Proiect 1.

mcd 1 3/27/1914

CALCULUL CINEMATIC
Date de intrare element motor rotativ cupla A

l1 0.1 Pozx0 0 Pozy0 0 v 10 a 0

x0T ( Pozx0 Pozx0 Pozx0 Pozx0 Pozx0 Pozx0 Pozx0 Pozx0 Pozx0 Pozx0 Pozx0 Pozx0 Pozx0 Pozx0 Pozx0 Pozx0 Pozx0 Pozx0 Pozx0 Pozx0 Pozx0 Pozx0 Pozx0 Pozx0 Pozx0 )
y0T ( Pozy0 Pozy0 Pozy0 Pozy0 Pozy0 Pozy0 Pozy0 Pozy0 Pozy0 Pozy0 Pozy0 Pozy0 Pozy0 Pozy0 Pozy0 Pozy0 Pozy0 Pozy0 Pozy0 Pozy0 Pozy0 Pozy0 Pozy0 Pozy0 Pozy0 )
vitT ( v v v v v v v v v v v v v v v v v v v v v v v v v )

accT ( a a a a a a a a a a a a a a a a a a a a a a a a a )
T T T T
x0 x0T y0 y0T vit vitT acc accT
Generare vector unghiuri Phi functie
de Pas

pas
12
( pas ) i 0
i 0

while i ( 2 pas )

i 1
i pas

i i 1

2
i 0
pas

Phi ( pas )

Cupla B

x1i x0i l1 cos Phi i y1i y0i l1 sin Phi i Pozitii cupla B

vitx1i l1 viti sin Phi i vity1i l1 viti cos Phi i

Viteze cupla B

l1 viti cos Phi i l1 acci sin Phi i

2
accx1i
Acceleratii cupla B
l1 viti sin Phi i l1 acci cos Phi i
2
accy1i

Centru greutate G1

l1 l1
xG1i x0i cos Phi i yG1i y0i sin Phi i Pozitii G1
2 2
l1 l1
vitxG1i viti sin Phi i vityG1i viti cos Phi i vG1 v Viteze G1
2 2

Acceleratii G1
l1 l1
viti cos Phi i acci sin Phi i
2
accxG1i
2 2

l1 l1
viti sin Phi i acci cos Phi i
2
accyG1i aG1 a
2 2

0.1
0.1

x1 0
y1 0

0.1
0 2 4 6 8 0.1
Phi 0 2 4 6 8
Phi

1
1

vitx1 0
vity1 0

1
0 2 4 6 8 1
Phi 0 2 4 6 8
Phi

10 10

accx1 0 accy1 0

10 10
0 2 4 6 8 0 2 4 6 8
Phi Phi
Proiect 1.mcd 2 3/27/1914

10 10

accx1 0 accy1 0

10 10
0 2 4 6 8 0 2 4 6 8
Phi Phi

0.05
0.05

xG1 0
yG1 0

0.05
0 2 4 6 8 0.05
Phi 0 2 4 6 8
Phi

0.5 0.5

vitxG1 0 vityG1 0

0.5 0.5
0 2 4 6 8 0 2 4 6 8
Phi Phi

5
5

accxG1 0
accyG1 0

5
0 2 4 6 8 5
Phi 0 2 4 6 8
Phi
Cupla C

l2 0.3 l3 0.33 Pozx2 0

Lungimi elemente 2 si 3

Pozy2 ( l1 l2 ) sin l3 sin
4 6

Pozy2 0.448 Verificare

x2T ( Pozx2 Pozx2 Pozx2 Pozx2 Pozx2 Pozx2 Pozx2 Pozx2 Pozx2 Pozx2 Pozx2 Pozx2 Pozx2 Pozx2 Pozx2 Pozx2 Pozx2 Pozx2 Pozx2 Pozx2 Pozx2 Pozx2 Pozx2 Pozx2 Pozx2 )
y2T ( Pozy2 Pozy2 Pozy2 Pozy2 Pozy2 Pozy2 Pozy2 Pozy2 Pozy2 Pozy2 Pozy2 Pozy2 Pozy2 Pozy2 Pozy2 Pozy2 Pozy2 Pozy2 Pozy2 Pozy2 Pozy2 Pozy2 Pozy2 Pozy2 Pozy2 )
T T
x2 x2T y2 y2T

