4

m/s x
Bp
l
AB

p
sin

180

\
|
]

:=

p

1
:=
Vitezele
m y
B
0.0313 =
y
B
y
A
l
AB
sin

180

\
|
]

+ :=
m x
B
0.1773 =
x
B
x
A
l
AB
cos

180

\
|
]

+ :=
m y
A
0 :=
m x
A
0 := Pozitiile
Se determin:
rad/s
1
10 := Viteza unghiular [rad/sec] a elementului conductor
grade 10 := Unghiul dintre elementul conductor cu axa ox [grade]
m l
AB
0.18 := Lungimea elementului conductor AB [m]
Se cunosc:
ELEMENT CONDUCTOR CU MISCARE DE ROTATIE
ANALIZA CINEMATICA CU METODA CONTURURILOR
5
m/s
2
a
B
18 =
m/s
2
y
Bpp
3.1257 =
a
B
x
Bpp
2
y
Bpp
2
+ :=
m/s
2
x
Bpp
17.7265 =
m/s
2
y
Bpp
l
AB

pp
cos

180

\
|
]

l
AB

p
2
sin

180

\
|
]

:=
m/s
2
x
Bpp
l
AB

pp
sin

180

\
|
]

l
AB

p
2
cos

180

\
|
]

:=
Acceleratii [m/sec
2
]:

pp
0 =

pp

1
:=
1
0 := constant = Acceleratia unghiular [rad/sec
2
] este:
Acceleratiile
m/s v
B
1.8 =
m/s y
Bp
1.7727 =
m/s v
B
x
Bp
2
y
Bp
2
+ :=
m/s x
Bp
0.3126 =
m/s y
Bp
l
AB

p
cos

180

\
|
]

:=
6
x
C
x
B
l
BC
cos ( ) + :=
rad 0.2046 =
rad asin
y
C
y
B

l
BC
|

\
|
]

:=
grade 11.7207 =
grade asin
y
C
y
B

l
BC
|

\
|
]

180

:=
m y
C
50 10
3
:=
y
C
y
B
l
BC
sin ( ) + =
x
C
x
B
l
BC
cos ( ) + = S =
m l
BC
400 10
3
:=
Pozitii:
DIADA RRT
7
rad/s
S
p
x
Cp
:=
x
Cp
0.6803 = m/s
v
C
x
Cp
2
y
Cp
2
+ :=
S
p
0.6803 = m/s
v
C
0.6803 = m/s
Acceleratii:
x
Cpp
x
Bpp
l
BC

pp
sin ( ) l
BC

p
2
cos ( ) = S
pp
=
y
Cpp
y
Bpp
l
BC

pp
cos ( ) + l
BC

p
2
sin ( ) = 0 =

pp
l
BC

p
2
sin ( ) y
Bpp

l
BC
cos ( )
:= rad/s
2

pp
3.7307 = rad/s
2
x
Cpp
x
Bpp
l
BC

pp
sin ( ) l
BC

p
2
cos ( ) :=
y
Cpp
y
Bpp
l
BC

pp
cos ( ) + l
BC

p
2
sin ( ) :=
x
C
0.5689 = m
y
C
y
B
l
BC
sin ( ) + :=
S x
C
:=
y
C
0.05 = m
S 0.5689 = m
Viteze:
x
Cp
x
Bp
l
BC

p
sin ( ) = S
p
=
y
Cp
y
Bp
l
BC

p
cos ( ) + = 0 =

p
y
Bp

l
BC
cos ( )
:= rad/s

p
4.526 = rad/s
x
Cp
x
Bp
l
BC

p
sin ( ) :=
y
Cp
y
Bp
l
BC

p
cos ( ) + :=

2

p
:= rad/s

2
4.526 =
8
y
CC1
0.35 = m
Viteze [m/sec]:
x
CC1p
x
Cp
:= m/s
y
CC1p
y
Cp
:= m/s x
CC1p
0.6803 = m/s
y
CC1p
0 = m/s
v
CC1
x
CC1p
2
y
CC1p
2
+ := m/s
v
CC1
0.6803 = m/s
Acceleratii [m/sec
2
]:
x
CC1pp
x
Cpp
:= m/s
2
y
CC1pp
y
Cpp
:= m/s
2
a
CC1
x
CC1pp
2
y
CC1pp
2
+ := m/s
2
x
CC1pp
25.4464 = m/s
2
y
CC1pp
0 = m/s
2
a
CC1
25.4464 = m/s
2
S
pp
x
Cpp
:=

2

pp
:= rad/s
2
a
C
x
Cpp
2
y
Cpp
2
+ :=

2
3.7307 = rad/s
2

3
0 := rad/s x
Cpp
25.4464 = m/s
2

3
0 := rad/s
2
y
Cpp
0 = m/s
2
S
pp
25.4464 = m/s
2
a
C
25.4464 = m/s
2
Punctul C1(x
C1
,y
C1
)
Pozitii [m]:
l
CC1
400 10
3
:= m
x
CC1
x
C
:= m
y
CC1
y
C
l
CC1
+ := m x
CC1
0.5689 = m
9
y
C
S
1
+ y
E
S
2
sin

6
|

\
|
]

