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Graficki Rad AA
Graficki Rad AA
MAINSKI FAKULET
MEHATRONIKA
Mehanizmi u mehatronici
5. grafiki rad
Student:
Ajdin Ahmetovi III-357/12
Sprei, red.prof.
Tuzla, Oktobar, 2016 god
Profesor:
Dr.sc.Denijal
1
(s-1)
1
(s-1)
O1A
(m
m)
O1B
(m
m)
AB
(m
m)
AD
(m
m)
BC
(m
m)
G1
(N)
G2
(N)
G3
(N)
G4
(N)
G5
(N)
30
15
250
200
300
550
550
100
200
100
100
100
p1=7
p2=0
s=3 ( 61 )2 70=1
n=6
Kinemat
ski
parovi
p1
Strukturna analiza
Ukupno
12
13
16
25
34
46
56
p2
Vrsta
Nii
Nii
Nii
Nii
Nii
Nii
Nii
n(n1) 6 (61)
=
=15
2
2
Poznajemo poloaje sljedeih trenutnih polova: P12, P13, P16, P25, P34, (P46), (P56).
Pomou tabline metode e se pronai preostali trenutni polovi mehanizma:
n
1
1
2
1
3
1
4
1
5
1
6
3
4
5
6
2
1
2
2
3
2
4
2
5
2
6
P14
P15
P26
P36
P23
P24
P35
P45
3
1
3
2
3
3
4
3
5
3
6
4
1
4
2
4
3
4
4
5
4
6
5
1
5
2
5
3
5
4
5
6
1
6
2
6
3
6
4
6
5
6
5
6
12
24
12
25
12
16
13
16
12
13
12
14
13
15
14
15
13
34
13
35
23
36
23
26
24
34
23
34
23
25
24
25
15
45
14
45
24
46
34
46
25
35
25
45
34
45
34
35
16
46
16
56
25
56
35
56
26
36
26
46
36
56
46
56
[ ]
m
u smjeru
v OA
1
s A
Taka B:
[ ]
m
v B= 1 O1 B=5 0.2=1
v O 1 B
s B
Taka C:
v C =v B +v CB
v C
u smjeru
v CB CB
v DA DA
horizontalan
Sa plana brzina:
m
v C =Pv c U v =80 0.025=0.657[ ]
s
U v =0 0.025=0.884
v CB =cb
Taka D:
v D=v A +v DA
v D
horizontalan
Sa plana brzina:
m
v D= Pv d U v =18.15 0.025=1.374 [ ]
s
U v =99.38 0.025=0.532[ m ]
v DA= da
s
vA
vB
vC
v CB
vD
v DA
m
]
s
1.25
0.657
0.884
1.374
0.532
O1 A 0.25
s
[ ]
[ ]
n
A
od A ka O1
m t
a A a nA
2
s
u smjeru
Taka B:
a B=a nB + a tB
v 2B
12
m n
a =
=
=5 2 a B O 1 B
O 1 B 0.2
s
[ ]
n
B
a B= 1 O 1 B=15 0.2=3
Taka C:
aC =aB + aCB a C
od B ka O1
[ ]
m t
n
B a B
a
2
s
u smjeru
horizontalan
n
aCB =a nCB + a tCB atCB aCB
anCB =
v 2CB 0.884 2
=
=1.42
0.55
CB
a nCB CB
Sa plana ubrzanja:
m
aC =Pa c U a =43.18 0.25=7.17 [ 2 ]
s
U a=85.86 0.25=0.33[
atCB =bc
m
]
s2
od C ka B
U a=85.86 0.25=1.33[ m ]
aCB =bc
2
s
Taka D:
a D=a A + aDA aD
n
DA
a DA=a +a
t
DA
- horizontalan
t
DA
anDA
2
v
0.532
m n
a = DA =
=0.52 2 a
DA DA
0.55
DA
s
[ ]
n
DA
od D ka A
Sa plana ubrzanja:
m
a D= Pa d U a =119.3 0.25=3.73[ 2 ]
s
m
t
a DA=1d U a=3.41 0.25=7.68 [ 2 ]
s
U a=18.36 0.25=7.7 [ m ]
a DA= da
s2
anA
atA
aA
m
] 6.2
s2 5
3.7
5
7.2
7
anB
atB
aB
5.8
4
anCB
1.4
2
atCB
0.3
3
aCB
1.3
3
aC
7.4
7
anDA
0.5
2
atDA
7.6
8
a DA
7.