Modul Calcul ecuatii x3 si y3 Cupla C-semiautomat

Important-Valori aproximative pentru solutii-se modifica functie
x33 .2 y33 .2
de ultimile solutii-Va ajutati si de desenul la scara

i 0 i=...Aici se pune numarul liniei din matricile

x1 si y1 din vectorii alaturati

x22 x2i y22 y2i x11 x1i y11 y1i

Verificare alocare corecta
x22 0 y22 0.448 x11 0.1 y11 0

Given
2 2 2
( x33 x11 ) ( y33 y11 ) l2
Ecuatii pozitii Cupla C
2 2 2
( x33 x22 ) ( y33 y22 ) l3

0.265
Find( x33 y33 ) Solutii sistem ecuatii
0.251

Se scriu x3i si y3i in vectorii de mai jos

Proiect 1.mcd 3 3/27/1914

x3T ( 0.265 0.276 0.283 0.285 0.282 0.275 0.262 0.245 0.225 0.205 0.186 0.17 0.156 0.146 0.139 0.136 0.138 0.145 0.156 0.172 0.191 0.212 0.232 0.25 0.265 )

y3T ( 0.25 0.266 0.277 0.281 0.276 0.264 0.246 0.226 0.206 0.189 0.175 0.164 0.156 0.151 0.148 0.146 0.147 0.15 0.156 0.165 0.178 0.194 0.212 0.232 0.25 )

T T
x3 x3T y3 y3T

Pozitie Centru Greutate G2 si G3

x3 x1 x3 x2
xG2 xG3
2 2
y3 y1 ( y2 y3 )
yG2 y1 yG3 y3
2 2

0.3 0.3

0.25

x3 0.2 y3 0.2

0.15

0.1 0.1
0 2 4 6 8 0 2 4 6 8
Phi Phi

0.15
0.2

xG2 0.1
yG2 0.1

0.05
0 2 4 6 8 0
Phi 0 2 4 6 8
Phi

0.15
0.4

0.35
xG3 0.1
yG3

0.3

0.05
0 2 4 6 8 0.25
Phi 0 2 4 6 8
Phi

i 0 24

y3i y1i y3i y2i

1 i atan 2 i atan
x3i x1i x3i x2i

1.5 4.5

1
1 2 4
0.5

0 3.5
0 2 4 6 8 0 2 4 6 8
Phi Phi

Modul Calcul ecuatii viteze Cupla C-semiautomat

vx2 0 vy2 0

ax2 0 ay2 0 Definire Viteze si acceleratii cupla D

vitx2T ( vx2 vx2 vx2 vx2 vx2 vx2 vx2 vx2 vx2 vx2 vx2 vx2 vx2 vx2 vx2 vx2 vx2 vx2 vx2 vx2 vx2 vx2 vx2 vx2 vx2 )
vity2T ( vy2 vy2 vy2 vy2 vy2 vy2 vy2 vy2 vy2 vy2 vy2 vy2 vy2 vy2 vy2 vy2 vy2 vy2 vy2 vy2 vy2 vy2 vy2 vy2 vy2 )

accx2T ( ax2 ax2 ax2 ax2 ax2 ax2 ax2 ax2 ax2 ax2 ax2 ax2 ax2 ax2 ax2 ax2 ax2 ax2 ax2 ax2 ax2 ax2 ax2 ax2 ax2 )

accy2T ( ay2 ay2 ay2 ay2 ay2 ay2 ay2 ay2 ay2 ay2 ay2 ay2 ay2 ay2 ay2 ay2 ay2 ay2 ay2 ay2 ay2 ay2 ay2 ay2 ay2 )
Proiect 1.mcd 4 3/27/1914

T T T T
vitx2 vitx2T vity2 vity2T accx2 accx2T accy2 accy2T

Important-Valori aproximative pentru solutii-se

vitx33 1 vity33 1
modifica functie de ultimile solutii

i 24
i=...Aici se pune numarul liniei din matricile
de viteze
x33 x3i y33 y3i x22 x2i y22 y2i x11 x1i y11 y1i

x33 0.265 y33 0.25 x22 0 y22 0.448 x11 0.1 y11 0
Verificare alocare corecta
vitx11 vitx1i vity11 vity1i vitx22 vitx2i vity22 vity2i

15
vitx11 2.021 10 vity11 1 vitx22 0 vity22 0

Given
Ecuatii viteze Cupla C
( x33 x11 ) ( vitx33 vitx11 ) ( y33 y11 ) ( vity33 vity11 ) 0

( x33 x22 ) ( vitx33 vitx22 ) ( y33 y22 ) ( vity33 vity22 ) 0

Solutii sistem ecuatii

0.5
Find( vitx33 vity33 )
0.67

Se scriu vitezele in vectorii de mai jos

4.932 10
3
vitx3T 0.5 0.341 0.172 0.196 0.395 0.58 0.713 0.771 0.754 0.683 0.579 0.46 0.328 0.185 0.023 0.156 0.348 0.533 0.684 0.775 0.792 0.743 0.639 0.5

8.425 10
3
vity3T 0.67 0.518 0.285 0.321 0.591 0.753 0.788 0.718 0.597 0.466 0.347 0.246 0.161 0.086 0.01 0.072 0.169 0.285 0.416 0.549 0.662 0.731 0.74 0.67

T T
vitx3 vitx3T vity3 vity3T
1
1

vitx3 0
vity3 0

1
0 2 4 6 8 1
Phi 0 2 4 6 8
Phi

Viteze Centru Greutate G2 si G3

vitx3 vitx1 vitx3 vitx2

vitxG2 vitxG3
2 2
( vity2 vity3)
vity3 vity1 vityG3 vity3
vityG2 vity1 2
2

0.5 1

vitxG2 0 vityG2 0

0.5 1
0 2 4 6 8 0 2 4 6 8
Phi Phi

0.5 0.5

vitxG3 0 vityG3 0

0.5 0.5
0 2 4 6 8 0 2 4 6 8
Phi Phi

i 0 24

vitx3i vitx1i sin 1 i vity3i vity1i cos 1 i

v1 i
x3i x1i cos 1 i y3i y1i sin 1 i

vitx3i vitx2i sin 2 i vity3i vity2i cos 2 i

v2 i
x3i x2i cos 2 i y3i y2i sin 2 i La numitor vine y3-y2

Viteza Ungiulara Centru Greutate G2 si G3

Proiect 1.mcd 5 3/27/1914

v1 i v2 i
vG2i vG3i v2 i
2
5 5

v1 0 v2 0

5 5
0 2 4 6 8 0 2 4 6 8
Phi Phi

2
5

0
vG2
vG3 0
2

4
0 2 4 6 8 5
Phi 0 2 4 6 8
Phi

Acceleratii Cupla C
Important-Valori aproximative pentru solutii-se
accx33 1 accy33 1
modifica functie de ultimile solutii
i 24 i=...Aici se pune numarul liniei din matricile
de viteze

vitx11 vitx1i
vity11 vity1i vitx22 vitx2i vity22 vity2i vitx33 vitx3i vity33 vity3i
15
vitx11 2.021 10 vity11 1 vitx22 0 vity22 0 vitx33 0.5 vity33 0.67

x33 x3i y33 y3i x22 x2i y22 y2i x11 x1i y11 y1i
x33 0.265
y33 0.25 x22 0 y22 0.448 x11 0.1 y11 0
accx22 vitx2i
accx11 accx1i accy11 accy1i
accy22 vity2i
14
accx11 10 accy11 2.021 10 accx22 0
accy22 0
Ecuatii acceleratii Cupla C
Given
x11 ) ( accx33 y11 ) ( accy33
2 2
( vitx33 vitx11 ) ( x33 accx11 ) ( vity33 vity11 ) ( y33 accy11) 0

x22 ) ( accx33 y22 ) ( accy33

2 2
( vitx33 vitx22 ) ( x33 accx22 ) ( vity33 vity22 ) ( y33 accy22) 0

5.786 Solutii sistem ecuatii

Find( accx33 accy33)
4.217 Se scriu acc in vectorii de mai jos
accx3T ( 5.786 6.293 6.59 6.988 7.515 7.547 6.327 3.75 0.683 1.83 3.435 4.324 4.816 5.247 5.793 6.488 7.145 7.34 6.626 4.756 2.106 0.683 3.059 4.76 5.786 )

accy3T ( 4.217 7.437 10.268 11.935 11.509 8.541 3.737 0.949 3.955 5.023 4.847 4.195 3.507 3.03 2.824 2.925 3.376 4.076 4.793 5.158 4.833 3.627 1.597 1.085 4.217 )
T T
accx3 accx3T accy3 accy3T
10 10

0
accx3 0 accy3
10

10 20
0 2 4 6 8 0 2 4 6 8
Phi Phi

Acceleratii Centru Greutate G2 si G3

accx3 accx1 accx3 accx2

accxG2 accxG3
2 2
( accy2 accy3 )
accy3 accy1 accyG3 accy3
accyG2 accy1 2
2

5 10

0
accxG2 0 accyG2
10

5 20
0 2 4 6 8 0 2 4 6 8
Proiect 1.mcd 6 3/27/1914

5 10

0
accxG2 0 accyG2
10

5 20
0 2 4 6 8 0 2 4 6 8
Phi Phi

5 5

0
accxG3 0 accyG3
5

5 10
0 2 4 6 8 0 2 4 6 8
Phi Phi

Acceleratii unghiulare Cupla C

Important-Valori aproximative pentru solutii-se
a11 1 a22 1 modifica functie de ultimile solutii

i=...Aici se pune numarul liniei din matricile

i 24
de viteze
11 1 i 22 2 i v11 v1 i v22 v2 i

11 0.987 22 3.783 v11 2 v22 2.53

vitx11 vitx1i vity11 vity1i vitx22 vitx2i vity22 vity2i vitx33 vitx3i vity33 vity3i
15
vitx11 2.021 10 vity11 1 vitx22 0 vity22 0 vitx33 0.5 vity33 0.67

x33 x3i y33 y3i x22 x2i y22 y2i x11 x1i y11 y1i

x33 0.265 y33 0.25 x22 0 y22 0.448 x11 0.1 y11 0

accx11 accx1i accy11 accy1i accx22 vitx2i accy22 vity2i

14
accx11 10 accy11 2.021 10 accx22 0 accy22 0

Ecuatii acceleratii unghiulare Cupla C

Given
accx11 ) sin( 11 ) 2 ( vitx33 vitx11 ) cos( 11 ) v11 x11 ) sin( 11 ) ( v11 ) x11 ) cos( 11 ) a11 accy11) cos( 11 ) 2 ( vity33 vity11 ) sin( 11 ) v11 y11 ) cos( 11 ) ( v11 ) y11 ) sin( 11 ) a11 0
2 2
( accx33 ( x33 ( x33 ( accy33 ( y33 ( y33

accx22 ) sin( 22 ) 2 ( vitx33 vitx22 ) cos( 22 ) v22 x22 ) sin( 22 ) ( v22 ) x22 ) cos( 22 ) a22 accy22) cos( 22 ) 2 ( vity33 vity22 ) sin( 22 ) v22 y22 ) cos( 22 ) ( v22 ) y22 ) sin( 22 ) a22 0
2 2
( accx33 ( x33 ( x33 ( accy33 ( y33 ( y33
Solutii sistem ecuatii
28.81
Find( a11 a22 )
19.394 Se scriu vitezele in vectorii de mai jos

a1T ( 28.81 21.32 11.254 0.358 12.313 22.806 30.42 34.32 34.872 32.701 28.829 23.872 18.48 12.717 6.825 0.666 5.634 12.083 18.475 24.546 29.677 33.257 34.668 33.234 28.81 )
a2T ( 7.588 2.655 0.907 2.212 0.461 4.873 13.122 21.724 26.883 26.91 21.692 14.059 7.062 1.907 1.111 2.268 1.579 1.133 5.783 11.463 16.237 18.129 16.715 12.775 7.588 )

T T
a1 a1T a2 a2T

50 20

0
a1 0 a2
20

50 40
0 2 4 6 8 0 2 4 6 8
Phi Phi

Acceleratie Ungiulara Centru Greutate G2 si G3

i 0 24

a1i a2i
aG2i aG3i a2i
2
20
20

0
0
aG3
aG2
20
20

40
40 0 2 4 6 8
0 2 4 6 8 Phi
Phi
Proiect 1.mcd 7 3/27/1914
0
0
aG3
aG2
20
20

40
40 0 2 4 6 8
0 2 4 6 8 Phi
Phi

Cupla E
( y2 y3 )
2 ( x3 x2 ) y4 y3 Pozitii
x4 3
3
0.2

0.3
0.15
y4
x4
0.25
0.1

0.2
0.05 0 2 4 6 8
0 2 4 6 8 Phi
Phi

Viteze Cupla E

vity2 vity3
2 ( vitx3 vitx2 ) vity4 vity3
vitx4 3
3

1 0.5

0.5
0

vitx4 0 vity4

0.5
0.5

1 1
0 2 4 6 8 0 2 4 6 8
Phi Phi

Acceleratii Cupla E
accy2 accy3
2 ( accx3 accx2 ) accy4 accy3
accx4 3
3
5 5

0 0

accx4 accy4

5 5

10 10
0 2 4 6 8 0 2 4 6 8
Phi Phi

Cupla F

l4 0.25 Lungime element 4

Pozy5 ( l1 l2 ) sin l3 sin Pozy5 0.448
4 6

y5T ( Pozy5 Pozy5 Pozy5 Pozy5 Pozy5 Pozy5 Pozy5 Pozy5 Pozy5 Pozy5 Pozy5 Pozy5 Pozy5 Pozy5 Pozy5 Pozy5 Pozy5 Pozy5 Pozy5 Pozy5 Pozy5 Pozy5 Pozy5 Pozy5 Pozy5 )
T
y5 y5T

x44 x4 y44 y4 y55 y5

Modul Calcul ecuatii x5 si y5 Cupla F-semiautomat

Important-Valori aproximative pentru solutii-se modifica functie

x55 .448
de ultimile solutii-Va ajutati si de desenul la scara
i 1
x44 x44 i y44 y44i y55 y55i
x44 0.184 y44 0.327 y55 0.448