=
y
D
y
C
S
1
+ = y
E
S
2
sin

6
|

\
|
]

=
Sistem cu necunoscutele S
1
si S
2
x
C
x
E
S
2
cos

6
|

\
|
]

+ =
x
D
x
C
= x
E
S
2
cos

6
|

\
|
]

+ =
m/s
2
y
Epp
0 := m/s y
Ep
0 := m y
E
360 10
3
:=
m/s
2
x
Epp
0 := m/s x
Ep
0 := m x
E
160 10
3
:=
Pozitii
DIADA TRT
10
m/s
S
1p
y
Ep
S
2p
sin

6
|

\
|
]

y
Cp
:=
S
1p
0.3928 = m/s
x
Dp
x
Cp
:=
y
Dp
y
Cp
S
1p
+ :=
x
Dp
0.6803 = m/s

4
0 := rad/s
y
Dp
0.3928 = m/s

5
0 := rad/s

4
0 = rad/s

5
0 = rad/s
Acceleratii:
S
2
x
C
x
E

cos

6
|

\
|
]

:= m
S
2
0.4722 = m
S
1
y
E
S
2
sin

6
|

\
|
]

y
C
:= m
S
1
0.1739 = m
x
D
x
C
:=
y
D
y
C
S
1
+ :=
x
D
0.5689 = m
y
D
0.1239 = m
Viteze
x
Dp
x
Cp
= x
Ep
S
2p
cos

6
|

\
|
]

+ =
y
Dp
y
Cp
S
1p
+ = y
Ep
S
2p
sin

6
|

\
|
]

=
Sistem cu necunoscutele S
1p
si S
2p
S
2p
x
Cp
x
Ep

cos

6
|

\
|
]

:=
S
2p
0.7856 =
11
POZITII, VITEZE, ACCELERATII CENTRE DE MASA
Elementul 1
x
c1
x
A
x
B
+
2
:= y
c1
y
A
y
B
+
2
:=
x
c1
0.0886 = m
y
c1
0.0156 = m
x
c1p
x
A
l
AB
2
cos

180

\
|
]

+ :=
y
c1p
y
A
l
AB
2
sin

180

\
|
]

+ :=
x
c1p
0.0886 = m/s
y
c1p
0.0156 = m/s
v
c1
x
c1p
2
y
c1p
2
+ :=
v
c1
0.09 = m/s
x
c1pp
l
AB

pp
sin

180

\
|
]

l
AB
2

p
2
cos

180

\
|
]

:=
x
Dpp
x
Cpp
= x
Epp
S
2pp
cos

6
|

\
|
]

+ =
y
Dpp
y
Cpp
S
1pp
+ = y
Epp
S
2pp
sin

6
|

\
|
]

=
Sistem cu necunoscutele S
1pp
si S
2pp
S
2pp
x
Cpp
x
Epp

cos

6
|

\
|
]

:=
S
2pp
29.383 = m/s
2
S
1pp
y
Epp
S
2pp
sin

6
|

\
|
]

y
Cpp
:=
S
1pp
14.6915 = m/s
2
x
Dpp
x
Cpp
:=
y
Dpp
y
Cpp
S
1pp
+ :=
x
Dpp
25.4464 = m/s
2

4
0 := rad/s
2
y
Dpp
14.6915 = m/s
2

5
0 := rad/s
2
12
y
c2p
0.8863 = m/s
v
c2
x
c2p
2
y
c2p
2
+ := m/s
v
c2
1.0159 = m/s
x
c2pp
x
Bpp
l
BC
2

pp
sin ( )
l
BC
2

p
2
cos ( ) := m/s
2

y
c2pp
y
Bpp
l
BC
2

pp
cos ( ) +
l
BC
2

p
2
sin ( ) := m/s
2
x
c2pp
21.5865 = m/s
2
a
c2
x
c2pp
2
y
c2pp
2
+ := m/s
2
y
c2pp
1.5628 = m/s
2
a
c2
21.643 = m/s
2
y
c1pp
l
AB
2

pp
cos

180

\
|
]

l
AB
2

p
2
sin

180

\
|
]

:=
x
c1pp
8.8633 = m/s
2
y
c1pp
1.5628 = m/s
2
a
c1
x
c1pp
2
y
c1pp
2
+ :=
a
c1
9 = m/s
2
Elementul 2
x
c2
x
B
x
C
+
2
:= y
c2
y
B
y
C
+
2
:=
x
c2
0.3731 = m
y
c2
0.0094 = m
x
c2p
x
Bp
l
BC
2

p
sin ( ) := m/s
x
c2p
0.4965 = m/s
y
c2p
y
Bp
l
BC
2

p
cos ( ) + := m/s
13
m/s
y
c4
0.1239 = m
y
c4p
y
Dp
:= m/s
x
c4p
0.6803 = m/s
v
c4
x
c4p
2
y
c4p
2
+ := m/s
y
c4p
0.3928 = m/s
y
c4pp
x
Dpp
:= m/s
2
v
c4
0.7856 = m/s
x
c4pp
y
Dpp
:=
m y
c5
y
D
l
DD1
sin 150

180

\
|
]

+ := m x
c5
x
D
l
DD1
cos 150

180

\
|
]

