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Graficki Rad AA
Graficki Rad AA
MAINSKI FAKULET
MEHATRONIKA
Mehanizmi u mehatronici
1. grafiki rad
Student:
Ajdin Ahmetovi III-357/12
Sprei, red.prof.
Profesor:
Dr.sc.Denijal
Tuzla, Januar, 2016 god
()
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
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
v B =v B + v B B v B O3B5 , v B B O3B5
3
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 3 B5
O 3 B5
5
Taka D
, v Dh oriz .
v D=v C +v DC v DC CD
vA
m
]
s
0.6
vA
vA
0.28
A3
0.53
vB
0.42
v A 2 0.62
m
a = =
=1.2 2 a nA O1 A1 , od A 1 ka O1
O1 A1 0.3
s
n
A1
[ ]
vB
0.083
vB B
3
0.41
vC
v DC
vD
0.11
0.043
0.093
[ ]
m t
a A anA
2
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
[ ]
a A a A
3
a nA =0 ; atA A =a A
aco r =2 (
3 v A
1 A3
A3
A3
[ ]
m
a cor
2
s
zakrenut za 90
u smjeru
Taka B
B 3=B4 B5
a B =a nB + a tB
3
vB
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
=0.847
=1.27 [ 2 ]
B =a A
0.6
O2 B 3 O2 A 3
O2 A 3
s
3
a B =a B + a B B + aco r
3
a B =a nB + a tB +a nB B +atB B + acor
3
anB =
5
vB
0.0832
m
=
=0.0115 2 a nB O3B5 , od B5 ka O3
0.6
O 3 B5
s
5
[]
tB a nB ;
a
5
a B B =0
3
aco r =2 (
5 v B 3 B 5 )
2
[ ]
m
s2
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
O3 C
s
[ ]
n
C
Vai proporcija:
a tB
atC
0.8
m t
t
t O3 C
=
a
=a
=0.3314
=0.442
[
]aC O3 C
C
B
0.6
O 3 C O3B5
O3B5
s2
5
Taka D
a D=aC + a DC =aC + anDC + atDC
2
2
v
0.0412
m n
, od D ka C
a = DC =
=0.00154 2 a
DC DC
1.1
DC
s
[]
n
DC
a tDC DC
m
]
s2
m
]
s2
anA
1.2
a
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
atB = 3 O2B3 3=
3
atB
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
4
5
6
0.6
0.6
0.6
0.6
0.6
0.6
0.53
0.21
0.18
0.51
0.53
0.49
0.28
0.59
0.57
0.31
0.28
0.34
0.42
0.63
0.64
0.45
0.79
1.01
0.41
0.43
0.39
0.44
0.77
0.98
0.083
0.46
0.49
0.09
0.16
0.25
0.11
1.07
1.21
1.36
0.21
0.35
0.043
0.07
1.19
2.09
0.32
0.12
0.09
1.06
1.32
1.95
0.29
0.27
1
2
3
4
5
6
1.33
1.33
1.33
1.33
1.33
1.33
0.10
0.52
0.92
0.98
0.28
1.55
1.28
0.79
0.61
0.26
0.48
0.59
0.49
0.29
0.26
0.51
0.93
1.11
1.28
0.88
0.68
0.3
1.36
1.76
1.2
0.42
1.43
0.31
0.97
0.92
0.56
2.1
1.3
0.02
0.50
0.55
0.12
1.15
1.18
0.15
0.41
0.88
0.75
4.89
3.14
0.13
0.66
0.77
0.26
1.19
1.37
0.14
0.88
0.12
0.64
5.06
2.14
0.13
0.83
0.75
m
v P =v D =18 P18P17 =20.045=0.9[ 2 ]
s
10
vA
0.6
=
=2[s1]
0.3
P18 A
vA
v D=v P
12
, pa je: