-o E

Io
k
e

as

or 9

Y
-E
u

↳
4
-2
16
c
↑
/I

!
~
↑&
~
B I-
3

L
:

⑪
7
-
its
# ~ 1

6
was=
f(was ? 1

<Veray =

1 %8h1
,
,
Re

/Vars)=) : (A -SEs n8 11
C

,
no a
R .
,

Gorz)
(war w le In
: pWUz CCS ⑦
24

ee pWUz sin ⑦
, O
2 RI

Ivor valh In
En e
,
2. =18 W3t 0
,
Ri

D
,
R,
=O
E
Is bars e ,
R

#B = 11t) . s
AD =
a .
+ b T, .

to
&
ã =
cast .
+sinG Es =
was. s =

Was (ca & nit sin & il

=Was .) 0 + was wnt
-8
I we et e la
-

40 ↳ ⑧

= s
Fec=
ver tientre I RI

(e) +
I so I /isol
-

4(x) (V =
+

(Verob +
(Vorz4+ (s) +

(VoreS
+ WrzesOtwascos8

I
O
= +
O t ⑳

0 = 0 + Wsz sin Ot o + was sinot o

W3I =W3U A ⑧ + 0 t +Wol

to
buzs= 1(tsinowso + est to

- awal=-f(t) Owso +sino fo t 0

21

+ to
0 =
o 0 to t

f(t) sin O Waw =

bWal-Or .
cas O
24

f(t) cas & W3U =

a Wal
+ Sin O

t ce et
W87 W76
8 i
= -

wint ca 'O
a was
+et an0= bualcast-w
&l
= 16 st- a sin Wal

Wal=pates
e
Objectif
:

11 EE= glwzol ?

..

-B
E-
- ...
->
- x:

V =e5r
--

, < - VE5/ ,

Veein= kes
--

, En
-

de rotation -> -Ex =

pas
--

De ret
V Fes

est e
--

+
-> -3

V5I Y .
=
Vig' +
o
, könen
Vil St Wal ?

Enter= h
>
KI
longueur
-

was .
21 avec h
,

->
x3 =
cas Batt sin By

Einvon=

In ni) (a) C

-- h sin B .
wal-oxo +oxo-/-h) .
cas
B .
was

+(-h) cas Bx0-1-hlsin B x a

I B. I
--
O
Vil .
=
Via' . -h sin
B was Esth
.
as
B Was .
Il

V51 =
h .
cas B Wel
a
+
b .

44 =

ca + d .

4:
-> a =
C

b = d
 4 .
Grve â four

--
->

1 . VocE'o -
Voeiro + En o
-

- o +
En la

-3
=- R .
Es 1 wis .
2

=-R .
wis . N
->
22

->
R wic
Ya
=- -
.
.

--

Woce'ra= M .
Wi .

Ye ou R Wial-sin
.
0 . + cas O . Y

2 .
Ezr = Ver .
->

-3 -
->

Voczero= Vocear ,
+Voce'ro
->

=Ver â + RWi Ya .

3 .

Fere= Vez .
-

za

- -
-

Vpezro= Vocea+ En re -eco--fet

-3

livo

RWoY-LEp
->
= VI + 1 Wo .
2

--

I V21 2
peza
=
. +

Rwio .

Vp=b/o =
Vsz .
2 + Verces +
Raio .

T]
4
= Ina=
.

erons-
e

wir .
wi
I

vole
reconn
->

c
=
2

For =

=-W1o .
-3
2
rec Frontie . In + + ve
I en e

+
e .
Wa +
Rd +

Rai
[Ima
⑧

Ve E + .
V21 .
Est Verwic .

Yatt R w.
.

o .

Ye-R .

wie ? -
xL
->

Npecro= 1 Vi-Rwio" .
Es+IVe .
Wat R .
wiol .

Nett Use .
Es
 Poste
* de
polettication
->

Ou Os 010 parallélogramme 1417

->
09 =
= 0

-> -

VO4 =417 I
Voio - 4/7
-

-Toutacteet =
= l.s 13. s
-

Vonzarz =
- 1 s .