Given
2 2 2
( x55 x44 ) ( y55 y44 ) l4 Ecuatii pozitii Cupla E

Find( x55 ) 0.403

Se scriu x5i in vectorul de mai jos

x5T ( 0.389 0.403 0.411 0.414 0.41 0.401 0.385 0.365 0.341 0.318 0.296 0.277 0.261 0.25 0.243 0.239 0.241 0.249 0.261 0.279 0.301 0.325 0.349 0.371 0.389 )

T
x5 x5T
Proiect 1.mcd 8 3/27/1914

0.4485
0.5

0.448
0.4
y5
x5
0.4475
0.3

0.447
0.2 0 2 4 6 8
0 2 4 6 8 Phi
Phi

Pozitii Centru Greutate G4

x5 x4 y5 y4
xG4 x4 yG4 y4
2 2

0.4

0.3
0.38

xG4 0.25 yG4

0.36
0.2

0.15 0.34
0 2 4 6 8 0 2 4 6 8
Phi Phi

i 0 24

y5i y4i
4 i atan
x5i x4i

0.8

4
0.6

0.4
0 2 4 6 8
Phi

Modul Calcul ecuatii viteze Cupla F-semiautomat

vity5T (0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 )
T
vity5 vity5T
Important-Valori aproximative pentru solutii-se
vitx55 1
modifica functie de ultimile solutii
i=...Aici se pune numarul liniei din matricile
i 24
de viteze
x44 x4i y44 y4i x55 x5i y55 y5i

x44 0.177 y44 0.316 x55 0.389 y55 0.448

vitx44 vitx4i vity44 vity4i vity55 vity5i

Verificare alocare corecta
vitx44 0.333 vity44 0.447 vity55 0

Ecuatii viteze Cupla F

Given

( x55 x44 ) ( vitx55 vitx44 ) ( y55 y44 ) ( vity55 vity44 ) 0

Solutii sistem ecuatii

Find( vitx55 ) 0.611

Se scriu vitezele in vectorii de mai jos

Proiect 1.mcd 9 3/27/1914

6.077 10
3
vitx5T 0.611 0.418 0.212 0.241 0.485 0.708 0.861 0.918 0.881 0.784 0.653 0.51 0.358 0.2 0.024 0.169 0.379 0.591 0.774 0.896 0.935 0.89 0.773 0.611

T
vitx5 vitx5T

vitx5 0

1
0 2 4 6 8
Phi

Viteze Centru Greutate G4

vitx5 vitx4 vity5 vity4

vitxG4 vitx4 vityG4 vity4
2 2

1 0.5

vitxG4 0 vityG4 0

1 0.5
0 2 4 6 8 0 2 4 6 8
Phi Phi

i 0 24
vitx5i vitx4i sin 4 i vity5i vity4i cos 4 i
v4 i
x5i x4i cos 4 i y5i y4i sin 4 i

Viteza Centru G4
vG4i v4 i
5

v4 0

5
0 2 4 6 8
Phi

Acceleratii Cupla F

accy5T (0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 )
T
accy5 accy5T

Important-Valori aproximative pentru solutii-se

accx55 1
modifica functie de ultimile solutii

i=...Aici se pune numarul liniei din matricile

i 24 de viteze

vitx55 vitx5i vity55 vity5i vitx44 vitx4i vity44 vity4i

vitx55 0.611 vity55 0 vitx44 0.333 vity44 0.447

x55 x5i y55 y5i x44 x4i y44 y4i

x55 0.389 y55 0.448 x44 0.177 y44 0.316

accx44 accx4i accy44 accy4i accy55 accy5i

accx44 3.857 accy44 2.811 accy55 0

Ecuatii acceleratii Cupla C

Given
Proiect 1.mcd 10 3/27/1914

Given

x44 ) ( accx55 y44 ) ( accy55

2 2
( vitx55 vitx44 ) ( x55 accx44 ) ( vity55 vity44 ) ( y55 accy44) 0

Find( accx55 ) 6.906 Solutii sistem ecuatii

Se scriu vitezele in vectorii de mai jos

accx5T ( 6.906 7.65 8.105 8.61 9.231 9.176 7.501 4.142 0.284 2.744 4.518 5.354 5.673 5.914 6.304 6.97 7.749 8.21 7.793 6.033 3.142 0.19 3.202 5.463 6.906 )