+ :=
m l
DD1
630 10
3
:=
Elementul 5
m/s
2
a
c4
29.383 =
m/s
2
x
c4pp
14.6915 =
m/s
2
a
c4
x
c4pp
2
y
c4pp
2
+ :=
m/s
2
y
c4pp
25.4464 =
m/s
2
y
c3pp
y
Cpp
:=
m/s y
c3p
0 =
x
c3pp
x
Cpp
:=
m/s x
c3p
0.6803 =
m/s v
c3
x
c3p
2
y
c3p
2
+ :=
m y
c3
0.0833 =
y
c3p
y
Cp
:= x
c3p
x
Cp
:=
m x
c3
0.5689 =
y
c3
y
C
l
CC1
3
+ := x
c3
x
C
:= Elementul 3
x
c4p
x
Dp
:=
m x
c4
0.5689 =
m y
c4
y
D
:= m x
c4
x
D
:=
Elementul 4
m/s
2
a
c3
25.4464 =
m/s
2
y
c3pp
0 =
m/s
2
x
c3pp
25.4464 =
a
c3
x
c3pp
2
y
c3pp
2
+ :=
v
c3
0.6803 =
14
b
l1
0.04 := m h
l1
b
l1
0.4 := m h
l1
0.016 =
este masa specific a otelului [N/m
3
]

OL
78500 := N/m
3
Se determin:
Se determin volumul elementului 1 v
1
[m
3
]
v
1
l
1
b
l1
h
l1

b
l1
2
4
h
l1
+ := m
3
v
1
1.3531 10
4
= m
3
Determinm lungimea echivalent a elementului 1 l
1ech
[m] cu relatia:
l
1ech
v
1
b
l1
h
l1

:= m
l
1ech
0.2114 = m
Greutatea elementului 1 G1 [N]
G
1
v
1

OL
:=
G
1
10.6215 = [N]
x
c5
0.0233 = m
x
c5p
x
Dp
:= x
c5pp
x
Dpp
:=
y
c5
0.4389 = m
y
c5p
y
Dp
:= y
c5pp
y
Dpp
:=
v
c5
x
c5p
2
y
c5p
2
+ :=
x
c5p
0.6803 = x
c5pp
25.4464 =
a
c5
x
c5pp
2
y
c5pp
2
+ := y
c5p
0.3928 = y
c5pp
14.6915 =
v
c5
0.7856 =
a
c5
29.383 =
CINETOSTATICA MECANISMULUI
Calculul maselor si momentelor de inertie masice ale elementelor mecanismului
Elementul 1
Se cunoaste:
- lungimea elementului 1 l1 [m];
- sectiunea transversal a elementului 1 b
l1
xh
l1
[m];
l
1
l
AB
:= m
l
1
0.18 = m
15
Se determin volumul elementului 2 v
2
[m
3
]
v
2
l
2
b
l2
h
l2

b
l2
2
4
h
l2
+ := m
3
v
2
2.7611 10
4
= m
3
Determinm lungimea echivalent a elementului 2 l
2ech
[m] cu relatia:
l
2ech
v
2
b
l2
h
l2

:= m
l
2ech
0.4314 = m
Greutatea elementului 2 G
2
[N]
G
2
v
2

OL
:=
G
2
21.6743 = [N]
Se determin masa elementului 2 cu relatia:
g 9.81 := m/s
2
m
2
G
2
g
:=
m
2
2.2094 = kg
Se determin momentul de inertie masic al elementului 2 Jg2 cu relatia:
J
g2
m
2
12
l
2ech
2
:=
J
g2
3.4268 10
2
= kg*m
2
Se determin masa elementului 1 cu relatia:
g 9.81 := m/s
2
m
1
G
1
g
:=
m
1
1.0827 = kg
Se determin momentul de inertie masic al elementului 1 Jg1 cu relatia:
J
g1
m
1
12
l
1ech
2
:=
J
g1
4.0329 10
3
= kg*m
2
Elementul 2
Se cunoaste:
- lungimea elementului 2 l2 [m];
- sectiunea transversal a elementului 2 b
l2
xh
l2
[m];
l
2
l
BC
:= m
l
2
0.4 = m b
l2
0.04 := m h
l2
b
l2
0.4 := m h
l2
0.016 =
este masa specific a otelului [N/m
3
]

OL
78500 := N/m
3
Se determin:
16
Elementul 4
N G
3
26.5267 =
N G
3
G
c
:=
kg*m
2
J
g3
3.2449 10
3
=
kg m
3
m
c
:= J
g3
m
c
12
lc
2
:=
Se determin momentul de inertie masic al culisei 3 Jg3 cu relatia:
kg m
c
2.704 =
m
c
G
c
g
:=
Se determin masa culisei cu relatia:
N G
c
26.5267 =
Se determin volumul elementului 4 v
4
[m
3
]
Se determin:
N/m
3

