INTRODUCERE Transmisile caaice au o istorie impresoras, cu nue ihre de exces inventor i eenstrcion, cum sunt: Leonardo da Vinci (149), 6 Cardano (1557), R Hooke (164), Newton (1679), JV. Ponclet (182, A Wills (1841), F Ruleauc (1873), MC d’cage (1918) mul ali Pont a even seat pt, continue ae preci uci principle moment store semnifative ale evolel tease cada: {290 lle ~cne mei eho cst osteoid il api ‘cane parine ni Pilon isan refer pens et el ‘eral fr dire rere 3535 40) 1265 = casera debe reas Vlad de Howneout his 6 ih de (orn sec, preview ex sipensie carded, formats dn le ‘onan raat). 1834 ~ Cea ma els apa cus expla cardan, pea rarmieree tnd rote deride Sc (25) 9a ofr Plog ce Sraplrge Minter. 1093 Leonard Vie (Cicer Mairi) shi npn ws le oman Inlecence ate eae iin flat date ir and 1887-6. Carden fee ri srr fal canst peel re inde ‘eames po ars en mam 733% 1561 —'E Ballenin connie wn ert estonomie de mare comple Pre nue crate nae eolgi se muni rane ex role ‘rile deni ma tet rte sade 1871 Feihans dare i [69 bool marino Hans Griben, cv mepesie ‘formate oncanrenartciie 1818-1 Besson dsr a rares sa 7] un Stem cu pale pears misarse 1629 -G Brance drei cartes oe drpre main. @ einen pense de ip ‘dane pon apart ior. 1664: Scht rain [85), spre rr eras exer (Kreulen oe “nice inorlepie din arr, po rommierea miei erate 1666 -"R Hooke cine prin beet de nese por 0 artes, de pal pene cardanch, erro miers Se rtf $292) 1634, Hoke daria Anion” [7], pena ee hap len von Jones Hein): opr wera cp bree pns anata ig deta can ds ra16 Transmit cordance 1675 = 1 News eosin teapot co © sapesse de tip cade (Bosse) 108s —F ieatd brveect wea Beda nid Ii cone de ‘cian (93). tans ev, ponte demrareccé atc hawointamel etl edi door ace amiersa mecnonaat cai sip (7692). 1441 Ac Wis dct eae bomocietsma area! bsrnce teak 105), aca = Seebrg propane 0 vant sng ete cordance (wisn rs [eaten subuach senate propstile rie cardaks, sib demure dered ce ones (9587 176-1 Rchaes radact fesse condi sacar de fneionare le enn coda (13). ‘90a Scone beans ramet Bardaned potrs acionres rl scone coe ale ator (9), 1r A Hardt brews @ errs Lonel arte conic ev enor etriar [4 007-8 Cncapon breyani Bicarbonate ctor ‘stood (1). 1918 sf Ocgnenodeles prin mnie direct cone de homecnem se “mint Bewdonce abort eponar de corsa d 23) 910 nites teerearé» rome Beadle Dba, desnatl replr tere decree oomabier (7). 1934 —"Ueksps Newland ouahamocieic, cx care ican) (2) sano nfabeatiece fe Carer. (piv, chiar sumar, sea model taser cardanie evden ‘opie com afise fn evestomenis, pin: ere tiatice pute tb ToSEtic de apie gn buleigee nor simporoane corres aisice “pol tens de doctor conmace de crete inf, monogai, mamuale ‘ie roiouare, inven eh aexe condi putes wor erede cf domenid erinmalr (eons cardanice ese dea wr domeniincis O slik rt a protect evidence un dezacor mal pet de esi fae Meatlsens pe deo ports, sonsructon $i proiet. pe de al parte Acs reece os amid pace pia aoen el proictani constr evi aero ums cardnice in configu spoil: a merous iui 2 ‘ee trmsmisite cardance plane (ca coniguatie pled arbor) tt pot ‘Sie problems, se ena de regu Ia foosea tonsil carne #6 ‘Sopa soli cave, de bie, sun ma pin sonore. Iawodueere Principal) factor cae generea acest dezacord se refed la anumite lime ale modelaor existe; cine acest se remarc existent or inexact secure in nee medele; determine de eal i, mai ales, de inarpretae care nsfese ‘modell cineautice; "% nodetemininile inde de modalele cinemetice tp modelaea {omer din tansmisile cardanice; % nenleptarea modeller eistente Ia rezolrea problemelor ropitse de sme; "% existenta unor condi severe, grou de tndeplinit, tn realizes homecinetitmali ransmisilorplierdanie x n>2cuplaje ‘indo eeame ce acest limitin, Inerea Ish propuse st rezalvt suitoarele obieetve: ‘D climinave ineracttior gi prncpslclr sure de nedterninks ‘xistnt, print noud modelae cinema; ‘> analiza privind.identfeaea or solufi soi de wansnist polcadanice homecinetice: ‘> eptares nou model cinematic a reoivaceaproblemelor propit+ sede sez, ‘> modlaren modula 4 