T
accx5 accx5T

10

accx5 0

10
0 2 4 6 8
Phi

Acceleratii Centru Greutate G4

accx5 accx4 accy5 accy4

accxG4 accx4 accyG4 accy4
2 2

10 5

accxG4 0 accyG4 0

10 5
0 2 4 6 8 0 2 4 6 8
Phi Phi

Acceleratii unghiulare Cupla F

a44 1 Important-Valori aproximative pentru solutii-se
modifica functie de ultimile solutii

i 24 i=...Aici se pune numarul liniei din matricile

de viteze
44 4 i v44 v4 i

44 0.556 v44 2.104

vitx55 vitx5i vity55 vity5i vitx44 vitx4i vity44 vity4i

vitx55 0.611
vity55 0 vitx44 0.333 vity44 0.447

x55 x5i y55 y5i x44 x4i y44 y4i

x55 0.389 y55 0.448 x44 0.177 y44 0.316

accx44 accx4i accy44 accy4i accy55 accy5i

accx44 3.857 accy44 2.811 accy55 0

Ecuatii acceleratii unghiulare Cupla F

Given
accx44 ) sin( 44 ) 2 ( vitx55 vitx44 ) cos( 44 ) v44 x44 ) sin( 44 ) ( v44 ) x44 ) cos( 44 ) a44 accy44) cos( 44 ) 2 ( vity55 vity44 ) sin( 44 ) v44 y44 ) cos( 44 ) ( v44 ) y44 ) sin( 44 ) a44 0
2 2
( accx55 ( x55 ( x55 ( accy55 ( y55 ( y55

Solutii sistem ecuatii

Se scriu accel in vectorii de mai jos

Find( a44 ) 0.697

a4T ( 0.697 7.272 14.545 18.432 16.26 8.013 2.854 10.31 11.817 9.09 5.123 1.624 1.009 2.977 4.622 6.079 6.719 5.734 2.613 2.492 7.785 11.064 10.953 7.255 0.697 )