OL
78500 := este masa specific a otelului [N/m
3
]
m h
l4
0.008 = m h
l4
b
l4
0.4 := m b
l4
0.02 := m l
4
0.4 =
m l
4
l
CC1
:=
Se cunoaste:
- lungimea elementului 4 l4 [m];
- sectiunea transversal a elementului 4 b
l4
xh
l4
[m];
vc1 lc b1 h1 := unde vc1 reprezint volumul plinului iar vg2 volumul golului
vc vc1 vc2 = Determinm volumul culisei vc [m
3
]
b1 0.072 =
lc 0.12 = h1 3 h := h2 h := b1 b 2 h + := b2 b :=
lc 3 b := h 0.016 =
h 0.4 b := b 0.04 :=
Dimensiunile culisei sunt:
lungimea culisei lc [m], sectiunea exteriorului culisei bc x hc [m] si sectiunea interiorului culisei bi x hi [m]
Culisa Elementul 3
G
c
vc
OL
:=
unde: G
c
vc
OL
= Se determin greutatea culisei G
c
cu relatia:

OL
78500 := este masa specific a otelului [N/m
3
]
m
3
vc 3.3792 10
4
=
m
3
vc vc1 vc2 :=
m
3
vc2 7.68 10
5
=
m
3
vc2 lc b2 h2 :=
m
3
vc1 4.1472 10
4
=
m
3
17
l
5
l
DD1
:= m
l
5
0.63 = m b
l5
0.04 := m h
l5
b
l5
0.5 := m h
l5
0.02 = m
Se determin volumul elementului 5 v
5
[m
3
]
v
5
l
5
b
l5
h
l5

b
l5
2
4
h
l5
+ := m
3
v
5
5.2913 10
4
= m
3
Determinm lungimea echivalent a elementului 5 l
5ech
[m] cu relatia:
l
5ech
v
5
b
l5
h
l5

:= m
l
5ech
0.6614 = m
Greutatea elementului 5 G
5
[N]
G
5
v
5

OL
:=
G
5
41.5369 = [N]
v
4
l
4
b
l4
h
l4

b
l4
2
4
h
l4
+ := m
3
v
4
6.6513 10
5
= m
3
Determinm lungimea echivalent a elementului 4 l
4ech
[m] cu relatia:
unde:
l
4ech
v
4
b
l4
h
l4

:= m
l
4ech
0.4157 = m
Greutatea elementului 4 G4 [N]
G
4
v
4

OL
:=
G
4
5.2213 = [N]
Se determin masa elementului 4 cu relatia:
g 9.81 := m/s
2
m
4
G
4
g
:=
m
4
0.5322 = kg
Se determin momentul de inertie masic al elementului 4 Jg4 cu relatia:
J
g4
m
4
12
l
4ech
2
:=
J
g4
0.0077 = kg*m
2
Elementul 5
Se cunoaste:
- lungimea elementului 5 l
5
[m];
- sectiunea transversal a elementului 5 b
l5
xh
l5
[m];
18
y
g5
y
c5
:=
m
1
1.0827 = J
g1
4.0329 10
3
= a
g1x
x
c1pp
:= a
g1y
y
c1pp
:=
m
2
2.2094 = J
g2
34.2679 10
3
= a
g2x
x
c2pp
:= a
g2y
y
c2pp
:=
m
3
2.704 = J
g3
3.2449 10
3
= a
g3x
x
c3pp
:= a
g3y
y
c3pp
:=
m
4
0.5322 = J
g4
7.6649 10
3
= a
g4x
x
c4pp
:= a
g4y
y
c4pp
:=
m
5
4.2341 = J
g5
154.3595 10
3
= a
g5x
x
c5pp
:= a
g5y
y
c5pp
:=
Fortele si momentelor de inertie ale elementelor mecanismului
Elemetul 1 (elementul conductor)
Calculm fortele si momentele de inertie cu relatia: P1 M1 A1 = unde:
P
1
P
1ix
P
1iy
M
1i
|

\
|
]
]
]

= M1
m
1
0
0
0
m
1
0
0
0
J
g1
|

\
|
]
]
]

= A1
a
G1x
a
G1y

1
|

\
|
]
]
]

=
Se determin masa elementului 5 cu relatia:
g 9.81 := m/s
2
m
5
G
5
g
:=
m
5
4.2341 = kg
Se determin momentul de inertie masic al elementului 5 Jg5 cu relatia:
J
g5
m
5
12
l
5ech
2
:=
J
g5
1.5436 10
1
= kg*m
2
Centralizat, avem:
v
g1x
x
c1p
:= v
g1y
y
c1p
:= x
g1
x
c1
:= y
g1
y
c1
:=
v
g2x
x
c2p
:= v
g2y
y
c2p
:= x
g2
x
c2
:= y
g2
y
c2
:=
v
g3x
x
c3p
:= v
g3y
y
c3p
:= x
g3
x
c3
:= y
g3
y
c3
:=
v
g4x
x
c4p
:= v
g4y
y
c4p
:= x
g4
x
c4
:= y
g4
y
c4
:=
v
g5x
x
c5p
:= v
g5y
y
c5p
:= x
g5
x
c5
:=
19
nlocuim mrimile cunoscute si rezult:
M1
m
1
0
0
0
m
1
0
0
0
J
g1
|

\
|
]
]
]

:= M1
1.0827
0
0
0
1.0827
0
0
0
0.004
|

\
|
]
]
]

=
A
a
g1x
a
g1y

1
|

\
|
]
]
]

:= A
8.8633
1.5628
0
|

\
|
]
]
]

