Theory of Machine 3.

01 Force Analysis of Mechanisms

Mechanisms

3. PHN TCH LC
C CU

HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien

Theory of Machine 3.02 Force Analysis of Mechanisms

Mechanisms

loi l c
1. Phn lo
Ngoi l c
1. Ngo
- Lc cn k thu
thut
Trng l
- Tr lng cc khu
- Lc ph
pht ng
2. Lc qu
qun tnh
- C cu l mt c h chuy
chuyn ng c gia tc, tc ngo
ngoi l c tc dng ln c
cu khng tri
trit tiu nhau khng thth dng phng ph
php t nh hc gi
gii
- gi
gii quy
quyt bi to
ton h l c khng cn bng dng nguyn l DAlambert
Nu ngo nhng l c tc dng ln mt c h chuy
ngoi nh chuyn ng,
ng, ta thm vo
nhng l c qu
nh qun tnh v xem ch nhng ngo
chng nh nh ngoi l c th
th c h
c xem l tr
trng th
thi cn bng, th dng phng ph
ng, khi c th php t nh
hc phn tch l c c h ny

HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
Theory of Machine 3.03 Force Analysis of Mechanisms
Mechanisms

loi l c
1. Phn lo
3. Ni l c
- Lc tc dng ln nhau gi gia cc khu trong c cu (ph
phn lc lin kt)
- Ti mi ti
tip i
im ca th phn kh
thnh ph khp ng, phn l c ny gm hai ph
ng, ph phn
+ Th
Thnh ph phn p l c: vung gc v i phng chuy
chuyn ng tng i
Tng cc th phn p lc trong mt kh
thnh ph khp p l c kh
khp ng

r
v

+ Th phn ma st: song song v i phng chuy
Thnh ph chuyn ng tng i
Tng cc th phn ma st trong mt kh
thnh ph khp lc ma st

HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien

Theory of Machine 3.04 Force Analysis of Mechanisms

Mechanisms

iu ki
2. i kin t nh nh
- tnh ph
phn lc kh
khp ng tch c cu th chui ng h, trn
thnh cc chu
phn l c cc kh
ph khp ch
ch l ngo
ngoi l c: vi
vit cc phng tr
trnh l c cho chu
chui
Mun gi
- Mu gii cc bi to
ton p lc kh
khp ng
s phng tr trnh lc lp
c = s n ch
cha trong cc phng tr
trnh
y l iu
i ki
kin t nh nh c a b i to
to n
Gi s tch t c cu ra mt chu
- Gi chui ng n khu, khp lo
khu, pk kh loi k
+ S phng tr trnh lp c: 6n phng trtrnh
+ S n ch
cha trong chu
chui ng: ph thu
ng: ph thuc vo s l
l ng v lo
loi kh
khp ng
z
z z
R
xR y
x y x x y

r r r
| R|? | R | ? x Rr ? ? ?| R | ?
HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
Theory of Machine 3.05 Force Analysis of Mechanisms
Mechanisms

iu ki
2. i kin t nh nh

z z

Rz x Rx
R
z
y xR y
y

x x Ry

r r r r r
| R y | ? | Rz | ? x Rr ? x Rr ? | R y | ? | Rz | ? | Rx | ? x Rr ? x Rr ?
y y y y
r
R r
y R
C C
x
x r rM
R R
r r r r
| R |, x ? | R |, M ? | R |, ? |R|?

HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien

Theory of Machine 3.06 Force Analysis of Mechanisms

Mechanisms

iu ki
2. i kin t nh nh 5
Nh vy, kh
khp lo
loi k ch
cha k n tng s n trong chu
chui l k P k
k =1

- tnh ph
phn lc kh
khp ng tch c cu th chui ng h, trn
thnh cc chu
phn l c cc kh
ph khp chch l ngo
ngoi l c v vi
vit cc phng tr
trnh l c cho chu
chui
iu ki
- i kin gi
gii c bi to
ton
s phng trtrnh lc lp
c = s n ch
cha trong cc phng trtrnh
5
6n = k P k
k =1
5
hay 6 n k Pk = 0
k =1