Acc ungh. G4
T
a4 a4T aG4 a4
Proiect 1.mcd 11 3/27/1914

20

a4 0

20
0 2 4 6 8
Phi

CALCULUL CINETOSTATIC
CALCULUL TORSORULUI DE INERTIE

Pentru elementul cinematic 1

dens 7800 Arie_element 0.0001

l1 Arie_element
5
vol1 vol1 1 10

m1 vol1 dens m1 0.078

m1 l1
2
5
J1 J1 6.5 10
12

i 0 24 Forte si moment de inertie

Fi_xG1i m1 accxG1i Fi_yG1i m1 accyG1i Mi_G1 i J1 aG1 G1 m1 9.81 G1 0.765

0.5 0.5

Fi_xG1 0 Fi_yG1 0

0.5 0.5
0 2 4 6 8 0 2 4 6 8
Phi Phi

Pentru elementul cinematic 2

l2 Arie_element
5
vol2 vol2 3 10

m2 vol2 dens m2 0.234

m2 l2
2
3
J2 J2 1.755 10
12

Forte si moment de inertie

i 0 24

Fi_xG2i m2 accxG2i Fi_yG2i m2 accyG2i Mi_G2 i J2 aG2i G2 m2 9.81 G2 2.296

1 4 0.05

2
Fi_xG2 0 Fi_yG2 Mi_G2 0
0

1 2 0.05
0 2 4 6 8 0 2 4 6 8 0 2 4 6 8
Phi Phi Phi

Pentru elementul cinematic 3

l3 Arie_element
5
vol3 vol3 3.3 10

m3 vol3 dens m3 0.257

m3 l3
2
3
J3 J3 2.336 10 Forte si moment de inertie
12

i 0 24
G3 m3 9.81 G3 2.525
Fi_xG3i m3 accxG3i Fi_yG3i m3 accyG3i Mi_G3 i J3 aG3i

1 2

1
Fi_xG3 0 Fi_yG3
0

1 1
0 2 4 6 8 0 2 4 6 8
Phi Phi
Proiect 1.mcd 1 12 3/27/1914
Fi_xG3 0 Fi_yG3
0

1 1
0 2 4 6 8 0 2 4 6 8
Phi Phi

0.1

0.05

Mi_G3
0

0.05
0 2 4 6 8
Phi

Pentru elementul cinematic 4

l4 Arie_element
5
vol4 vol4 2.5 10

m4 vol4 dens m4 0.195

m4 l4
2
3
J4 J4 1.016 10 Forte si moment de inertie
12

i 0 24
Fi_xG4i m4 accxG4i Fi_yG4i m4 accyG4i Mi_G4 i J4 aG4i G4 m4 9.81 G4 1.913

2 1 0.02

0.5
Fi_xG4 0 Fi_yG4 Mi_G4 0
0

2 0.5 0.02
0 2 4 6 8 0 2 4 6 8 0 2 4 6 8
Phi Phi Phi

Cinetostatica elementului cinematic 4

T
F ( 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 )

i 0 24
F43x F Fi_xG4
18

F43x 20

22
0 2 4 6 8
Phi

FF43y 0

FF54y 0 Important-Valori aproximative pentru solutii-se modifica functie

de ultimile solutii-Va ajutati si de desenul la scara
i 5 i=...Aici se pune numarul liniei din matricile
Verificare alocare corecta
x1 si y1 din vectorii alaturati
3
FF43x F43xi FF43x 18.615 MMi_G4 Mi_G4 i MMi_G4 8.138 10

FFi_xG4 Fi_xG4i FFi_xG4 1.385 FFi_yG4 Fi_yG4i FFi_yG4 0.555

G4 1.913 y55 y5i y55 0.448 y44 y4i y44 0.325

yG44 yG4i yG44 0.387
x55 x5i x55 0.401 x44 x4i x44 0.183

xG44 xG4i xG44 0.292

Given
( FF43x ( y55 y44 ) MMi_G4 FF43y ( x55 x44 ) ) FFi_xG4 ( y55 yG44) FFi_yG4 ( x55 xG44 ) G4 ( x55 xG44 ) 0
FF43y G4 FF54y 0

10.808
Find( FF43y FF54y ) Solutii sistem ecuatii
8.895
T
F43y ( 12.262 10.861 9.998 9.62 9.903 10.808 12.52 14.89 17.813 20.653 23.287 25.599 27.472 28.784 29.65 30.466 30.496 29.694 28.127 25.602 22.474 19.354 16.512 14.08 12.262 )
Proiect 1.mcd 13 3/27/1914

T
F43y ( 12.262 10.861 9.998 9.62 9.903 10.808 12.52 14.89 17.813 20.653 23.287 25.599 27.472 28.784 29.65 30.466 30.496 29.694 28.127 25.602 22.474 19.354 16.512 14.08 12.262 )

T
F54y ( 10.349 8.948 8.085 7.707 7.99 8.895 10.607 12.977 15.901 18.74 21.374 23.686 25.559 26.871 27.737 28.553 28.583 27.782 26.214 23.689 20.561 17.441 14.599 12.167 10.349 )

0
40

30 10
F54y
F43y 20
20
10

30
0 0 2 4 6 8
0 2 4 6 8 Phi
Phi

Cinetostatica elementului cinematic 3 si 2

FF03x 0 FF03y 0 FF21x 0

Important-Valori aproximative pentru solutii-se modifica functie
de ultimile solutii-Va ajutati si de desenul la scara
FF21y 0 FF23x 0 FF23y 0

i 5 i=...Aici se pune numarul liniei din matricile

Verificare alocare corecta
x1 si y1 din vectorii alaturati

FFi_xG3 Fi_xG3i FFi_xG3 0.971 FFi_xG2 Fi_xG2i FFi_xG2 0.58

G3 2.525 FFi_yG3 Fi_yG3i FFi_yG3 1.099 FFi_yG2 Fi_yG2i FFi_yG2 2.129

FF43x F43xi FF43x 18.615 FF43y F43yi FF43y 10.808 G2 2.296

y22 y2i y22 0.448 y33 y3i y33 0.264 x33 x3i x33 0.275 x00 x0i x00 0

xG33 xG3i xG33 0.138

yG33 yG3i yG33 0.356 y44 y4i y44 0.325 MMi_G3 Mi_G3 i MMi_G3 0.011

G2 2.296 xG22 xG2i xG22 0.125 FFi_xG2 Fi_xG2i FFi_xG2 0.58 yG22 yG2i yG22 0.18

FFi_yG2 Fi_yG2i FFi_yG2 2.129 y11 y1i y11 0.097 x11 x1i x11 0.026
MMi_G2 Mi_G2 i MMi_G2 0.016
Given