forelor si momestelor din tansmisile policrdanic, in vederea generic aleallu acestor mia ‘> Sloraea de dele per sntoos optimal wansmislrspaiale bi i tcadanice (In concordant ca ceijele proictanilor i onsractrlor) i itoensicea de algoin, cre «8 permit series ‘nor programe de caleal deca La acest obietve se adnugh modelsearispunsuui diane la vibra sl wansmisiler plicardanice. ‘Prin rezutatele obinte, se evidenia ise pune in valare un potential deosebit, ink necunoscut,pivind apliabliaen in tenes & ‘ranamisilor spatial hs males, ricardanice Th Tocree se ajunge Ia unnlioaes conch: find ri simple msi rebate, smile ernie pot rela wansmites homocinetil a mii ero, lie arbor! earemal x axe incre, mi economic det ate ‘ets peateunghias fe ate de pins In 60°70", nseiorea ict se realizes opin prin tunes spate bicardarce, ia mp ce peas ‘ghia ma rr devine opti wtizre tassel icardanice 404458)4. FUNCTIILE $I TIPURILE CUPLAJELOR MOBILE Prin exp) mobi s inflege 0 potcupltcinematlol, ai un sre bina forma cn doi arbor (1g) lege oobi pinta laa enema care indplinese dou funei rinse: S)pemmte. aut dela elsive independents tne csi dot arteri (Gg 1) mums deplascor independent, ale unui arore (1) fi de iors (0) ese nuit grad de moblate a seen bina extremal (sau gre cb mobili a cule va Hct 8 0 f: 1) {a mecaimel sora, obit pin legares mobi atone 1 gin lt bah coplal gi igen de role se tansmi, pin cpl, de lun (oe le ella, ford ransfermare ace, v0 rotafe complet 8 wi toot; ella arbre efenusz, de asemenea, o rota compet) 4.4, TIPURILE CUPLAJELOR MOBILE, IN FUNCTIE DE (MISCARILE RELATIVE DINTRE ARBORT fn tunctie de mize relative indpendome die aor, in thie sunt inti event, wnftoacel pur decupaje mobile (fg. Cpe ail (fg yf caso arbor sunt coexist efetea ‘emslerelatv independent alld 5, = Ss" 1) 2. Copa tranmersle Se rahae (Ti 1.1), in ete arbor unt pale cet efecua dowd. tensa eutive indpendente ronsersale (ale): 5,518, Un =2) s+, ipl oghadere (Sg 1.) a eat sunt (regu covcwet sot fete uri elie re independent: 5.6 fn 2)- «+, Coplje snghilaraxite (Bg 11), care arbi sunt (Ge regu) ‘Soneuren tpt efrtaa tre deplasiri relative independent: o transac ‘vial dou roth transversal: Si 889, 6,3) 5+ Capos onsversa-smghula-anale So universal (1), in ete Seek pot feta cnc deplaic relative independent: 5, 5. Su 1 Gun). fa tchaicd, de rol, in lea! elaelor universate su Risele oanamisile wiversae cre se obinwzua prin legen I serie tant cpa unghiar eu ul cpl) amghivlar-aial. C3 exzrpl, to 912 +4 ta» ronoine wnboo ponte sees freee eens» on ony mut ie tor uc npr pod eal gar ‘bicardanie centrat B. ee Fig. rece: sents ere pon ronnie se Iege stern ten (comer ev mecaton) deta tronic fd rage fy ii ene ate trie de cps mobs enumerte, Upsets eaplojle trnovracl-anhilare i enavesat-axiae ena a ere ee.» Pramas candace Fig. 12 42, TIPURILE CUPLAJELOR MOBILE, 1N FUNCTIE DE, LUNIFORMITATEA TRANSMITERI MISCARIT Prin epreamobl abr aro ne cop «we ani voiveley se bie un cans denen necanm acl! eld Ir cami meconmelr asc ilo anger unghie, ancl shri re ie ss Ge pl coca ober {hoa acai vowes nn’ «se mph ese esi eopocte thadard ep cat panne pers in cea etbmarir seo In mod aby, se dette nine de copie wha, pear emplaele tanverie (sci pp valowes mah & “ols ale rte to) de opctae aa, py eae nal “Fuunteree fd engormare aie de votale (implicit & plu So ls tore (eco resin une de bach seeeall ano gs impli a copia mobi emda acest canst ct ln romie compl» sre de fora, afore db ee tteoust de wcnenes, oii conpled 1 Puetie i tipwile eplajslor mobile a1 ack in inpul function posit reais a acborlr (eerie prin ughil dite ane, isan aad sisau distata axial) ride constontt (ig. l-Led gi), atunei mecanismul ascia ese monomobi, adh are radu de mobiliate P="; ty cee eonrar, meciismol asocit ste ‘uli, pti aves gradu de mabiitate F=2.