Voazu

.
--

tres ->

et

=
I. iz .
-

VonzEr= - 12

--

Voneiro =
Voteiro +non ro

=h

= -
a .
ai +
b Y .

0 01= 1 55=- 1
. sin de .
+1 .s 13 .
Si
-

0202 = 1.ê = -
1 sin 12 .
+1 .
ces Le .
Si
-

0 , 02 = ci+ d .Y

->

Vontio-1-a -
1 .
c) 13 -
1 . d - c) . di .
->

Voativo= 1 a + 1. 23+ 1 . La +c) .

8
. Etude du
systeme EPAS Spompier /

Q .
1 :

->
pivot Yo
(V ,
pivot (B zo
opirotn ↳
o
,

o
bivat
6 isol
I
Pivax
IC zölh
5

,
I

08 pivot glissant /B 45 ,

Q 2 .
:

-3
- ->
AB b
(Vi [8
=GRO
Yo
-

,
no B = 1 (t)
. .
-

y3

[Vaz] =

(was vie ( ,
Re

[Vira)= Sirac Ra
,

[Vir) =

/ A Ro
,

Q .
3 :

(B) =

[8} ,
no S we wil ,
no

Fin Ter
Ter=rt
- ->

-AB 3

-(a . -byöl war .

:

=(2) 1 I -

W
:
.31

=
b .
Wel-a .
W3I

Ter=
(en I
 S
B Une et
I wassin
un

[Vaz] (was vie (

-

- Va CCL B
Re was Ia cas B-b ain R Ro
, ,

ment_ Venis FB ars

~T
-(B)+/-)-fiI
->

Mis

I VascoRa I
= Vas sin B
=- sin B .
â + cas
B Yo
.

B-bw

B(WE
BIWE]
1 b l(t)c)

Es
+

[Vira)= Sirac
-

- + At sin
-
a

Ra A Ra
,
,

Tes =

E F

I -il
f(t) B
(-b
- a -
.
sin

B
l(t)
+

ces

-2

I BIron)
Vac5r=1- b+1(t) cas BI win

1 + et ain

(Vir [Vira) [(arg] +[Var}

=
+

-wassinB +

I
0 =

0 o

+ B +

wi
-
⑧ was cas o

+ W3I
-Win t 0

O =( -b +

l(t)cxB(W5a-wassin B-bwal
⑧ -( -
a
+
l(t) sin BI Win + Vass B awes -

+ (a
O - 0 was ca2 B- b sin BI+ a

Wil =

f(Vas) ?

W5I- WIh
W5I W5G W31 W3I =

->
+

Vas B b/ws-wial
BlW5
E
(-b +
l(t) c =
sin +

B + a /ws-wial
1 -

a
+
l(t) win Blw5=- Vas cas
 E
f(t) ca B Win =
Vas sin B +

bWil

& (t) sin ,

Win =
-
Va3 B+ aWil

erB - inthwe en
-Vas cas + awz , B =
Vassin B+bWI ,
sin B

Vas =
la cs B - b sin BI wEl

wa=-ban i Bilan des étapes :

1 .
trouver linican

.
2 écrire les tarsours

3 .

changement repire/plan
h .
fermeture synématique
5 .

fonction
6 .
resolution

8 3 .
Dimensions statiques des vérins

&
05 :

{
+1
3) ( Ib e
E YLis been
E
-

=
-
=

Ra 213 a 413 +b X13

,

= + Bis

-(i) 1 -B)-/Y) =
I inI
+

no
,

[Ts -rs)= (ac

-> To
43

te
R
- -

34
R3
,

Rin =
An .
+ 232 .
25 area =
->
za

0
↑Be -

>xo

B yolt Zo
-
Zan
-Xon/cas B E sin .
20
.
.

=
cas B .
Et sin
i Te
Zun Ze
=
Xab B . + Xa sin .

B Jet
.
.
 B
B

I
-
X34 .
C

xon an

Zeh .

