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  • Four Bar Linkage (Empat Batang Penghubung)

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    adri_suryana
    33 views3 pages
    This document presents equations to describe the position, velocity, and acceleration of a four bar linkage mechanism. The position is defined by two equations relating the angles of the four bars. The velocity is obtained by taking the derivative of these position equations. And the acceleration is obtained by taking the derivative of the velocity equations. Jacobian matrices are used to relate the angular velocities and accelerations of the different bars.

    Original Description:

    mekanika kekuatan bahan

    Original Title

    Four Bar

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    This document presents equations to describe the position, velocity, and acceleration of a four bar linkage mechanism. The position is defined by two equations relating the angles of the four bars. The velocity is obtained by taking the derivative of these position equations. And the acceleration is obtained by taking the derivative of the velocity equations. Jacobian matrices are used to relate the angular velocities and accelerations of the different bars.

    Copyright:

    © All Rights Reserved
    Download as PPTX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    33 views3 pages

    Four Bar Linkage (Empat Batang Penghubung)

    Uploaded by

    adri_suryana
    This document presents equations to describe the position, velocity, and acceleration of a four bar linkage mechanism. The position is defined by two equations relating the angles of the four bars. The velocity is obtained by taking the derivative of these position equations. And the acceleration is obtained by taking the derivative of the velocity equations. Jacobian matrices are used to relate the angular velocities and accelerations of the different bars.

    Copyright:

    © All Rights Reserved
    Download as PPTX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    of 3

    A2

    c2
    A2

    c1

    c3

    c4
    Four Bar Linkage (Empat Batang Penghubung)

    Persamaan Posisi Four Bar Linkage Mechanism

    f1 (q, A2 , A3 ) C1 Cos (q) C2 Cos ( A2 ) C3 Cos ( A3 ) C4 0


    f 2 (q, A2 , A3 ) C1 Sin (q) C2 Sin ( A2 ) C3 Sin ( A3 ) 0
    f1
    A
    2
    f 2
    A2

    f1
    A3 C2Cos ( A2 ) C3 Sin ( A3 )

    f 2 C2Cos ( A2 )
    C3 Cos ( A3 )
    A3

    Persamaan Kecepatan Four Bar Linkage Mechanism


    C 2Cos ( A2 ) C3 Sin ( A3 ) A2
    C1Sin ( q )
    q

    C Cos ( A )

    Cos
    (
    A
    )
    A

    C
    Cos
    (
    q
    )
    2
    3
    3 3
    1

    Jacobian
    Matrix

    Persamaan Percepatan Four Bar Linkage Mechanism:

    C2 Sin ( A2 ) C3 Sin ( A3 ) A2
    C Cos ( A ) C Cos ( A ) A
    2
    3
    3 3
    2
    C1Sin (q)
    2 C1Cos ( q )
    2 C2 Cos ( A2 )
    2 C3Cos ( A3 )
    q
    q
    ( A2 )
    ( A3 )

    C
    Sin
    (
    A
    )

    C
    Cos
    (
    q
    )
    C
    Sin
    (
    q
    )
    C
    Sin
    (
    A
    )
    3
    2
    1

    2
    3

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