-. Pen a carci newiformiutea rancor geri pin mean soca np ne eta, se link o rn speck mum abate de lahomocncion. Ua, abatarea de a omovinsto dene prin eros ite unphil de roe le arbertor de siren, p= 9-9, sau pin raped dena vitesorungiule ale wborlor de inuae ise ‘ten arbor de intra: (a-))0,= 0/01 Tn continue, abteres dela homocnein va fi descr pin dferena p=, In facie de via in timp diferente Ao, edeosebes wei pu de macaisne mpi el pa decuplae mobile: 2) mecansm Romecineic (sh, implici, cypla) homecineti), clad difecers peste constant in timp (Ag = 9-9, = const. => 0, 0); ©) mecaism Ieteroenetic (gi, implict, eyplaj Hterocinetic), cind sierra Ap este vari in inp (Ae ~ 9-9 = vaibil> 0, 0); ©) measniom svasihomocineti (Gy implicit play oasthomocineti) ‘lad diferena de rimine gprorimaty constant in imp (40 = 9-9, .) i, din motive dinemice, sunt prfeato wansisile (enecanismele)homocineie, dar sunt accept gi eele cyaihomocnetie, rouse acest sat, tn multe exzari, mai simple dect cele homorinesce Gh implicit, pot f mai economice {In caztle fa care 3 dorexte objneres unor momente de ‘orsane variable, ea de exemply pe standule de fncecare, devine wil floscea tuansmisilorheterocneic, 13. CLASIFICAREA STRUCTURALA A CUPLASELOR MOBILE lo fey de strut, se deosebese principal ue ipa dstinete de expe: 1) Coplaie mobil arte, cre otf plane sa sae, de oie, ci seule pane sunt cpl transverse, a ele sai sin eupinje de ap2 Tronomis cordance cardenc (xerple:copisje cirtarice, cue beanie, ies t (oun, uv Sami mae cops candace, cpl Tract ape Unis es coca, nig 13a ib 2a inset o varand modémi de cups Ugh eric en ere Fig. 13 0) Gi mot ox ont de rene (0 en : ‘sting douk grupe reprezentative: cuplaje cu bile de tp Weiss si cuplaje 2 ang ts can cy ass 1a) sas a ie 2 ass coo pate eu el een aig femelle pete et SUNT bao Die eee Ro Sao coh ugha a lb ERE el alec nanan crema np Lae 8 Ot Seton arto pete «ate pcarsey Ba, , a eee cama beh one 0 es phe Pees Sesto ce pd Cs oo ube dott on cate Wc ‘Ste nu dese pe cere pode 1 Funes tiple eupaelor mobile 2 a Fig. 1 CCaexcpl, in fig, 15 +a seat 2 variant modeme de cpl ripode, nul unghiular- anil (5g 1a fib) eat waghinla (Bg. 1.5. gi, ar fiz 13. at da sepezenat © variants click de cupla)unghil-i Bipot 44, DESPRE FUNCTIILE $1 PERFORMANTELE CUPLAJELOR MOBILE Inconsens eu cee de mai sus, cupljle mobil, implicit mecenismsle carole confi, ay dou fet principale 2) i canst, fr transfrmare, cupid migcurea de rot, deta un ‘bore dent nn atboe de esi >) saigue te or do arboel srumite mig relative independentu Tranamis cordanice Fig. 15 Performance cilajelor mobile au in yee nivel alta de reaizare 8 funcilor principale sunt meveabie printn set de conti, eae devin, ‘ceri de performar; cel ra semaine dir cesta sree: | minimizarea abate dela bomacinetisa, rmaximizaea capaci unghivlte, radial gu exile; Iaxinizaren apaciiti portant (Capi), peo dura de fnetionae inpust; 4 rnanimiare anderen (minimizaea perder prin fear): '5* minimize gradull de complexe srctural-constctiv 6 ‘minimiznres soba “> imaximizare valu’ clitatv pivnd forma gi epee pods, 3° minnizaearnurscorwhnico-economice de realizes produll; ‘9% manimizre gradu derecilar et Le conceperes anti cupla) ungiular sou unghilar-exal,slegerea puede de obi, o problems sing; pata evidenieea principals ‘eect aspect se anlizessdcomperalv, pe bara pelo cine enter de 1. Panel parte eljelor mobile 25 performan ensjste mai sus, urnltorle tei eypae uaghiula:cardanie (Gg. 132 $1), Reeppa (ig L851) 9 ipo tle. Se $4 €). Conform acer crite, seine ordnarencuplaeor poze abel | Tabeta CRHERIUL | LOCUnT | ALOcuL I | “cecum ia Bae Tepod. Candi 2 Taped Carian Fea > ‘cerdanie R “pod = Cadac Ez “Tripod = Cudanie “Tepod Recppe. pot formulate umoarele conelzi 2) Capljul cardane articular (fg. 13.a 9) ae eat tehico-econmice essed, da ete hteroine (ronnie eunform mare) CCuplajl Rzeppa (fig be i) este homocinel, ae valet rida pes ranéament i copaiate ports, dar print un fall grad de conpextate consuusivtgi thnelogiss! ©) Capljal pod (Big. 1.5) asigurt un compromis,relatv reznabil i raport eu resrle comiderne: este cvasihomocinei, poate relza valorireznnatile peau randameat si capaci porn, poste sven Valor ridcae pent eapecitaten unghiulrh i prezintt um grad de complete relat red. Tcomseins, alogees optimal ili morfolgie de cups} mobil , so} e2 mare, mecanismal bicardaie ae rengul Ghematc neti =f =5 fin eaze J reprint gradu de mobilitate al ‘stem bia exreral 7-0, obit pin ruperes baz, urna eisai nobililorpsive din cuplee lanl cinematic ieehis. 