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02 - Kinematika Na Mehanizmi PDF
02 - Kinematika Na Mehanizmi PDF
D 3a
ω1=π sec-1
A B
C
a 3a 2a 2a
P2
ω2
G VH F
VE
2 3
VG
4
VD
D 3a
1
ω1=π sec-1
A≡P1 ω3 VC
B≡P3 C
a 3a 2a 2a
1
2. Za dadeniot mehanizam da se opredelat aglovite brzini na oddelnite
diskovi i liniskite brzinite vo karakteristi~nite to~ki.
G F a
D E
4a
3a 3a
ω1=2π sec-1 C
A B
3a a 2a 4a
2
Aglovata brzina na ~etvrtiot disk ja dobivame od uslovot:
V 4πa 2 4πa 2
V F = ω 4 ⋅ P4 F → ω 4 = F = = =π
P4 F (4a ) + (4a )
2 2
4 a 2
P3
ω3
ω2
P2
VG G F
VD D E a
VE
VE
4a
3a 3a
ω1=2π sec-1
ω4 C≡P4
B
A≡P1 3a a 2a 4a
3
3. Za dadenata polo`ba na mehanizmot da se opredelat aglovite brzini na
oddelnite diskovi i liniskite brzini vo karakteristi~nite to~ki, ako
diskot AB rotira so aglova brzina ω1=π(sek-1).
O2 ω2 E
AC=4a
sinβ=4a/5a=0.8
3a vE cosβ=3a/5a=0.6
ω1
A≡O1 C
vC
vB = ω1⋅3a=3aπ m/s
vD= vC= vB=3aπ m/s – diskot CD vr{i translacija, momentalniot pol O2 se nao|a
vo beskraj.
4
4. Za dadenata polo`ba na mehanizmot da se opredelat aglovite brzini na
oddelnite diskovi i liniskite brzini vo karakteristi~nite to~ki, ako
diskot AC rotira so aglova brzina ω1=π(sek-1).
O3⇒∞ ω4
E
ω3=0 O4 a VC = ω1 ⋅ AC = 3πa m/sec
VE
Polot O3 se nao|a vo beskraj.
4 Sleduva deka diskot 3 se dvi`i
2a translatorno.
V D = VC = 3πa m/sec
VC C Vd D
3
ω 2 = VD DB = 3πa 3a = π sec -1
1
2 3a
ω 4 = VD O4 D = 3πa 3a = π sec -1
ω1 ω2
A O1 B O2
4a 2a
V E = ω 4 ⋅ O4 E = 2πa m/sec
5
5. Za dadenata polo`ba na mehanizmot da se opredelat aglovite brzini na
oddelnite diskovi i liniskite brzini vo karakteristi~nite to~ki, ako
to~kata D se dvi`i so brzina VD=2aπ(m/sek).
O4
ω4 O4 D CO3 O4 F = (2a )2 + (1.33a )2 = 2.404a
=
DF CF
O4 D = 1.333a O3 F = (2a )2 + (3a )2 = 3.606a
VC
VD=2aπ(m/sec) F C
.
VF
D 2a a 2a
2a
ω1 ω3 ω2
A≡O1 E O3 B≡O2
VE
2a 3a
6
6. Od edna ma{ina krivajata O1A rotira ramnomerno okolu oskata O1 so
aglova brzina na koja odgovara n=60 zavrtuvawa/minuta. So pomo{ na
polugata AB, se dvi`i i krivajata O2B koja mo`e da rotira okolu oskata
O2. Dol`inite se O1A=O2B=AB=0.1m i O1O2=0.04m.