- i v i c cu ph
phng iu ki
kin gi
gii c bi to
ton: 3 n 2 p5 p4 = 0
nhm tnh nh th
- Cc nh tha i
iu ki
kin trn
xc nh cc ph phn lc kh
khp ng, phi tch c cu th
ng, ta ph nhng nh
thnh nh nhm
tnh nh v vi
vit phng tr
trnh l c cho t ng nh
nhm ny

HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
Theory of Machine 3.07 Force Analysis of Mechanisms
Mechanisms

3. Xc nh p l c kh
khp ng
- Cc b
b c x c nh p l c kh
khp ng
nhm tnh nh
+ Tch nh
nhm tnh nh
+ Tch cc khu trong nh
t cc p l c kh
khp ng v cc ngo
ngoi l c ln khu
Vit cc phng tr
+ Vi trnh cn bng l c cho t ng khu
Gii cc phng tr
+ Gi vit cho cc khu thu
trnh vi thuc mt nh
nhm tnh nh
Gii cho cc nh
Gi nhm xa khu dn tr
trc (ng
ngc li v i bi to
ton ng hc)

- V i c cu ph
phng,
ng, mt khu vi
vit
c 3 phng tr
trnh
r
FX = 0 r
r P = 0
FY = 0 hay
M OZ = 0
M OZ = 0

trnh l c trn c th
- Cc phng tr th
c gi
gii bng cc phng ph bit:
php bi
phng ph gii tch vector, phng ph
php gi ho vector (a
php ho gic l c),
(a gi
HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien

Theory of Machine 3.08 Force Analysis of Mechanisms

Mechanisms

3. Xc nh p l c kh
khp ng
V d
1 2 3
B
C

e
A

- Tch nh
nhm tnh nh , tch cc khu trong nh
nhm, t lc ln khu
R12 R12
R21
B B M2 R32 h P3
R12n R32
C C M3 P
3
1 hP
2
P2 R32n
A x R03
R23

HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
Theory of Machine 3.09 Force Analysis of Mechanisms
Mechanisms

3. Xc nh p l c kh
khp ng
- Vi
Vit phng tr
trnh lc cho tng khu trong cng mt nh
nhm

C r r r r
P = P3 + R03 + R23 = 0

M C = M 3 + R03 x P3 hPr13 = 0

B
r r r r
P = P2 + R12 + R32 = 0
C
M B = M 2 + R32lBC P2 hPr2 = 0

- Gi
Gii cc phng tr
trnh lc ca cng mt nh
nhm

HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien

Theory of Machine 3.10 Force Analysis of Mechanisms

Mechanisms

4. Tnh l c trn khu dn

I. Phng phphp phn tch lc
r
R21
B
r
M cb r
M 1r
h1 P1
h2 r
l Pcb
A

M A = R21h21 P1h1 + M cb M 1 = 0 M cb = R21h21 + P1h1 + M 1

M cb
Pcb =
l

HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien
Theory of Machine 3.11 Force Analysis of Mechanisms
Mechanisms

4. Tnh l c trn khu dn

2. Phng ph chuyn kh
php di chuy kh d
- Moment (l (lc) cn bng trn khu dn l moment (l (lc) cn bng tt c cc
lc (k c lc qu nnh) tc dng ln c cu tng cng su
qun tnnh) sut tc th
thi ca
tt c cc lc tc dng ln c cu bng khng
- Theo nguyn l di chuy
chuyn kh
kh d
sut ca l c Pi
N Pi cng su
NPi + NMi = 0 N Mi c ng sut ca moment Mi
su
sut ca l c Pi
- Cng su
rr r
NPri = Pi Vi k Vi k vn tc ca i
im t lc Pi
sut ca moment Mi
- Cng su
r rk r
NMri = Mi i ik vn tc gc ca khu ch
chu tc dng
ca moment Mi
(lc) cn bng trn khu dn
- Moment (l
r r r r r r r
M cb 1 + ( Pi Vi k + M ii ) = 0 M cb
r r r r r r r
Pcb V1 + ( Pi Vi k + M ii ) = 0 Pcb
HCM City Univ. of Technology, Mechanical Engineering Department Nguyen Tan Tien