=
P
1ix
P
1iy
M
1i
|

\
|
]
]
]

m
1
0
0
0
m
1
0
0
0
J
g1
|

\
|
]
]
]

a
g1x
a
g1y

1
|

\
|
]
]
]

:=
P
1ix
9.5965 =
P
1
P
1ix
P
1iy
M
1i
|

\
|
]
]
]

:= P
1
9.5965
1.6921
0
|

\
|
]
]
]

=
P
1iy
1.6921 =
M
1i
0 =
Diada 1
20
P2 M2 A2 = unde:
P2
P
i2x
P
i2y
M
i2
P
i3x
P
i3y
M
i3
|

\
|
]
]
]
]
]
]
]
]
]

= M2
m
2
0
0
0
0
0
0
m
2
0
0
0
0
0
0
J
g2
0
0
0
0
0
0
m
3
0
0
0
0
0
0
m
3
0
0
0
0
0
0
J
g3
|

\
|
]
]
]
]
]
]
]
]
]

= A2
a
g2x
a
g2y

2
a
g3x
a
g3y

3
|

\
|
]
]
]
]
]
]
]
]
]

=
nlocuim mrimile cunoscute si rezult:
21
M2
m
2
0
0
0
0
0
0
m
2
0
0
0
0
0
0
J
g2
0
0
0
0
0
0
m
3
0
0
0
0
0
0
m
3
0
0
0
0
0
0
J
g3
|

\
|
]
]
]
]
]
]
]
]
]

:= A2
a
g2x
a
g2y

2
a
g3x
a
g3y

3
|

\
|
]
]
]
]
]
]
]
]
]

:= A2
21.5865
1.5628
3.7307
25.4464
0
0
|

\
|
]
]
]
]
]
]
]
]

=
M2
2.2094
0
0
0
0
0
0
2.2094
0
0
0
0
0
0
0.0343
0
0
0
0
0
0
2.704
0
0
0
0
0
0
2.704
0
0
0
0
0
0
0.0032
|

\
|
]
]
]
]
]
]
]
]

=
P
i2x
P
i2y
M
i2
P
i3x
P
i3y
M
i3
|

\
|
]
]
]
]
]
]
]
]
]

m
2
0
0
0
0
0
0
m
2
0
0
0
0
0
0
J
g2
0
0
0
0
0
0
m
3
0
0
0
0
0
0
m
3
0
0
0
0
0
0
J
g3
|

\
|
]
]
]
]
]
]
]
]
]

a
g2x
a
g2y

2
a
g3x
a
g3y

3
|

\
|
]
]
]
]
]
]
]
]
]

:=
P
i2x
P
i2y
M
i2
P
i3x
P
i3y
M
i3
|

\
|
]
]
]
]
]
]
]
]
]

47.6935
3.4529
0.1278
68.8084
0
0
|

\
|
]
]
]
]
]
]
]
]

=
P
i2x
47.6935 =
P
i2y
3.4529 =
P2
P
i2x
P
i2y
M
i2
P
i3x
P
i3y
M
i3
|

\
|
]
]
]
]
]
]
]
]
]

:= P2
47.6935
3.4529
0.1278
68.8084
0
0
|

\
|
]
]
]
]
]
]
]
]

= M
i2
0.1278 =
P
i3x
68.8084 =
P
i3y
0 =
M
i3
0 =
22
Diada 2 P3 M3 A3 = unde:
P3
P
i4x
P
i4y
M
i4
P
i5x
P
i5y
M
i5
|

\
|
]
]
]
]
]
]
]
]
]

= M3
m
4
0
0
0
0
0
0
m
4
0
0
0
0
0
0
J
g4
0
0
0
0
0
0
m
5
0
0
0
0
0
0
m
5
0
0
0
0
0
0
J
g5
|

\
|
]
]
]
]
]
]
]
]
]

= A3
a
G4x
a
G4y

4
a
G5x
a
G5y

5
|

\
|
]
]
]
]
]
]
]
]
]

=
23
M3
m
4
0
0
0
0
0
0
m
4
0
0
0
0
0
0
J
g4
0
0
0
0
0
0
m
5
0
0
0
0
0
0
m
5
0
0
0
0
0
0
J
g5
|

\
|
]
]
]
]
]
]
]
]
]

:= A3
a
g4x
a
g4y

4
a
g5x
a
g5y

5
|

\
|
]
]
]
]
]
]
]
]
]

:= A3
14.6915
25.4464
0
25.4464
14.6915
0
|

\
|
]
]
]
]
]
]
]
]

=
M3
0.5322
0
0
0
0
0
0
0.5322
0
0
0
0
0
0
0.0077
0
0
0
0
0
0
4.2341
0
0
0
0
0
0
4.2341
0
0
0
0
0
0
0.1544
|

\
|
]
]
]
]
]
]
]
]

=
P
i4x
P
i4y
M
i4
P
i5x
P
i5y
M
i5
|

\
|
]
]
]
]
]
]
]
]
]

m
4
0
0
0
0
0
0
m
4
0
0
0
0
0
0
J
g4
0
0
0
0
0
0
m
5
0
0
0
0
0
0
m
5
0
0
0
0
0
0
J
g5
|