On a donc :

{Ts xa} E Ide E ar

**
=

is
-

*
to sin
M 23h
, no
,

=
-3

-
+ ABRs -4

-i)+(-)-(En I
-in)+ en excel +

I I
La cas -bZe
La wa B - a Zoh

Nas + a Xeh sin i + b Xascos B

Donc :

[Ts -ra) =

(Fire - en Nah + a Xehsin B + b Xascos B In Ro

( ) (y as 3
45

c Ra
,

Mn-5=
->

+ A Ra-i

fi) I I -( )
I
+
a - Al sin
-b + 1tIca
0

--

(àsâtin" 1(t)ca)
Ma ,
-5 =

Yaz (a -

1(t)(n B - xa5) b -
+
 â" it" in"
sta-5)
-
-

Gas s
Yaz 1a-1t) cin Bl - Xa5)-b +
1t)con) 1 Ro
,

(+1 ) -
=

/Il ,
Ro

Stra ) ( ? )
--
=

Re
,

-Franen I 0

,
Ro

Stor-ca=-
I
i Free ces ban ,
a

St 5) -
=

7) ,
pa

->

Ma ,
P - 5 =

M -
+

FnR-

I Il
=E
+La et
->

MA P

Inco
- 5 =
,

(Tp 5) /-8 encore

- =

,
na
⑯6 :

I saler 3 :

BAM :
1 - 3
,
4 - 3
,
Fra- 3

I
X3-x34cos B + Ev sin B =

y13 - X39 sin B + Fr cas B =

213 -
234 +0 =

L13-b21-134c) B +

b234 +
0
=
0

Mis -
2 213-139 sin B + a z3a +0 =

alis +

bx3 -N3a-Aza (acinB + bas Bl -

Fr ( a cas
B + bain B1 =
0

Isaler 4 :

BAM :

5 - 4 3 - 4 Fv3- 4
, ,

I
- x25 +X34 cas B-Fr cin B =

a X

-Ya5 + Ass sin B+ Fr B cas =

0 X

-295 + 23 =
0

-La5 -( b + l(t) -

2 B12a5 +

(3) cs B - b2x =
a

- Mas + (a -
It Sin B1245+L34 sin B -
a Tex =
0

-
la -

1tsin B145 +1- b +

1(t) as BIXx5 +Nex +X3a /a sin B + basBl+

+ Fr (acch B +

b win B(

Isaler 5 :

BAM :

4 -
15 1 -
-5 P -
5
, ,

I
Tas + X15 =

Ya5 +
415 -

p
=
a

2a5 + 215 =
0

La5 +( b -
+
l(t)c) Bi +

L15 =
0

Mas -
(a-1(t) sin Bl + M15 =
0

la .
1(t) Sun B(45-1 -b + 1(t) cas
B(Xa5-ph cas t =
0 X

Fr
p
-

I
- x25 +X34 cas B-Fr cin B =

-Ya5 + X3 sin B+ Fr B cas =

a

la .
1(t) Sun B(45-1 -b + 1(t) cas
B(Xa5-ph cas t =
0
You cas B =
Fr sin B + Xa5

Ya5
Xe sin B = -
Fra B +

B X
B Fr cin +
E

es =

-
Fr c B +
Ya5

-
Fr casB + Yas cas B =
Fr sin B + X45 sin B

Fr =
145 cas
B - X45 sin B

à
-> Exc
pas fini :

équat résoudre
Exercice :

--
-T
n B
⑧
AB = I si
.

F
I V
=I .cs O â +1 .
-3
Wn & yo
cm

L
.
.......
48 -> â

11 .

lo ohny or o
l
Stem--1) 48 A =

,
na

M = Mr +
#B RE

11
en (
- ⑧ t l

mi=(facoo I
Isaler 1 :

BAM -1 F 1 <m /
; ;
-

o
:
- -

I
tol to to =
0

yx -
F +

0 =
a

201 + o to =
0

201 to to = a

Ma o a
+

0
=
+

o
- FlcsO + (m =
0

-> (m =
Flc 0