Da se opredelat brzinite na to~kite A i B za slednite tri polo`bi na
mehanizmot:
nπ 60π
a) n1=60 zavr/min. ω = ω 1 = = = 2π sec −1 B
30 30
r
v A = ω1 O1 A = 2π ⋅ 10 = 20π sm/sec vB ω1 ω2=ω3
vA 20π 20π A O2= O3
ω3 = = = = 1.43π sec −1 O1
O1 A + O1O2 10 + 4 14
r
vA vA
vB = ω 3 O2 B = ⋅ O2 B = 1.43π ⋅10 = 14.3π sm/sec
O1 A + O1O2
ω 2 = ω 3 = 1.43π sec −1
nπ 60π
b) n1=60 zavr/min. ω = ω1 = = = 2π sec −1
30 30
v A = ω 1 O1 A = 2π ⋅10 = 20π sm/sec
A r ω 3 = ω1 = 2π sec −1
vB
ω1=ω3
ω2
B ( )
vB = ω 3 O1O2 + O2 B = 2π (4 + 10) = 28π sm/sec
O1= O3 O2
v 28π
ω2 = B = = 2.8π sec −1
O2 B 10
c) polugata AB e paralelna so pravecot O1O2.
r
O B' 3 vB
cos α = 2 = = 0.3 A
B
O2 B 10
ω1 ω2 α
OK 2
O2O3 = x = 2 = = 6.67 sm O1 ω B’
3 O2
cos α 0.3 O3
v A = ω 1 O1 A = 2π ⋅10 = 20π sm/sec
v vA 20π
ω3 = A = = = 1.2π sec −1 B
O3 A O1 A + O3O1 10 + 6.67
vB = v A = 20π sm/sec
K O2 α
v 20π B’
ω2 = B = = 2π sec −1
O2 B 10
O3
ω 2 = ω1 = 2π sec −1
7
7. Za dadenata polo`ba na mehanizmot da se opredeli zabrzuvaweto vo
to~ka C, ako se poznati aglovata brzina i aglovoto zabrzuvawe za stapot
AB.
B
aTB
α AB=a
aNB AC=a
vB
a a TC ω1=π(sec-1)
ω1
aNC ε1=π(sec-2)
C BC AB
ε1 vC α =
a sin 120 sin 30
A≡O1 aTB
aNB 3
BC = a 2 =a 3
1
2
O1O2 = AC = a = 2a
cos 60 12
BO2 = BO1 + O1O2 = 3a
O2 C = O1O2 ⋅ cos 30 = 2a ⋅ 3 =a 3
2
ω2 vB=ω1⋅ AB=π⋅a (m/sec)
O2
ω2= vB /BO2=π⋅a/3a=π/3 (sec-1)
3
vC=ω2⋅ O2C= π 3 ⋅ a 3 = πa (m/sec)
3
aTC = BC ⋅ ε 2 = a 3 ⋅ ε 2 m
s2
3m
a NC = BC ⋅ ω 2 2 = a 3 ⋅ ω 2 2 = aπ 2
2
9 s
To~kata C vr{i pravolinisko dvi`ewe vo pravec na oska x, pa proekcijata na
vektorot na zabrzuvaweto na to~ka C vo pravec naoska y iznesuva ayC=0.