\
|
]
]
]
]
]
]
]
]
]

a
g4x
a
g4y

4
a
g5x
a
g5y

5
|

\
|
]
]
]
]
]
]
]
]
]

:=
P
i4x
P
i4y
M
i4
P
i5x
P
i5y
M
i5
|

\
|
]
]
]
]
]
]
]
]
]

7.8194
13.5437
0
107.7438
62.2059
0
|

\
|
]
]
]
]
]
]
]
]

=
P
i4x
7.8194 =
P
i4y
13.5437 =
P3
P
i4x
P
i4y
M
i4
P
i5x
P
i5y
M
i5
|

\
|
]
]
]
]
]
]
]
]
]

:= P3
7.8194
13.5437
0
107.7438
62.2059
0
|

\
|
]
]
]
]
]
]
]
]

=
M
i4
0 =
P
i5x
107.7438 =
P
i5y
62.2059 =
M
i5
0 =
24
M
i3
0 = M
i5
0 =
P
i1
P
1ix
2
P
1iy
2
+ := P
i2
P
i2x
2
P
i2y
2
+ := P
i3
P
i3x
2
P
i3y
2
+ :=
P
i4
P
i4x
2
P
i4y
2
+ := P
i5
P
i5x
2
P
i5y
2
+ :=
P P
i1
P
i2
P
i3
P
i4
P
i5
( )
:=
M M
1i
M
i2
M
i3
M
i4
M
i5
( )
:=
Forta tehnologic rezistent la elementul de executie este Q [N]
P 9.7445 47.8183 68.8084 15.6389 124.4118 ( ) = N
Qr 2 max P ( ) := N Qr 248.8237 = N
CALCULUL REACTIUNILOR DIN CUPLE
DIADA RTR (DT-DR-ET)
Centralizat, avem:
P
1ix
9.5965 = G
1
10.6215 = P
i2x
47.6935 = P
i4x
7.8194 =
P
1iy
1.6921 = G
2
21.6743 = P
i2y
3.4529 = P
i4y
13.5437 =
G
3
26.5267 = P
i3x
68.8084 = P
i5x
107.7438 =
G
4
5.2213 = P
i3y
0 = P
i5y
62.2059 =
M
1i
0 = G
5
41.5369 = M
i2
0.1278 = M
i4
0 =
25
P
i4x
P
i5x
+ Qr cos 150

180

\
|
]

R
05
cos

3
|

\
|
]

+ R
34
+ R
54x
+ 0 =
i
F
ix
4 5 + ( )

0 =
Necunoscutele se determin din sistemul:
R
05y
R
05
sin

3
|

\
|
]

= R
05x
R
05
cos

3
|

\
|
]

= Intre componentele reactiunii R

05
exista relatia:
Se cer: R
54x
, R
54y
, R
34
, h
1
, R
05
si h
2
.
Qr 248.8237 =
M
i5
0 = P
i5y
62.2059 = P
i5x
107.7438 = G
5
41.5369 =
M
i4
0 = P
i4y
13.5437 = P
i4x
7.8194 = G
4
5.2213 =
Se cunosc:
26
R
54y
G
4
P
i4y
=
R
34
R
54x
+ P
i4x
=
este echivalent cu:
R
54y
R
05
sin

3
|

\
|
]

+ G
4
G
5
+ P
i4y
P
i5y
Qr sin 150

180

\
|
]

=
R
34
R
54x
+ R
05
cos

3
|

\
|
]

+ Qr cos 150

180

\
|
]

P
i4x
P
i5x
=
G
4
P
i4y
+ R
54y
+ 0 =
R
34
P
i4x
+ R
54x
+ 0 =
G
4
G
5
R
05
sin

3
|

\
|
]

+ Qr sin 150

180

\
|
]

+ R
54y
+ P
i4y
+ P
i5y
+ 0 =
P
i4x
P
i5x
+ Qr cos 150

180

\
|
]

R
05
cos

3
|

\
|
]

+ R
34
+ R
54x
+ 0 =
Lum primele patru ecuatii ale cror necunoscute sunt: R
34
, R
54x
, R
54y
, R
05
R
05
h
2
l
DE
+
( )
M
i5
+ P
i5y
x
c5
x
D

( )
P
i5y
y
c5
y
D

( )
0 =
i
M
D
5 ( )

0 =
m l
DE
0.4722 =
m
l
DE
x
E
x
D

( )
2
y
E
y
D

( )
2
+ :=
M
i4
R
34
h
1
+ 0 =
i
M
D
4 ( )

0 =
G
4
P
i4y
+ R
54y
+ 0 =
i
F
iy
4 ( )

0 =
R
34
P
i4x
+ R
54x
+ 0 =
i
F
ix
4 ( )

0 =
G
4
G
5
R
05
sin

3
|

\
|
]

+ Qr sin 150

180

\
|
]

+ R
54y
+ P
i4y
+ P
i5y
+ 0 =
i
F
iy
4 5 + ( )

0 =
27
R
05
h
2
l
DE
+
( )
M
i5
+ P
i5y
x
c5
x
D

( )
P
i5y
y
c5
y
D

( )
0 =
m h
1
0 =
m h
1
M
i4

R
34
:=
M
i4
R
34
h
1
+ 0 =
N R
05
282.1597 =
Din ecuatiile 4 si 5 rezulta distantele h
1
si h
2
N R
54y
291.1157 =
N R
54x
5.2213 =
N R
34
13.0407 =
R
34
R
54x
R
54y
R
05
|

