103

a.

s
f1 ( ) s
f 2 ( ) s f1 ( ) f 2 ( )

b.

1.
s

rb (base circle radius),
r0 (rollers radius), r1 , max , L (constant)

2.
f1 ( )
f 2 ( ) s f1 ( ) f 2 ( ) f 2 ( ) harmonic :

L
f1 ( ) 1 cos(
max
) (1)
2

max 2 f ( )
cos1 1 1 (2)
L

3. r3 0
Table 8.11

r3 r12 ( rb r0 )2 (3)

r12 r32 ( rb r0 )2
0 cos 1
(4)
2r1r3

c.

b. Table 8.11 xC, yC, x, y, X, Y, , , , ,

Table 8.9 t
A
Base circle radius rb = 7 cm, the amplitude of the flat-faced translation L 1 cm
Rollers radius r0 = 2 cm, r1 = 19 cm, 0 26

3
4

5

0 170 : 3-4-5 polynomial motion: rise s L 10 15 6

where = 170, * =

170 250 : Dwell

* 1 2 *
170 360 : Cycloidal motion: return s* L L sin 0

2

where = 360 - 170 = 190, * = - 170

(1) [10%] 0 28.27

(2) [10%] 3.462cm

(3) [55%] , ,

() () () (cm)
80 12.09 3.705 12.23
140 22.61 8.319 13.91
180 26.00 20.08 16.42
290 17.46 31.47 12.45
(4) [15%] = 288 max = 31.48

(5) [10%] min = 1.667cm

B
Base circle radius rb = 8 cm, the amplitude of the flat-faced translation L 2 cm
Rollers radius r0 = 2.5 cm, r1= 20 cm, 0 29

* 1 2 *
0 150 : Cycloidal motion, rise: s* L sin 0

2

where = 150, * =

150 200 :Dwell

200 360 :Parabolic motion, return:

2

2

0 , s L L 1 2 1

s L 2L
2 2

where = 360 - 200 = 160, * = - 200

(1) [10%] 0 31.67

(2) [10%] 6.207cm

(3) [55%] , ,

() () () (cm)
60 10.83 7.731 13.83
180 29.00 22.51 18.87
240 22.33 26.98 16.25
330 4.955 17.89 11.93
(4) [10%] = 201 max = 29.76

(5) [10%] min = 0.6639cm

C
Base circle radius rb = 9 cm, the amplitude of the flat-faced translation L 1.5 cm
Rollers radius r0= 1.5 cm, r1 = 22 cm, 0 19

0 160 : Parabolic motion: rise:

2

2

0 , s L 1 2 1

s 2L

2 2

where = 160, * =

160 230 : Dwell

3
4

5

230 360 : 3-4-5 polynomial motion return: s L L 10 15 6

0

where = 360 - 230 = 130, * = - 230

(1) [10%] 0 28.51

(2) [10%] 7.105cm

(3) [55%] , ,

() () () (cm)
20 2.150 8.581 11.26
130 15.75 5.333 15.29
180 19.00 15.41 16.83
270 13.80 23.04 14.20
(4) [10%] = 260 max = 23.23

(5) [10%] min = 0.8297cm

 4
i. 4
= 180
Increment () () ()
(Increment) 2 4.146201 5.329522
1 0.01
1 4.146353 5.328830
3 4
0.5 4.146392 5.328657
4
0.1 4.146404 5.328602
ii.
0.05 4.146404 5.328600

0.01 4.146404 5.328599

(a) 3.014159 3.014
(b) 0.014159 0.01416