FF03x FFi_xG3 FF43x FF21x FFi_xG2 0

FF03y FFi_yG3 FF43y FF21y FFi_yG2 G3 G2 0

FF03x ( y22 y33 ) FF03y ( x33 x00 ) G3 ( x33 xG33 ) FFi_yG3 ( x33 xG33 ) FFi_xG3 ( yG33 y33 ) FF43x ( y44 y33 ) FF43y ( x33 x44 ) MMi_G3 0

G2 ( x33 xG22 ) FFi_yG2 ( x33 xG22 ) FFi_xG2 ( yG22 y33 ) MMi_G2 FF21x ( y33 y11 ) FF21y ( x33 x11 ) 0

FF21x FFi_xG2 FF23x 0 Solutii sistem ecuatii

FF21y FFi_yG2 FF23y G2 0
264.767
176.803
244.601
Find( FF03x FF03y FF21x FF21y FF23x FF23y )
164.403
245.181
159.978

T
F03x ( 19.827 20.314 21.011 22.429 25.956 340.03 18.088 21.961 23.88 25.05 25.955 26.833 27.736 28.736 29.927 31.847 34.88 40.899 66.758 34.065 9.122 15.774 18.219 19.287 19.827 )
T
F03y ( 14.82 13.649 13.015 13.386 15.967 227.38 13.762 19.095 23.545 27.332 30.764 34.024 37.198 40.317 43.695 48.379 54.584 65.433 110.231 66.224 6.513 15.399 16.852 16.078 14.82 )
T
F21x ( 0.625 1.053 1.624 2.833 6.083 319.864 2.323 1.384 3.199 4.286 5.122 5.962 6.883 7.978 9.346 11.513 14.831 21.122 47.196 53.491 10.219 3.503 1.008 0.09 0.625 )
T
F21y ( 1.226 0.097 1.304 2.705 5.084 214.98 1.491 0.281 0.953 1.451 2.051 2.876 4.044 5.665 7.946 11.546 17.425 28.786 74.936 99.045 22.983 10.494 5.458 2.859 1.226 )

T
F23x ( 0.132 0.659 1.381 2.823 6.378 320.444 1.583 2.126 3.864 4.899 5.733 6.586 7.489 8.494 9.681 11.581 14.58 20.566 46.42 54.35 11.051 4.251 1.664 0.483 0.132 )
T
F23y ( 4.015 3.371 2.778 1.814 0.429 210.555 5.393 3.033 1.893 1.084 0.263 0.769 2.159 4.027 6.566 10.42 16.537 28.098 74.371 99.606 23.7 11.538 6.982 4.979 4.015 )

200 400

0 200
F03x F03y
200 0

400 200
0 2 4 6 8 0 2 4 6 8
Phi Phi

400 200

200 0
F21x F21y
0 200
Proiect 1.mcd 14 3/27/1914

400 200

200 0
F21x F21y
0 200

200 400
0 2 4 6 8 0 2 4 6 8
Phi Phi

200 400

0 200
F23x F23y
200 0

400 200
0 2 4 6 8 0 2 4 6 8
Phi Phi

Cinetostatica elementului cinematic 1

FF01x 0 FF01y 0

Important-Valori aproximative pentru solutii-se modifica functie

de ultimile solutii-Va ajutati si de desenul la scara
i 24 i=...Aici se pune numarul liniei din matricile
Verificare alocare corecta
x1 si y1 din vectorii alaturati

FFi_xG1 Fi_xG1i FFi_xG1 0.39 FF21x F21xi FF21x 0.625 FF21y F21yi FF21y 1.226

FFi_yG1 Fi_yG1i FFi_yG1 0 G1 0.765

Given

FF01x FFi_xG1 FF21x 0

FF01y FFi_yG1 FF21y G1 0

0.235
Find( FF01x FF01y ) Solutii sistem ecuatii
1.991

T
F01x ( 0.235 0.676 1.286 2.557 5.888 319.763 2.323 1.485 3.394 4.562 5.46 6.339 7.273 8.355 9.684 11.789 15.026 21.223 47.196 53.592 10.414 3.779 1.346 0.287 0.235 )
T
F01y ( 1.991 0.567 0.734 2.216 4.657 214.592 1.866 0.107 0.526 0.962 1.481 2.212 3.279 4.799 6.986 10.505 16.322 27.644 73.781 100.187 24.086 11.535 6.418 3.725 1.991 )

400 200

200 0
F01x F01y
0 200

200 400
0 2 4 6 8 0 2 4 6 8
Phi Phi