\
|
]
]
]
]
]

R
1
:=
R
1
13.0407
5.2213
291.1157
282.1597
|

\
|
]
]
]
]

=
R
1
MR
1
1
TL
1
:=
MR
1
R
1
TL
1
= Sistemul [SR1] scris sub form matricial devine:
vectorul termenilor liberi TL
1
148.8993
46.7582
7.8194
5.2213
|

\
|
]
]
]
]

=
TL
1
P
i4x
P
i5x
+ Qr
G
4
G
5
+
P
i4x
G
4
|

\
|
]
]
]
]
]

:=
MR
1
1
0
1
0
1
0
1
1
0
1
0
0
0.5
0.866
0
0
|

\
|
]
]
]
]

=
MR
1
1
0
1
0
1
0
1
1
0
1
0
0
cos

3
|

\
|
]

sin

3
|

\
|
]

0
0
|

\
|
]
]
]
]
]
]
]

:=
Notm cu MR1 coeficientilor necunoscutelor astfel:
R
1
R
34
R
54x
R
54y
R
05
|

\
|
]
]
]
]
]

= Notam cu R
1
vectorul necunoscutelor (reactiunile)
28

Se cer: R
12x
, R
12y
, R
32x
, R
32y
, R
03
si h.
R
43
R
34
:=
M
i3
0 = P
i3y
0 = P
i3x
68.8084 = G
3
26.5267 =
M
i2
0.1278 = P
i2y
3.4529 = P
i2x
47.6935 = G
2
21.6743 =
Se cunosc:
DIADA RRT (BR-CR-CT)
m h
2
0.2316 =
h
2
P
i5y
x
c5
x
D

( )
P
i5y
x
c5
x
D

( )
+ M
i5
R
05
l
DE
+
R
05

:=
29
R
12x
y
B
y
C

( )
R
12y
x
B
x
C

( )
P
i2y
G
2

( )
x
g2
x
C

( )
P
i2x
y
g2
y
C

( )
+ M
i2
=
R
12y
R
32y
+ G
2
P
i2y
=
R
12x
R
32x
+ P
i2x
=
[SR2]
R
12y
R
32y
+ R
03
+ P
i3y
P
i2y
+ G
2
G
3

( )
=
R
12x
R
32x
+ P
i3x
P
i2x
+ R
43
+
( )
=
Se iau primele cinci ecuatii ale cror necunoscute sunt: R
12x
, R
12y
, R
32x
, R
32y
si R
03.
Acest sistem se rezolv clasic cu metoda matricial.
R
03
h
3
M
i3
+ R
43
x
D
h
1
+ x
C

( )
+ 0 =
i
M
C
3 ( )

0 =
M
i2
P
i2y
G
2

( )
x
g2
x
C

( )
R
12y
x
B
x
C

( )
P
i2x
y
g2
y
C

( )
R
12x
y
B
y
C

( )
0 =
i
M
C
2 ( )

0 =
R
32y
P
i2y
+ G
2
R
12y
+ 0 =
i
F
iy
2 ( )

0 =
R
32x
P
i2x
+ R
12x
+ 0 =
i
F
ix
2 ( )

0 =
P
i3y
P
i2y
+ G
2
G
3
R
03
+ R
12y
+ R
32y
+ 0 =
i
F
iy
2 3 + ( )

0 =
P
i3x
P
i2x
+ R
43
+ R
12x
+ R
32x
+ 0 =
i
F
ix
2 3 + ( )

0 =
30
Notm cu R2 vectorul reactiunilor necunoscute astfel: R2
R
12x
R
12y
R
32x
R
32y
R
03
|

\
|
]
]
]
]
]
]
]

=
Notm cu MR2 coeficientilor necunoscutelor astfel:
MR2
1
0
1
0
y
B
y
C

( )

0
1
0
1
x
B
x
C

( )

1
0
0
0
0
0
1
0
1
0
0
1
0
0
0

(
(
(
(
(
(
(

:=
MR2
1
0
1
0
0.0813
0
1
0
1
0.3917
1
0
0
0
0
0
1
0
1
0
0
1
0
0
0
|

\
|
]
]
]
]
]
]

=
TL2
P
i3x
P
i2x
+ R
43
+
( )

P
i3y
P
i2y
+ G
2
G
3

( )

P
i2x

G
2
P
i2y

P
i2y
G
2

( )
x
g2
x
C

( )
P
i2x
y
g2
y
C

( )
+ M
i2

(
(
(
(
(
(
(
(

:=
TL2
129.5426
44.7481
47.6935
18.2214
5.6338
|

\
|
]
]
]
]
]
]

=
Sistemul [SR2] scris sub form matricial devine: MR2 R2 TL2 =
R2 MR2
1
TL2 :=
31
M
1i
0 = P
1iy
1.6921 = P
1ix
9.5965 = G
1
10.6215 =
Se cunosc:
ELEMENTUL CONDUCTOR
h
3
0 =
h
3
M
i3
R
43
x
D
h
1
+ x
C