4. Genaruren 9 sstematizare srvcturel a mecunismelor ex eplaie 18 Tranamisicardaice Mecensml biardanie poate fi deci obinst din orice mecanim> mononabl monoeonturdubld manielZ, cu $8 sau Supt cple, ex at Bro UF =, lad concurenteaxele rouilor relative din ciple, i dou pact Fixe fn fig 38 sunt prezeatate doud exemple de opie acess Frocede: din mecanismele ox 17= 2/°=7, din g.28a si b se obfin Fhecanismcle biardanice din fg 38.) si respectv, b, fm cme Tf = Sapte ese l=7, “Azo, prin aplcarenproceeutui de mai sus, na 2” = 1) dite ele uote mob ectve le onplele din mecanismele «318 (i. 3.8) tevin asia cinematic (did mult ast: pn wecre dea mecenamel a mecanitoal (fg. 38), copa fe translate medians (7 devine pasiv cinematic, in ‘sprinter dela mecanimlb la mecaiznl 8, (6g. 3.8), fa ipa ened 2, dinge farce 5 gi bach, roi mine activ st ‘raslaja devine pasvl emai aal) ‘Varina, $1, (0 fg. 38) tle mecanismulat bara, rez prin prcedeal de rai sus, sat dterminaze sti; a urmare, le pot st Cts pute, fd tendins do blcare, char i in eazuile th care ltrs eter’ aprecinble de la concuenta acelor de rota in cele out puncte Te ©, 10, In sie! de errr, mobiltiilepasive din cule devin Mave, iar mecansmele bicacanice « § vind sl se trasforme in tmecanismel cgi inca au proven (fg. 38) ‘Pein cminaen india pasive, variate determinate sac ale rmecisimel bicsfane (WB 38, $1 B) se tinafornh to variate Idererminet sai, are ae f= 3f"= 60. fig. 3.8¢), Find pedeteraint Tle, mecaisma bicwdanic din ig. 3.8¢ asigrh tansmiteres puter fume dic sbaterie dela concurenga axel de rote in puncte O51 Os rt suflen de milf xz contr, mecansrul tine sf Blochee. in alt proceleu de penerare 2 mecaismului birdie nedeteniat tai ext istat Ng. 391 pio legarea in serie a dou mecanisme Chedsice cu ence (v. fig 334) se obtiae mectisml din fig. 3.9. [Beourees panetele ©, iO, sunt xe, cteapa 0,0, este de asemenen fs 6 Gai copa de role medianh devine supertod (legal inroduse de ees Gpld nt cinematic pve}, prin elsniarea aes cuple se ebtine fnscansl canon in fig 3.9} eare coincide excel din i. 3.8.0, in aus interesante utizae #mcanismmalu bcaranic este ace tn 4 Generarea sstematnea srucoralt. a mecanienslor cu cyplae 59 Fig. 39 carson termi 3 (3.98) engine cet In et Ul caemae 2-31 nerlat pon loins plo ber fommect © polngl caemaich emul pli Beare. Pen ¢ tig sense honocinsiek amici abe exenal (1§ 5a ‘ipl Hearn Gg 310) acetal pt apo cee ‘oh eral, ie pst, sien jf grt lu ‘coral ug! otiz nee arth 30 et exempts pat dapat left ncaa ster eel pl bw Th ot din fi. 210, cnt sein pts pag ceil (op aes ro tn pi (ajo, Oca, at le ha oe Oath — din fig. 3.10,b,b,, centrarea se realizeard printr-un angrena} speci deni crac Borg omer, cae ge sith ahh 9 ‘implicit, hamocinetismul acestuia. = etea ‘Tranomsicadanice 3. Gereraya $i sidematres srsciela mecorisncorcy cpa 61 Solus centr din fig. 3.10 ulizeaa un disc ear formes, eu clement intermedia 9 cpa plond;sceast sole de ceatare, dena etre de tip Welerched, realizeea simetia 9, mplc,Bomectactimul ‘ups, im conde eet gabartul rac Soluia din Bg 310,46, centeaa ater extremal pin terme une bile ge douk acti decompresunesimaice; ei varantele be, varania ‘Tasgur de asemenea, nea i implicit, Romocintismad cpl ‘Vainte simulre de cops bcardanice pot frat, de serene, pe taza cuplacor candace bpode (¥. fg. 36 91 3.) ing. 311 ext recent un ate! de cups, boven care ceararea este relia printro api tip fern eta, ee Tf? gi IE = et ria | ste eaphioricaice stn, pin ida coe fonaes obo opus de 33, GENERAREA MECANISMULUT TRICARDANIC Mecanismal ticarini invariants mogomobila, ese un mecanism ticoatur rez prin insererea unui meeanism exréani (simp) ce va ‘ecanism bicardanic; ca arms, un ast de mecanism ate axe roaior ‘sive (cn eapl) concurente ia ei punts fixe O,, OO; (ig 3.13). Ca in eavrile precedent, un tccaninm