3 2

3
2
1

p CD //
CD
2
b
3
b
2 3
B B
v
r
d
p

2
b
2
B
a
r

2 3
B B
a
r
3
b
CD //
CD
d
n
B
a
3
r

3
B
a
r
r
B B
a
2 3
r
4. 4. Phn Phn t t ch ch ng ng h h c c c c c c u u ph ph ng ng b b ng ng phng phng ph ph p p h h a a v v ct ct
V V d d : : Cho Cho c c c c u u cul cul t t t t i i v v tr tr nh nh h h nh nh v v . . Khu Khu d d n n 1 quay 1 quay u u v v i i v v n n t t c c g g c c

1 1
. X . X c c nh nh
3 3
, ,
3 3
, , v v
D D
, , a a
D D