( )
+
R
03

:=
R
12y
4.4897 = R
03
h
3
M
i3
+ R
43
x
D
h
1
+ x
C

( )
+ 0 =
R
12x
47.6935 =
R
32y
13.7317 =
Reactiunile sunt:
R
32x
81.8491 =
R
03
26.5267 =
R
12x
R
12y
R
32x
R
32y
R
03
|

\
|
]
]
]
]
]
]
]

R2 :=
R2
47.6935
4.4897
81.8491
13.7317
26.5267
|

\
|
]
]
]
]
]
]

=
32
v
gix
si v
giy
sunt componentele vitezei v
gi
n proiectie pe axe n [m/s] determinate la analiza cinematic a
mecanismului
unde: m/s v
gi
v
gix
( )
2
v
giy
( )
2
+ =
vgi reprezint viteza centrului de greutate al elementului i [m/s];
Jgi reprezint momentul de inertie n raport cu axa ce trece prin centrul de greutate G al elementului i.
unde:
m
red
1
5
i
m
i
v
gi
v
g1
|

\
|
]

2
J
gi

i
v
g1
|

\
|
]

2
+

(
(
(

=
=
Masa redus a mecanismului se determin cu relatia:
Calculul masei reduse a mecanismului
ANALIZA DINAMIC A MECANISMULUI
M
1
3.228 =
R
01y
13.4191 =
R
01x
57.2899 =
M
1
R
21x
y
B
y
A

( )
P
1ix
y
g1
y
A

( )
+ P
1iy
G
1

( )
x
g1
x
A

( )
R
21y
x
B
x
A

( )
+ M
1i
+

:=
R
01y
G
1
P
1iy
R
21y
:=
R
01x
P
1ix
R
21x
+
( )
:=
M
1i
M
1
+ P
1iy
G
1

( )
x
g1
x
A

( )
+ R
21y
x
B
x
A

( )
+ R
21x
y
B
y
A

( )
P
1ix
y
g1
y
A

( )
0 =
i
M
A
1 ( )

0 =
P
1iy
G
1
R
21y
+ R
01y
+ 0 =
i
F
iy
1 ( )

0 =
P
1ix
R
21x
+ R
01x
+ 0 =
i
F
ix
1 ( )

0 =
R
21y
4.4897 =
Se cer: R
01x
, R
01y
, si M
1
.
R
21x
47.6935 =
R
21y
R
12y
:= R
21x
R
12x
:=
33
kg m
5
4.2341 = kg m
5
m
5
:=
Jg
5
154.3595 10
3
=

5
0 = rad/s
5

5
:=
Jg
5
J
g5
:=
m/s v
g5y
0.3928 = m/s v
g5x
0.6803 = Elementul 5
kg m
4
0.5322 =
Jg
4
7.6649 10
3
= kg m
4
m
4
:=
Jg
4
J
g4
:=
4
0 =
rad/s
vg1 vg
1
:=
m/s vg
5
0.7856 = m/s vg
5
v
g5x
( )
2
v
g5y
( )
2
+ :=
m/s vg
4
0.7856 = m/s vg
4
v
g4x
( )
2
v
g4y
( )
2
+ :=
m/s vg
3
0.6803 = m/s vg
3
v
g3x
( )
2
v
g3y
( )
2
+ :=
m/s vg
2
1.0159 = m/s vg
2
v
g2x
( )
2
v
g2y
( )
2
+ :=
m/s vg
1
0.09 = m/s vg
1
v
g1x
( )
2
v
g1y
( )
2
+ :=
Jg
2
J
g2
:=
2
4.526 = rad/s
2

2
:=
m/s v
g2y
0.8863 = m/s v
g2x
0.4965 = Elementul 2
Jg
1
4.0329 10
3
=
kg m
1
1.0827 =
m
1
m
1
:=
Jg
1
J
g1
:=

1
10 = rad/s
1

1
:=
m/s v
g1y
0.0156 = m/s v
g1x
0.0886 = Elementul 1

4

4
:=
m/s v
g4y
0.3928 = m/s v
g4x
0.6803 = Elementul 4
kg m
3
2.704 = m
3
m
3
:=
Jg
3
3.2449 10
3
=
Jg
3
J
g3
:=
3
0 = rad/s
3

3
:=
m/s v
g3y
0 = m/s v
g3x
0.6803 = Elementul 3
kg m
2
2.2094 =
Jg
2
34.2679 10
3
= m
2
m
2
:=
34
nlocuind valorile cunoscute avem:
mred
1
5
i
m
i
vg
i
vg1
|

\
|
]

2
Jg
i

i
vg1
|

\
|
]

2
+

(
(

=
:=
kg
mred 936.7082 = kg
Calculul momentului de inertie redus al mecanismului
Se face cu relatia:
Jred
1
5
i
m
i
vg
i
1
|

\
|
]

2
Jg
i

i
1
|

\
|
]

2
+

(
(

=
=
unde:
1
1
:=
nlocuind, avem:
Jred
1
5
i
m
i
vg
i
1
|

\
|
]

2
Jg
i

i
1
|

\
|
]

2
+

(
(

=
:=
Jred 0.0759 =