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Mehanizmi 1.
Mehanizmi 1.
MAINSKI FAKULET
MEHATRONIKA
Mehanizmi u mehatronici
1. grafiki rad
Student:
Ajdin Ahmetovi III-357/12
Sprei, red.prof.
Tuzla, Oktobar, 2016 god
Profesor:
Dr.sc.Denijal
()
1
(s-1)
1
(s-2)
10
O1A
(mm
)
300
O2A
(mm
)
600
O2B
(mm
)
900
03B
(mm
)
600
O3C
(mm
)
800
CD
(mm
)
405
x
(mm
)
300
y
(mm
)
470
p1=10
p2=0
s=3 ( 81 )2 100=1
n=8
Kinemat
ski
parovi
p1
Strukturna analiza
Ukupno
12
18
23
34
38
45
56
58
67
78
10
10
p2
Vrsta
Nii
Nii
Nii
Nii
Nii
Nii
Nii
Nii
Nii
Nii
10
n(n1) 8 (81)
=
=28
2
2
Poznajemoo poloaje sljedeih trenutnih polova: P18, P12, (P23), P38, P34, (P45),
P58, P56, P67, (P78).
Pomou tabline metode e se pronai preostali trenutni polovi mehanizma:
n
1
1
2
1
3
1
4
1
5
1
6
1
7
1
8
3
4
5
6
7
8
P1
3
P3
5
P2
4
1
2
2
3
1
3
1
5
1
2
1
2
3
1
3
2
3
2
3
2
4
2
5
2
6
2
7
2
8
4
1
4
2
4
3
4
3
4
3
5
3
6
3
7
3
8
1
4
3
4
2
3
2
5
2
5
1
5
2
5
3
5
4
5
4
5
4
6
4
7
4
8
1
5
3
5
3
4
4
5
2
6
1
6
2
6
3
6
4
6
5
6
5
6
5
7
5
8
1
6
3
6
3
6
5
6
2
7
1
7
2
7
3
7
4
7
5
7
6
7
6
7
6
8
1
7
3
7
3
7
5
7
2
8
1
8
2
8
3
8
4
8
5
8
6
8
7
8
7
8
1
8
3
8
3
8
5
8
2
P1
5
P1
6
P1
1
2
2
5
1
2
2
6
1
1
3
3
5
1
3
3
6
1
1
4
4
5
1
4
4
6
1
1
6
5
6
1
5
5
6
1
1
7
5
7
1
7
6
7
1
1
8
5
8
1
8
7
8
1
P4
8
P6
8
P4
6
P2
4
P1
4
P2
5
P2
6
2
1
8
1
4
1
8
1
6
1
8
1
4
1
6
1
2
1
4
1
2
2
4
1
2
1
5
1
2
1
6
3
3
8
2
4
2
8
2
6
2
8
2
4
2
6
2
3
3
4
1
3
3
4
2
3
3
5
2
3
3
6
4
4
8
3
4
3
8
3
6
3
8
3
4
3
6
2
5
4
5
1
5
4
5
2
4
4
5
2
4
4
6
5
5
8
4
5
5
8
4
6
4
8
4
5
5
6
2
6
4
6
1
6
4
6
2
6
5
6
2
5
5
6
6
6
8
4
6
6
8
5
6
5
8
4
7
6
7
2
7
4
7
1
7
4
7
2
7
5
7
2
7
6
7
7
7
8
4
7
7
8
6
7
7
8
4
8
6
8
2
8
4
8
1
8
4
8
2
8
5
8
P2
7
P3
6
P3
7
P4
7
P5
7
P5
7
2
2
7
1
2
1
7
1
3
1
6
1
3
1
7
1
4
1
7
1
5
1
7
1
5
1
7
3
3
7
2
3
3
7
2
3
2
6
2
3
2
7
2
4
2
7
2
5
2
7
2
5
2
7
4
4
7
2
4
4
7
3
4
4
6
3
4
4
7
3
4
3
7
3
5
3
7
3
5
3
7
5
5
7
2
5
5
7
3
5
5
6
3
5
5
7
4
5
5
7
4
5
4
7
4
5
4
7
6
6
7
2
6
6
7
3
7
6
7
3
6
6
7
4
6
6
7
5
6
6
7
5
6
6
7
8
7
8
2
8
7
8
3
8
6
8
3
8
7
8
4
8
7
8
5
8
7
8
5
8
7
8
28
68
A 1= A 2 A 3
[ ]
m
v A =O1 A 1 1=0.3 2=0.6
v O 1A 1 u smjeru
1
s A
1
v A =v A + v A
1
A3
v A O2 A 3 , v A
3
A3
O2 A3
Sa plana brzina:
m
v A = Pv a3 U v =28 0.01=0.28 [ ]
s
3
[ ]
m
s
Taka B
B 3=B4 B5
Vai proporcija:
vB
vA
O B
0.9
m
=
v B =v A 2 3 =0.28
=0.42[ ]
0.6
s
O 2 B 3 O2 A 3
O2 A 3
3
v B O 2B3 u smjeru
3
3
v B =v B + v B B v B O3B5 , v B B O3B5
3
Sa plana brzina:
[ ]
[ ]
m
v B = Pv b5 U v =8.3 0.0 1=0.083
s
5
m
s
Taka C
Vai proporcija:
vB
vC
O 3 C
0.8
m
=
v C =v B
=0.083
=0.111[ ]v C O 3 C u smjeru
5
0.6
s
O 3 C O 3B5
O 3B5
5
Taka D
, v Dh oriz .
v D=v C +v DC v DC CD
Sa plana brzina:
[ ]
[ ]
m
v D= Pv d U v =9.3 0.0 1=0.093
s
U v =4.3 0.0 1=0.043
v DC =dc
vA
m
]
s
0.6
vA
m
s
vA
0.28
vB
A3
0.53
vB
0.42
0.083
vB B
3
0.41
vC
v DC
vD
0.11
0.043
0.093
anA =
1
v A 2 0.62
m
=
=1.2 2 a nA O1 A1 , od A 1 ka O1
0.3
O 1 A1
s
[ ]
[ ]
m t
t
n
a A = 1 O 1 A 1=2 0.3=0.6 2 a A a A
s
1
a A =a A +a A A + acor 1
1
1 A3
A3
+aco r
v A 2 0.282
m
a = =
=0.1306 2 a nA O2 A3 , od A3 ka O2
O2 A3 0.6
s
n
A3
[ ]
tA anA
a
3
a nA =0 ; atA A =a A
aco r =2 (
3 v A
1 A3
A3
A3
Sa plana ubrzanja:
[ ]
m
a cor
s2
zakrenut za 90
u smjeru
[ ]
[ ]
m
2
s
a A = Pa a3 U a=85.7 0.01=0.857
3
m
a A A =1a3 U a=9.9 0.01=0.099 2
s
1
m
]
s2
Taka B
B 3=B4 B5
n
a B =a B + a B
3
v B 2 0.422
m
a = =
=0.196 2 a nB O2B3 , od B3 ka O2
O2 B3 0.9
s
n
B3
[ ]
Vai proporcija:
atB
atA
0.9
m
t
t O 2 B3
=
a
=a
=0.847
=1.27
[
]
B
A
2
0.6
O 2B 3 O2A 3
O 2A 3
s
3
a B =a B + a B B + acor
3
a B =a nB + a tB +a nB B +atB B + acor
3
v B 2 0.0832
m
a = =
=0.0115 2 a nB O3B5 , od B5 ka O3
0.6
O 3 B5
s
n
B5
[]
tB a nB ;
a
5
a B B =0
3
aco r =2 (
5 v B 3 B 5 )
2
[ ]
m
2
s
Sa plana ubrzanja:
[]
m
a B = Pab5 U a =33.2 0.01=0.332 2
s
5
[ ]
5 U a=119.5 0.01=1.195 m
a B B = 2b
s2
3
Taka C
aC =anC + a tC
v C 2 0.1112
m n
a =
=
=0.0155 2 a C O3 C ,od C ka O 3
0.8
O 3 C
s
[ ]
n
C
Vai proporcija:
a tB
atC
0.8
m
t
t O3 C
=
a
=0.3314
=0.442 [ 2 ]aCt O3 C
C =a B
0.6
O 3 C O 3 B5
O 3 B5
s
5
Taka D
a D=aC + a DC =aC + anDC + atDC
anDC =
v DC 2 0.04122
m n
, od D ka C
=
=0.00154 2 a
DC DC
1.1
DC
s
[]
a tDC DC
a Dh orizontalan
Sa plana ubrzanja:
[ ]
[ ]
m
a D= Pa d U a =38 0.01=0.380 2
s
U a=14.8 0.01=0.148 m
atDC =dc
s2
a
[
m
]
s2
a
[
m
]
s2
anA
1.2
t
B5
0.331
atA
aA
anA
atA
0.6
1.342
0.131
aB
aB B
aco r
0.332
1.195
0.113
0.847
n
C
aA
0.857
t
C
aco r
0.495
anB
atB
0.196
1.27
n
DC
t
DC
aB
anB
0 .
1.135
aC
a DC
0.015
0.441
0.442
0.002
0.148
0.148
012
aD
0.38
vA
0.28
1
=
=0.46[s ]
O 2 A 3 0.6
v B =O 3B5 5 5=
vB
0.083
=
=0.138[ s1 ]
0.6
O 3 B5
6 6=
v DC =CD
v CD 0.043
=
=0.039 [ s1 ]
1.1
CD
s
[ 1]
0.46
0.138
0.039
- Ugaona ubrzanja
t
atB = 3 O2B3 3=
3
aB
1.27
=
=1.41[s2 ]
0.9
O 2 B3
3
atB
0.331
a = 5 O3 B 5 5 = =
=0.551 [ s2 ]
0.6
O3 B 5
t
B5
1.1
DC
t
DC
[s ]
1.41
0.551
0.134
1
2
3
10
0.6
0.6
0.6
0.53
0.21
0.18
0.28
0.59
0.57
0.42
0.63
0.64
0.41
0.43
0.39
0.083
0.46
0.49
0.11
1.07
1.21
0.043
0.07
1.19
0.09
1.06
1.32
4
5
6
0.6
0.6
0.6
0.51
0.53
0.49
0.31
0.28
0.34
0.45
0.79
1.01
0.44
0.77
0.98
0.09
0.16
0.25
1.36
0.21
0.35
2.09
0.32
0.12
1.95
0.29
0.27
1
2
3
4
5
6
Hodografi brzina i ubrzanja karakteristinih taaka su prikazani na slici 6.1 i
6.2
m
v P =v D =18 P18P17 =2 0.04646=0.929[ 2 ]
s
11
vA
0.6
=
=2[s1]
P18 A 0.3
vA
v D=v P
12
, pa je: