I HC QUC GIA THNH PH H CH MINH

TRNG I HC BCH KHOA

KHOA K THUT GIAO THNG

1. GVHD: L Khnh in
2. SVTH:
V Th Phng Quyn 1512732 (80 %)
Nguyn Bo Sn 1512835 (20%)
S liu:
l1
Fc l4 l1
+e= 4 ; = 10000 (N); = 1,5 .
J
+ m1=100 ( kg ) t ti trung im AB, s = 1 (kgm2).
1

J
+ m2=200 ( kg ) t ti trung im CD, s = 2 (kgm2).
2

+ m4=300 ( kg ) t ti E.
+ n = 500 (vng/pht).
 Bi lm

I. Thit k c cu chnh:

1 = 50 /3 (rad/s)

180+
K = 180

K = 1.61 => = 42o

H
l3
Sin 2 = 2 l3 => = 0.9627 m

l 3 +l 3 cos
a = 2 = 0.9307 m
2

a
l0
= 2 = 0.4654 m

l1 l0
= Sin 2 = 0.1668 m

l1
e
= 4 = 0.0417 m

l 4 = 1.5 l 1 = 0.25 m

- Tnh bc t do: C cu ny c 5 khu v 7 khp loi 5,

khng c khp loi 4, khng c bc t do tha, khng
c rng buc trng, khng c rng buc tha, nn:
p4 p5 S0
W=3 n( +2 R R) - = 3 5 (0 + 2 7 0
0) 0 = 1

II. Phn tch ng hc:

1) Bi toan vn tc.
a
T l xch l =100

Hnh trnh H= 0.69 m

V tr tay quay = 75o

H s nng sut K = 1.61

V A =V C =0
Ta c:

V B1 =V B2=l 1 1
= 8.7336 (m/s), c phng vung gc
vi AB.

V B3
V B2
VB B
= + 3 2

CD AB /CD

? 8.7336 m/s ?
BC AB BC
 l BC = l 2AB +l 2AC 2 l AB l AC cos ( A )

0.16682+ 0.465422 0.1668 0.4654 cos ( 105 )

= 0.5335 m
l BD =l3 l BC =0.96270.5335=0.4292 m

t l gc nhn hp bi CD v CA ti v tr ang xt:

l 2AC +l 2BC l 2AB

=arccos=arc (
2 l AC l BC )
2 2 2
arccos ( 0.4654 +0.5335 0.1668
2 0.4654 0.5335
=17.58 )
V B =V B cos ( 105+ )
3 2
 8.7336 cos ( 105+17.58 )=5.1397 m/ s ( ngc chiu dng )

V B B =V B sin ( 30+ )=8.7336sin (30+17.58) 7.0623 m/s

3 2 2

V B 5.1397
3 =2 = =
3
9.6339 rad /s
l BC 0.5335

V D =V D =3 l 3=9.6339 0.9627 9.2746 m/ s

3 4

V E = D +
V E =V VE D4
5 4 4 4

? 8.48 m/s ?
xx CD ED

t l gc nhn hp bi khu 4 v khu 5 ti v tr ang xt

 al 3 cos ( )
=arcsin
( l4 )
arcsin ( 0.93070.9627
0.2500
cos ( 17.58 )
)
2.97

V D sin ( )
V E =V D cos ( )+ 3

5 3
tan ( 90 )

8.48 sin (17.58 )

8.48 cos ( 17.58 ) +
tan ( 902.97 )

8.0726 m/s

V D sin ( ) 8.48 sin ( 17.58 )

VE D4 = 4
= =3.0481m/ s
4
sin ( 90 ) sin ( 902.97 )

V E D 3.0481
4 = =
4
=12.1924 rad / s
4

l4 0.25

2) Bi toan gia tc:

anB 3=l BC . 23=0.5332 9.63392=49.4874 m/s2

n 2 2 2
a B 2=l AB . 1=0.1669 52.36 =457.5658/ s

k 2
a B 3 B 2=2 V B 3 B 2 2=2 7.0623 9.6339=136.0750 m/s

a B 3=
a B 2 +
aB 3B2

anB 3+
atB 3= atB 2+
anB 2+ akB 3 B 2+
arB 3 B 2
 49.4874 ? 457.5658 0 136.0750?

BC BC BA BC BC

Ha gia tc

a
T l xch ha gia tc =1

Da vo ha gia tc ta c :

atB 3=521.5439 m/s 2

arB 3 B 2=296.0238 m/s
2

aB 521.5439
3 = 2
= = 978.1397 (rad/ s )
3

l CB 0.5332 (ngc chiu KH)

a
n 2 t 2 2
( B3 ) +(a ) =523.8865 m/s
B3
aB = 3

' ' '

CBD~ c 3 b3 d3 (nguyn l ng dng thun)
2
=> a D =945.1966 m/s
3

{
2 2 2
a E D l 4 4 =0,25( 12.1924 ) =37.1636 m/s
n
Ta c 4 4
/ED

atE D ED
4 4

a E4
a D4
aE D

= + 4 4

a E4
a D4
n
aE D
aE D
= + 4 4 + 4 4

AC a B3

ED DE

? 945.1966
m/ s
2
24 . l 4 ?
2
37.1636
m/ s
 a=1
T l xch bng

Da vo ha gia tc ta c :
a E =a E = 2
=> 4 5
971.4657 (m/ s )

a E =201.6407 2
4
D4
(m/ s )

aE D 201.6407
4= 2
= =806.5628 rad/ s ( ngc chiu KH)
4 4

l4 0.25

aE 4 D4 = (aE
4 D4
2
4 4
2
) + (a nE D ) = ( 201.6407 )2+ ( 37.636 )2
2
205.0368 m/ s