7
aD
3.7
3
v CB 0.884
=
=1.6 [s1 ]
0.55
CB
2=
v DA=2 DA
v DA 0.532
1
=
=0.96 [s ]
DA 0.55
s
[ 1]
0.96
1.6
- Ugaona ubrzanja
0.55
CB
t
CB
2 =
atDA= 2 DA
[s ]
atDA 7.68
=
=13.96 [ s2 ]
DA 0.55
15
13.96
0.6
[ ]
[ ]
n
A
od A ka O1
m
atA = 1 O1 A=0 0.25=0 2 a A =anA
s
Taka B:
a B=a nB + a tB
n
a B=
v 2B
12
m n
=
=5 2 a B O 1 B
O1 B 0.2
s
[ ]
[ ]
od B ka O1
m
t
n
a B= 1 O 1 B=0 0.2=0 2 a B=aB
s
Taka C:
aC =aB + aCB a C
horizontalan
n
aCB =a nCB + a tCB atCB aCB
anCB =
v 2CB 0.884 2
=
=1.42
0.55
CB
Sa plana ubrzanja:
m
aC =Pa c U a =43.18 0.25=5.29[ 2 ]
s
8
a nCB CB
od C ka B
U a=85.86 0.25=2.3[ m ]
atCB =bc
s2
U a=85.86 0.25=2.7[ m ]
aCB =bc
s2
Taka D:
a D=a A + aDA aD
n
DA
t
DA
a DA=a +a
- horizontalan
t
DA
anDA
v 2DA 0.5322
m n
a =
=
=0.52 2 a
DA DA
0.55
DA
s
[ ]
n
DA
od D ka A
Sa plana ubrzanja:
m
a D= Pa d U a =119.3 0.25=0.378 [ 2 ]
s
m
atDA=1d U a=3.41 0.25=6.089 [ 2 ]
s
U a=18.36 0.25=6.11[ m ]
a DA= da
s2
a
m
]
s2
aA
aB
anCB
atCB
aCB
aC
anDA
atDA
a DA
aD
6.2
5
1.4
2
2 .
3
2 .
7
7.4
7
0.5
2
6.0
9
6.1
1
0.37
8
Sa plana ubrzanja za
aS
[
m
]
s2
aS
1 =const
aS
2.826
3.204
aS
4.967
aS
6.292
aS
0.378
0.55
CB
2 =
atDA= 2 DA
atDA 6.09
=
=11.07 [s2 ]
0.55
DA
[s ]
11.07
4.18
- Inercijalne sile:
Sve inercijalne sile su istog pravca, ali suprotnog smjera od pripadajueg
ubrzanja.
F 1=
G1
100
as 1=
2.826=28.8[ N ]
g
9.81
F 2=
G2
200
as 2=
3.204=65.32 [N ]
g
9.81
F 3=
G3
100
a s3 =
4.967=50.63[ N ]
g
9.81
F 4=
G4
100
as 1 =
6.292=64.13[ N ]
g
9.81
F 5=
G5
100
a s1 =
0.378=3.85 [ N ]
g
9.81
1 G1 hb
1 100 0.165 0.3
J 1=
=
=0.0005 .2
12 g 2
12 9.81
2
2
( )
J 2=
1 G2
2
1 200
2
( AD ) =
( 0.55 ) =0.514
12 g
12 9.81
J 3=
1 G3
2
1 100
2
( BC ) =
( 0.55 ) =0.257
12 g
12 9.81
J 4 =0
J 5=0
- Inercijalni momenti:
M 1=J 1 1=0[Nm ]
M 2=J 2 2=0.514 11.07=5.689 [Nm]
M 3=J 3 3 =0.257 4.18=1.074 [ Nm]
M 4 =J 4 4=0 [Nm ]
M 5=J 5 5 =0[ Nm]
10
F65=
in2
65
i n5
M in +G2 l G F i n l F +G 5 l G + Fi n l F + F D l D
2
in2
lF
i n5
65
F65=
F65=
F65=221.54[ N ]
M D =0 :
M i n +G2 l G Fi n l F F t12 l F =0
2
Ft12=
t
12
in2
Fi n l F M i n G2 l G
2
in 2
lF
t
12
Ft12=6 5 . 35
Sa plana sila lanova 5 i 6 oitaje se:
F25=190 [N ]
F12=65.32 [N ]
Ravnotea u lanovima 3 i 4 i 4 i 6
M B=0 :
M i n +G3 l G Fi n l F +G 4 l G + F i n l F F 46 l F =0
3
F 46=
F 46=
11
i n3
in 4
46
M i n +G 3 l G F i n l F +G4 l G + Fi n l F + F C l F
3
in3
lF
i n4
46
F 46=
F 46=171 . 35[N ]
M C =0 :
M i n G3 l G + Fi n l F + F t13 l F =0
3
Ft13=
t
13
i n3
M in +G3 l G Fi n l F
3
0.55
in3
F13=36.3854 [ N ]
Sa plana sila lanova 4 i 6 oitaje se:
F34 =95.93[ N ]
F13=115.79 [ N ]
F61=188.69 [N ]
F i n 20+ F i n 4.54 + FC 20+ F D 4.54+G1 8.27+ G2 12.4+ F i n 3.64+ F 2 3.11F1 ' ( 18.75+11.25 ) F 4 ' ( 0
11.3
4
Fu =1842.56 [ N ]
M u=F u OS 1=1842.56 0.113=208.21 [ Nm]
12