ticardanic cle (cu mele de rotate Fig. 310 | coocarente in tet puncte) poate i deriva: si din mesanisme cu axe—EE———————— Transmit cardi Tn fig, 428 este prezrat on robotomecanism vertebra cae crits cll enern, da doses Ge sexs prin dou paisa 1 bse ca modal sractual ws xp ican, cu ceric, eet coutie dowd modal trace IL pian ngrens ib) ‘Util exempa, iusta in fig 4.38, e refer un obotomecaism de tol color presedere, care cori un singur mod sacra, care est ips beards, cu crc cardence, cena cu ajtorl unorengrenae Hinde si conice, pre deosebie de carrie precedente, cubarea 56 SRizeck po acfioarea arbors caanc itemaedi, cu ajar @ oul motorecasism ire (1 952) 5. NOTATIT GENERALE $I CONVENTII UTILIZATE IN MODELAREA CINEMATICA [Notile generale si convenile propuse In cortinuare, ents snodelscacinmstic8& namisilo formate din n22 expljecardavie, “alas ee obiewive prineipale + elimina prinipaelor swse cars ou generat nedteringst model cnomatiee dia iertur’, + eliminarea nedeterminrilor cbenutie In rode ‘emai cardanie ‘+ refomularea modellui cinematic afl toit st permit Identfcarea dene soli hamocinetice. 2 freor din 154.8 my — ine ef pena genre manrelor de one ‘ie toce cpljecardance components une! Sams Poleaienses R= L=j-D=b3 (fp 751), 6, tet capa cardai mama de oie (7s 3, — vec cit arbor crn dine copa "9s plan fst de sacle mbonior clas °, dent plond spl i He — vert soca, uplaal eo uci de intr) respec, detese 1 — minal oil de eapaecaanice dn compere uel tarsi potctdeniee Gixe) exe] — voor asocat noma le pal? (.88.74,.93)5 4 — tight sce rat de axle atrior ead ep (rg 71); comerte:dooaece sina, = (x3) H>0, whl ses ete onset intotdene posts By, Hy — vero ascii in capa , bat de inter a cnet carci i respects, baud ii (7.0, Th, H-—postile inisle ale venorloe zsh ropects Ty (871,225; ®ae Tramsmisi cardeice Reatxt pla i earl a pln] ic era espe, orale fap fuct deg 80-7.) Sr Nor act fr de incr, dn ct 0 pentru (mi xm3)-%, >; (Gs = 21, 2), of > pe (73) >0—nghil pontine fi Se ime resend fp, fm coll cardi i* {82,29 ; pi come se conser ct gi 0 irl, = gh=0-v. fig. 7.10% ge tla): ex #{ iia) — imehia oe mts a abe itine fy renee. 6 iit, tn capil (% 68-7209. ‘Snows semtetor”oyn0, dak Spat mpi a bore te nf a ya efecucac fn sen vont: net cont, Uhl ese neti nd sang, > 0 dah depases phi sar, de It Ft Hy, #6 eect snl verona convejia pote! iil: Tn prin ipl oneae a facut), Teak de roube by # Gy sot 96,0 0,=0% 84-9, + 0,28 FAIA, Oy Oe Op H Asics, At a1 (a2 —I)sin® hs Be = (4? =n Bos By 28s a Fa— versor soci tn ae Ranles2)alanry a alate et 5. Nott generale gi convent uilizate modelarea cinematicd __97 Uy =U yy =0,05 =0); Fy =Kyldy = 0,04, = 0); 132; Uy cond orden sind sind conts Gind, cos, C000, cosas, cose, cons Uy =(o08,, "sin dy, + cosa, sin A, “C084, C08," const; Ky=-Gind,sind,, cova -cond,eand coy a — mai fone nse sinliieatsfinior etait: 8 = teh) = #Gnt,) — sapien fle ator imei 0.0, (14.9.1) coment senor: > 0 ek Atpleren enh da a i eoreptiare hy. sete in esl voi; nex cot, este nepaty +(G,%,)— ogi dae norm planets 7,6, (.f.74,.91 Y: omer some» 0 ack dele unghie ala 1, corepciie ung! yw ear ta etl veer (fig star con, yet nepiv, 84° 6 Fai) a4 (Ry) — sepia atv, incl ferte de cucea crim en hie cardi, news (1 fig. 7.1); coment semnelor: 8, >0, pentru (Fy xii, i, >0 $58 0, pentra (f,7,) i, >0 (ln eaz contra, wnghiurile Gy i Gy 20 consider nee ye a—9, 1808 =O, ~y+ gf, —mirni ite a modelawa shrine de lo homochetm wl ens fora in seo cadences Vo Gworcvad2 — gral de heroin (90 gral de enim) ane tami rece = anpliaines ner 9 Genero, A= Mayo), ei) — funetin factoruiud de heteracinetism; pe baza acestei ‘ict fcr, fein de tuum awe! tans peice roses sb recs frnl canes 9, = 88 — hingimes aborlu intemmedir cine eupajele 4?" #1” y= Oy Bearers Oy sgh mate even asc bre intmede% msn cwdice (0, cussle un id de ein ester 95) ~V- 1015 4p Manse or cope 9, deen 3 ta plete 497g ae" (7 fg IDA, 1D 8, = he a(Gz) coment semeor: 8, 26 comied poctiv dies (Gad) F 0 sin consier por ues (F<3,)7)>0, nt ‘prin 7, 7, B s-su notat versorii axelor x, y gi, respectiv, | In cuz Conc anghiil sunt consieate negate. _Precicare: Petr elimnatea nedeteriaile,n neal general 20 opt soneafi de serine pene urniiazle univ wtizasfrevent eB 9p oo Yo Fas excep unghie ascite a, cre pri convene sn connierte poaiive. 6. TIPURI DE PARAMETRIZARE $I MODELARE CINEMATICA Jn majorite camwilor de utliare practic tratsmisilorcadaaiee, ste neces ca arestea st ansnitS uniform migeaen de roa, cect ce ‘nsesmni cl migcarea abort de iegie webu #8 ooincis, in orice ‘moment, cu miyares wtorela de inwae. Acest transmis sunt demaite ‘transmis homocintce [34-36 39-42 45-47(52,71,74,7592 (Ca urna, in preiecurea tansmiilr policedanice, cone de homocinetism constue ete) principale pena sabia paremetslor scorer deo a acetora, GGecmetrc, 0 trinsmisie policandeniea ca .y* explaje ete defnits (6 8g.83, ncate =a) + prin umghiu 9 dine axle ekorilor cardanic adie Ip, ‘+ prin #1 unghiui vy dine normalele It plane aricuatlor clare, ‘+ prinn—Vunghiu i, dine furcile arbors eardanii intermedia, 4 prin 1 ungin ale arborilor ordi intermedia gi + print-an mun total de» +3(n—1)~4n~3" parame goometict independence 02° Sunt ung, i Isat lng lesterorntaedi. ‘Aga cum se va are fe etptlsl ummitor, cntmstica i impli conde dehomecizatizn pot 6 moda (fig, in care n =) ‘> princclem unghiur «$1 prin n= nghiutdstincte fin total exist unghior 9, cin ate pent primal sx adopt deja valoarea 9, = 0, vc. 5). Reiese deci cl cinamatiea ese influent do lng. {In premisa ute unghiuntor asi 9 ca paromet independent de ‘modeler, inmate est modelo prink-un ue de + (0 2n~ 1" parmetr Utlzaeaunghiurr a, fg, Sa modelre cinemas, ‘ite prefert ce tortcion, infu de cercetare,deosrece te Wstzh ‘un oumfr minim de purmet, ny este fiat aprond de protectant106, Transmis cardanice valaresunghiuui os ales deliberat mare. Conform fig. 73, tn timp ct curbele «gic altrnecdsimetie in jurul abscise, curbs B (9h = 45") este tangents ln ebsist; agar, des gradu de eterocnctism ar teui Si fe cla (deoaee 6, 0%; 90s aie Win = 0 le 20° iat petra of, = 48° reli Vln. | Pulau 40"! linac acest neconordante devine posi dct, in leu dtr Ilan = Hon Silen 86 lowest, ca mE a gradll de hetercieisn, ‘pliner santaee del homosineis pe wn cit) jt © 8s as ~ (0 = Pr Do Ree as) z in acst me, toate erble (a, si din fig 73) cond a see valore a ‘rsd de heterocinetism: y* = 20". Se Fig. 73 ‘Neconcorden serait eal flo ifr Yin 12 rmisirh a gach de heterocietiom) ete cauzat de conentia poate {nae (v-cap.5): fs poniin nial (orice ar aceasta, unghie de tottiale arbor de intae efi e consider mule: = 0° © 12, MECANISME CUDOUA, TREL, PATRUST CINCI CUPLASE. CARDANICE | Peni scsterconime se foloseste $i demumirea de transmis bio, tsi, ttn petscardanice. “Conform pecizailer steric, ee considers ri at un capa nal (= 0) in care = 0" (fig. 7-14), Lego in serie, en prim cpl 2 Modeteeoretice ale uvetilor de runsmitere 07 4 eoiea cup (~2), ve obtine un mecsrism su 0 ansmisie bcardanich (ig. 74), deena cinematic prin paraneuti toreci: (a, gl, = 0 yg). Legind in serie, cu mecanismal bearéani, un al ila cups (=), se obine un mecanism sau o tansmise tcardni (. 8. 8.1, determina cinematic prin porueti tert (a, 9% ~ 0,4, 9 05 $4) fnsering, tn contiauare, un al pata euplcardnic('=4), se bine ‘un mecanism su o transis etacarda (v.fg 5.5), determina ein parame eoretic (0,9, “O50, id 9 amd. 721. TRANSQasia BICARDANICA .) Madelren cit de tranamitre pe baa factor de hetrointion ‘In conformitste cu fig. 74,2, functia de transmitere a trancmisiet Airdrie in pr epee 9 ~ 9 eile ele dou ale 4 1 tin dock. ime, * ws, lsh=o => aah Bt =o, [--1> 180, t=2=9 605 =p, 09 EB on ial J4i =1+ (1) sia of BF leu =eu- fn unma tnlculor cin (79), rez forma generals a fonetiet de transmitere, pent tansmisis x Gout cuplaje cacanie; aceasta fincie general poate fi seri sub umtoarea forms de tp (7.1): eae $9" aaa aa, SP" e210) MieAi At Aid AlAs Bie ABE 6A Bt108 Tranemic cordanion Fig 7aabe \ 1 Modetara fac de ransnitere pe bce ferent ! ‘Accut vusant de mela corn dost eae | 1 Sercrea functor de transmitee ale elo dou acti