r r r
a = ax i + a y j
ay=0
8
− aTB sin 30 − a NB cos 30 + a NC sin 30 + aTC cos 30 = 0
1 3 31 3
− aπ − aπ 2 + aπ 2 + a 3 ⋅ε2 =0
2 2 9 2 2
π 3 3 3
− −π 2 +π 2 + ⋅ε 2 = 0
2 2 18 2
− 1.57 − 8.55 + 0.95 + 1.5ε 2 = 0
ε 2 = 6.113 sec − 2
a x = −aTB cos 30 + a NB sin 30 − a NC cos 30 + aTC sin 30
3 1 3 3 1
a x = −aπ + aπ 2 − aπ 2 + a 3 ⋅ ⋅ 6.113
2 2 9 2 2
a x = −2.72a + 4.93a − 1.64a + 5.29a = 5.86a m 2
s
aCT aBT
aCT = ε 2 ⋅ BC = ε 2 ⋅ l m/sec 2
aCN = ω 2 ⋅ BC = (1.794π ) ⋅ l = 3.218π 2 ⋅ l m/sec
VC 2 2
r Cr C r
aC = a x i + a y j
9
9. Za dadenata polo`ba na mehanizmot da se opredeli zabrzuvaweto vo
to~ka C, ako se poznati aglovata brzina i aglovoto zabrzuvawe za stapot
AB. AB=BC=l; ω =⋅π(sec-1); ε =2π(sec-2)
1 1
A CO2=CB=l
BO2=2⋅ l⋅cos30=1.732l
ω1
ε1
300 V B = ω1 ⋅ AB = π ⋅ l m/sec
l
ω 2 = V B O2 B = π ⋅ l 1.732l = 0.577π sec -1
aBN
VC = ω 2 ⋅ O2 C = 0.577π ⋅ l m/sec
B
aBN l VB
300 aBT a BT = ε 1 ⋅ AB = 2l ⋅ π m/sec 2
aCN a BN = ω 1 ⋅ AB = π 2 ⋅ l = m/sec 2
2
300
C
a CT = ε 2 ⋅ BC = ε 2 ⋅ l m/sec 2
a CN = ω 2 ⋅ BC = (0.577π ) ⋅ l = 0.333π 2 ⋅ l m/sec 2
2 2
l aBT
aCT
300
ω2
O2
10
10. Za dadenata polo`ba na mehanizmot so definirana aglova brzina
ω 0 = 2 2 sec-1 i aglovo zabrzuvawe ε 0 = 2 sec-2 na stapot OC, da se opredelat
aglovata brzina i agovoto zabrzuvawe na stapot AB i brzinata i
zabrzuvaweto vo to~ka B vo toj moment na vreme.
y C
α=45°
O B
x
ω0, ε0
OA = AC = AB = l
α = 45o
P2=C ω0 = 2 2
y ω2
l ε0 = 2
r A r
a AN a AT brzini:
l r
r vA v A = ω 0 ⋅ l = 2 2 ⋅ l[m / sec]
aA
α=45° l
B x vA 2 2 ⋅ l
P1=O ω 2 = ω AB = = =2 2
ω0, ε0 l l
2
l
2
l
2 v B = ω 2 ⋅ P2 C = 2 2 ⋅ (2 ⋅ l ) = 4l[m / sec]
2 2 2
zabrzuvawe:
r r r r r
"to~ka A" a A = a AN + a AT a AN ⊥ a AT
a AN = ω 0 ⋅ l a AT = ε 0 ⋅ l
2
a AN = 8l a AT = 2 ⋅ l
a A = (8l ) 2 + ( 2 ⋅ l ) 2 = 66l 2 = 8.12 ⋅ l m / sec 2
r r r r 2 r
"to~ka B" a B = a A + [ε AB ⋅ ρ ] − ω AB ρ
r
kade {to: ρ = AB ε AB = ε 2
r r r T r N
ili: a B = a A + a BA + a BA
11
a BA = ε 2 ⋅ l
T
a BA = ω 2 ⋅ l
N 2
a By = 0........................(1)
a B = a Bx ≠ 0................(2)
2 2 2 2
− 8l − 2 ⋅ l + ε 2 ⋅ l + (2 2 ) 2 ⋅ l = 0
ε 2 = +8 + 2 − 8 = 2 [m / sec]
a B = a Bx = − a Ax + a Ax − a BAx + a BAx =
N T N T
2 2 2 2
− 8l + 2 ⋅l ⋅ − 8l ⋅ + 2 ⋅l =
2 2 2 2
l 2
(2 2 − 16) = l 2 ( 2 − 8) = −9.314l [m / sec 2 ]
2
kontrola: ( 2
) ( )
a B = ε 0 − ω 0 ⋅ l 2 = 2 − 8 ⋅ l 2 = −9.314 [m / sec 2 ]
r r
aB vB
12