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13 - Mekanizma Tekniği Ve Makine Dinamiği Problem Çözümü Seti-Statik Kuvvet Analizi-Analitik Yöntem
13 - Mekanizma Tekniği Ve Makine Dinamiği Problem Çözümü Seti-Statik Kuvvet Analizi-Analitik Yöntem
F
C
B E e
A
D
To perform the static force analysis we need angular displacements of the links. These can be
easily obtained using the discussed methods as in your mechanism course textbook or in HW-
2 and HW-3.
We know that: 60 , BC 18.376 , CD 93.8985 , and EF 146.92 Freebody
diagram of the mechanism links are shown in Figure. Note that all forces and torque
directions, other than the given torque direction, are arbitrarily selected.
© 2010
Dynamics of Machinery Homework Assignments
Dr. Sadettin Kapucu
F16 y
6 y
6
F56 x
F x
F56 y
F65 y
F65 x
F EF
5
EF
F35 x F43 y
E F35 y
C F43 x
F53 y
F53 x
F23 x B BC E
F34 y
3 C F34 x
F23 y
F32 y
B F32 x
100 Nm 4
2
CD
F12 x A F14 x
D
F12 y F14 y
Figure 1.
F 0; F F 0
x 12 x 32 x (1)
F 0; F F 0
y 12 y 32 y (2)
M 0; AB * sin * F
A 32 x AB * cos * F32 y 100 0
© 2010
Dynamics of Machinery Homework Assignments
Dr. Sadettin Kapucu
0.0346 * F32 x 0.02 * F32 y 100 (3)
F 0; F F 0
x 34 x 14 x (7)
F 0; F F 0
y 34 y 14 y (8)
M 0; CD * sin
D CD * F34 x CD * cos CD * F34 y 0
F 0; F F 0
x 65 x 35 x (10)
F 0; F F 0
y 65 y 35 y (11)
M 0; EF * sin * F
D EF 65 x EF * cos EF * F65 y EF 0
F 0; F
x 56x 0 (13)
F 0; F
y 56 y F16 y 0 (14)
M 0; D 6 0 (15)
We also know that: F65 x F56 x , F65 y F56 y , F35 x F53 x , F35 y F53 y , F34 x F43 x , F34 y F43 y
© 2010
Dynamics of Machinery Homework Assignments
Dr. Sadettin Kapucu
1 0 1 0 0 0 0 0 0 0 0 0 0 F12 x 0
0
0 1 0 1 0 0 0 0 0 0 0 0 0 F12 y 0
0
0 0 0.035 0.02 0 0 0 0 0 0 0 0 0 0 F23 x 100
0 0 1 0 1 0 1 0 0 0 0 0 0 0 F23 y 0
0 0 0 1 0 1 0 1 0 0 0 0 0 0 F34 x 0
0 0 0 0 0.0252 0.076 0.013 0.038 0 0 0 0 0 0 F34 y 0
0 0 0 0 1 0 0 0 1 0 0 0 0 0 F35 x 0
0 0 0 0 0 1 0 0 0 1 0 0 0 0 F35 y 0
0 0 0 0 0.0599 0.004 0 0 0 0 0 0 0 0 F14 x 0
0 0 0 0 0 0 1 0 0 0 1 0 0 0 F14 y 0
0 0 0 0 0 0 0 1 0 0 0 1 0 0 F56 x 0
0 0 0 0 0 0 0 0 0 0 0.033 0.0503 0 1 F56 y 0
0 0 0 0 0 0 0 0 0 0 1 0 0 0 F16 y 0
0 0 0 0 0 0 0 0 0 0 0 1 1 0 EF 0
F12 x 367
F 5636
12 y
F23 x 367
F23 y 5636
F34 x 367
F34 y 5392
F 0
35 x
F35 y 11029
F 367
14 x
F14 y 5392
F56 x 0
F56 y 11029
F16 y 11029
554
EF
EF 554 Nm CW
© 2010