eardaice ‘componente, sub fora: 2 Model wortce ale fnetilor de tramitre 103 sin, sind, cos, coee, cot,” tip 09) 2 Subic cola dine unghie de inte Wii, 0, 8 arn copies ffi eor n= cpa componerte 742) ‘Nowttea eliotn tlses dren (co), pene cope cel do sie pul 19) its xcept 4), -915 y-Oy Hy 9 ty aby 8, Oy (99) tn wcll, pest nein aneta 7.21. bie fea desrnnters ob ena 10) L,c01' ©, 4 ~Vy)sin®, e060, -Uysno, te aa), " PY cote, + Un rVa)sin®, cs, Uy, Iu, ry concn, = oats aan ui, -ese, sind, coms od, = const 7a =cora,-cosa, e084, 7.22, TRANSOSIA TRICARDANICA 1) Metre fc de ransmitere pe bac actor de heterocintion In contermiat cv ig. 8.1, fanctis de taneitere a transmit ce eb ‘aploje se objine coping funciia vansmisie eu dows cuplaje O;-O, cn fiotia eplsjah Opin conti: » ae Clee cere => aie eet ee ees Hon Aa OUD G5 —1)sin® oh. BF = (2 -1)sino, cosets411, PROBLEME DE ANALIZA SI SINTEZA DERIVATE DIN MODELUL CONSTRUCTIV Din ce sail anterir, result ef modal contract coior e omostuiam, in cea! geberll s anemi mardi, pose ‘ess pina Stem de Se + 0 1) + Qn 1) cm seve ea Stat fomate din coal careriice Sosa dine exe tei cope de Imo: torte (2 ccs), geomericd (m — n—1 esi) fi Consrcind fn m= Dn Tec G+ t26, 188, +1814 181 )eoslOe), cose), = fey eraea BBE, tetia Jeih ae au ag ayy s90 +9 a 2h, be =v 90+ 9 -arw Se f ata) f: =f tent i. =Fibssermaiet Stopliog crctea pou a amt i, = 06 Yo ae Ta) Jas = 366, tai Sata) Gear Yui Bu Yo) is = ian Yo Bn Yai Bn Tn i) es = Ya Bis Ya Bae Ya Bs Yaa a as = Yn Baste BeBe Yi Bons) Pa Babiaaheetias) Pn =P 0808.03) ret Bhan) aay Rey Bhd) Vem 1 man—tgiomat Dei conform sistem (113), model consivetv. comin: wtmeme2=3n eva loue: 2m (paimec , 6) + Dn? (queef) +20 2 (party 1) ~ 61 pant whi {ascot prune os gl gece #1 Igin’ ale xborlr cde intermedia (Lacs lgi, dei au intein expt inset ea, ot ervei pn eile eid price Se obj, asl un tet eM 2 paraiso 98 a =O) BY 8 Yl sb Lr J=FEL, coral implicit sev exc, prinele x cule sera (11.3). Se dorebex dou tude de probleme, cate pot rez sora model const cnr de omen: ‘) probleme in eae rghit 8 7, sit cmocete 2) poem near unghie 8 iy st ncunvente Pia gis side att polone de anal, ct aun pobene roa simple de sins tn tinp ce gripe secu conn, eu eer roteme propre deste In continue, cele dt tpi de probleme sue prezenite cit, pe baa uno apie repre. {1.4.PROBLEME DE ANALIZA SI SINTEZA fN CARE UNGHIURILE 8, $17, SUNT CUNOSCUTE npremis cunoutei nghinor§ yy modell crstctv al camilla de ‘mosis (113) ean ait rblere de anal, et arate de sinezd deni a contin probleme prices de sited. ‘innate, se pleack del desea wanemise, are pemit idetfcarea clorn—1 unghiur By gs elor 262+ 1) unghie Cu acest dt, din Primele 3n~2 eeuafi ale sitemului (113) se sablse to in elem nghiur a sieslen— 7 uoghiu vy api cele J unghi f156 Pransmisi cardanice Ulimete dou ectai le modell (11.3) pemit veer indent condor propriv-zse de homocietism, Modelii (113) remite, de asemenca, cezolvarea unor probleme particlare de snex De eben ase de probleme se eunse wghure (6, 1) #1 a8 cer unghiarile B, cae asigul tensmiteren homocintich et in continue se preenté citevs xemple de transmis bi- § trcaranice ca apical unorprebleme de acest gen LEXEMFLE DE APLICATIEPE TRANSMISIBICARDANCE fh fig. tj sunt date confguratile unor transmis bescdanice, rin proicfide afore caranics in dou plane rectangular, fr vedere fioale ale srborali intermedia, Se care si se analisece deci acete transmis pot fi homocinetce (robles 62 analiza) 4, fn caz afi, ef se stabfeated varie tnghidué Oa (0-53. 11) pen care ounsmisile sunt homocinetice (robles parca de sintez), Rezolvore: Unghie (8, 1) Sind cunoscte, se utilize modell conutrutiv al condiilr de hmecineism, in forma general (10.22). (Ca ume, pe bsza unghinrilor (By 1) = @x.%od Bu.Yui Ba, Tol realise din fg 11... 