Xc nh cc gia tc ca S1,S2,S3:
a S3 = a E5 = 971.4657 m/s2

Fqt3 = m3. a S3 = 300*971.4657 = 291439 N,

 a S3

( im t ti E, cung phng ngc chiu )

aS C
a S2 aC3
( M aC

= + 2 3 3
=0)

a S2
aS C

anS C
a S C
= 3 3
= 3 3 + 3 3

? BC BC

? 23 . l CS2 3
.
l CS2

2 2
44,698 m/s 470.4852 m/s

a=1
T l xch bng

Da vo ha ta c :
aS2 2
=> = 472.6037 ( m/ s )

Fqt3 qt
: + F2 =m2 . a S2 = 200*472,6037 = 94520 (N)

a S2

+ Cung phng, ngc chiu vi
 m2 ( l C S ) 2+ J S 2
2

+ im t: ti K thu c CS2 vi lCK = m 2. l C S 2

2
200(0.481) +2
= 0.5018 m
2000.481

qt
Ta c: S1 A => a S 1 = 0 (m/s2) => F1 = 0

3) Bi toan lc:

Tch nhm tinh nh:

NT 1: (2 khu 2, 3) & (3 khp B, B, C)

NT 2: (2 khu 4, 5) & (3 khp D, E, F)

c h ay k h ng
Ta thy: => F = 0 (N).

a) Tch NT 2 khu 4, 5:

Phng trinh cn bng lc cho khu 5:

F= P5 +
N 05 + F3qt + Fms =0
R 34 +

F= P5 +
N 05 + F3qt +
R 34 + Fms =0
Rn34 + (1)
ED
xx xx // xx //ED //xx
m3
? .g 294520 ? ? ?

2943 N
Tch khu 4

M4/E = R34 *l4 = 0 => R34 = 0

R34= R54=
n n
R34 => R54

Ranh ch V:
f 0,1

H s ma st thay th: f= tan( )= cos( 45 ) = cos( 45 ) =

0.141

Gc ma st thay th = 803

-> R05= N 05 + Fms =N 05 . 1+ f '

2 2 2
Fms =N 05 . f '

N 05 1

sin ( = R 05 = 1+ f ' 2 = 0.99 => = 81058

(R05,xx) = 81058
qt n
R 05+ F 3 + P5 + R34= 0
__ // xx xx //ED

? 294520N 2943 N ?
 F =1
Ha vi 00

Rn34=R34 = 2966.8675*100 = 296 687 (N)

R34
Chiu ca ban u gi s sai , chiu ng l chiu trong ha lc
R34=n
R34

R05 = 125.3966*100 = 12539.6 (N)

N 05 = R05 * sin(81058) = 474.1* sin(81058) = 12416.6 (N)

Fms =N 05 . f ' = 12416.6*0.141 = 1750.7 (N)

b) Tch NT 2 khu 2, 3
Phng trinh cn bng lc cho 2 khu 2, 3:
P3 + R43= 0
qt
F=
R03+
R 12+ F 3 +

F=
R03+ P2 + R43= 0
n qt
R 03+
R 12+ F 2 +

CD //CD ? xx // AB

//ED

m2 m2 a S2
? ? ? .g .
296687 N
1962 N 94520.74N
Ha lc

T l xch 1000

R 03 = 1277582 +366094.7 2=387746.6 N

hng xung hp vi phng ngang gc

=arctan ( 366.0947
127.7580 )
=70 45 '

Tch khu 2:

R32 cha bit im t, phng vung gc BC t x l khong

R32
cch t n B

M2/B = R32 * |x| = 0 => x = 0

R32 c im t ti B

R12 c phng vung gc BC, R32 = - R12

Phng trinh cn bng lc cho khu 2:

R32
R12+
R n12 = 0
F2 +

R 12 =0 ,
{
n
R 12=
R 12

R 32=R 12 , R32 =
R 12

Khu 3 ch chuyn ng quanh im C

Tng moment ca khu 2,3

qt
M23/C = P2*lCS2*sin(18072) + F2 *lCS2 R12*lBC + R42*lCD*cos(17032) =
0

(=)1962*0.481*sin(18072) + 94520*0.481 R12*0.5332 + 296687

*0.9620*cos(17032)=0

R12 =596263.4 (N)

 Khu dn 1:

Fqt1 =0

R01
P1
R21
F1 = + + = 0

? xx CD

? m1.g = 981N 596263.4 N

F =1
Hc vi 00

R01 = 100*595.9675 = 59596.75 (N)

M1/A = MCB + MP1 + MR12 = 0

(=) MCB R12*l1*sin(100) + P1*l1/2*cos(300) = 0

MCB = 596263.4 *0.1669*sin(100) 981*0.1669/2*cos(300) =
17209 (Nm), quay cng chiu 1 .