9 detemiad unghiarile 0; 81 ‘Conf es (1022), uansmisile in eae 0 = Gy fof homocintice act pects of =(P reall 0, = 90" Aad, cea conti est ndeptinia ‘sk angi fs determin considering, =90° 5 @, =O". ura ruc pe calculator a programa constut pe baz relator (1022), se objin else sistema in tabell 111. ls cotormstat ex fig, 114 (si convenfil din esp), valor posve ale nghiuror 8, iva a@ masoart in sensul vesorului iar cele negative tn seasul vyenorlui(-&,). “noel, doarece mc, ~ dy tote wane in ig 1-4 sunt emocieie, dacs peni whi scones valor din abel Penta verifies, in eam warsnsel bicardanice din Og 1. (. si tubI), au simulat-mimee 91 8U reprezenat grafic variaile Aitezetelor wnhinsre @_~e, fae) (HBL...) varie vitezelor 1. Probleme de anata! sinecd deviate din modell consiractiy 18 luni tu (i 1-1) ale acelerailorunghiblare (fi 1.37 finje de unghisl de intare Qu (gi anexa 16.1); petro simpliicse, comedemt ob arbor de nar are oigcar uniform (=), 0 cae Oy, SI midis Analza Gagramelor objinute (% fg L.L.e, 8) extend homecinesmal tansmisieh bicudanice: @~@u= 0, ts = Ou] gi eq1= 60, pent ce valoare a unghis , Till Tob iFg ele La z Marit date Be [a0 © o © o © o oO = [ce = =| og © oss" [20 05° EN =a TE Ea EE y [Hae [ 96° | nessa Ba : Kereaon] 18" | | sso | sor | za “11.4.2, BXEMPLE De APLICATIE TRANSMIS TRICARDANTCE fh fig. 11.2s,..e soe dats conSiguraile a cin transmis wicardanice, pin protect acestora in dou plane rectangare, fred vedere frontale le arvrlr intermedia. Se cere cape baza unghiuritor (by, yh, deers de proieilearborilor cadanisl (Sp. 42a, 0, 12 te olcene dec aceste tranomis pot ft Fomoetntice (oben de analizt s,m ear aims, 50 se determine love unghislo Bp $ By (. fg. 11-2F $ g) pent care wansmisile nt homocineice (rabem® priculart de inte), ‘Reclvare: Fi eunoveut unhiuse (yy in wezavare eva liza ‘modell consintv a condjilor de horocinenatsm ty forma generat (10.23). Pebararelaiee (10.23) ga unghiusoe 1) dine 12a,186, Transmit eardanice 1 Pens eva sex ieshdg, ra popes mode de inet Inca pe folntea retiilo de priest prone (ae formeaah ‘modell nai) a reir terndore (ete mtv To adel (pie a pobemed x rene seus ae de oie ese ‘emodelble piece presim fi rattle modehbie pin exh iteonode Desi in fica onaltiod (za inifalt) modelde de sntesh aut sedseminat, recavres problenelor devine ct mal snp rin Contienteatecinexateor excedexate cu parenet ela t aa intra ua sat cre rans boost spl cu do ‘spies, net 0 lt? resncprinple 0 restric Seanad g esl tansmslor ot te opie cada, tn cae an {okt 3 rer pnp i resi seunaare pe bers aioe de clea! abl modeled sich propuse omit pe Go pars, rena yrolomlor conte de stk Frope-aat i, pede all pore, entices proper senor Scams pie ftom sad numeral infu manor Pind) Dwi Wmislr coscve le cphilor cadnice (sn, 1.633, srs sale Mearns bomestce sat apa nas penis (Fa 18) 25 <2 In cama er, tea toni cn dou ely on yt rei © mimi pobonl 2 Ge Ie lata uel anas spite homociece cada, cr preca t Spec soi sul arg, 13. SINTEZA CUPLAJELOR BICARDANICE UNGHIULARE PRIN PROCEDEUL, CENTRARU DIRECTE, Conform celor amerior preizte (¥.cap.3), cuplajel bcerdanic (escamobi) poate ft eonsderat 0 transmis brardnic,netelescopic, 2a atboreitermediae sure (5g. 1.0). Pomind dela schema stuctuals cups bicrdanic tetamobil din ‘ig. 131, pin cperia co cantare ssc a aborler se po! obfve diverse scheme stature de euplaje bicadaice unghulare (Binabile), Cenroren slrsc x acboritr se poate relia fie pinto ipl, fe pinto policy nema lng einer) care nu pardpg la ranenierea moment de ‘orsune. Deoaece tanslaia axial eave borlr este alts (1), ‘conrares direc induce dout legit independent prin anulareo tronlaitor relive ansersale ale arbre (9 fg 32) sete lean ‘eansfomnd cul teramobi (ig 13.1) fncap inobi amphilr. Fig. Ba Se deoscbesedout tipi de cetare dire: exteriard (fig 4.34) $8 fntevioara (x. fig. 13.2}. Inceninuare, se examinesh tet proceee de ‘elrre ec inerioard a atboror cull di ig... Tn wate cle tei procedee de centrare, se poreste 6 Ia obervatia cf dtanta dine couele creo ste constan 8) Centrarea direct interoard a arbor proto exp sinsmatcd (fg. 132,24, stv print polewpd cinematics echivalent (Bi. 3.2 sie) ') Conrera direct interioard a weber printan ta} cinematic cae sare oa element carscterisis un dso interme fltant, situ i plan transversal de sina sl eupahi vi 138).