Beruflich Dokumente
Kultur Dokumente
2
B
75
O2
O4
The output angle in a four bar mechanism is at its extremes when links 2 and 3 are collinear.
From this
O2 B =l3 + l2 = 229
(1)
O2 B = l3 l2 = 229
(2)
and
l2 = 63.5mm, l3 = 165.5mm .
To draw the mechanism to scale we would require the length of link 1 i.e. O2O4 . From O4 BB
(isosceles triangle, hence bisector is perpendicular)
75
BB = 2O4 Bsin
2 .
= 138.8mm
Using the Sine rule for O4 BB
O B
BB
= 4
sin(75) sin( )
O4 B
sin(75)
BB
= 52.5
sin( ) =
= 143.53
Now using Cosine rule on O2 BO4 we obtain
(O O ) = (O B) + (O B) (O B)(O B)cos( )
2
O2O4 = 154.34mm
The transmission angle is extremum when links 1 and 2 are collinear.
Bmin
min
Bmax
max
r4
r4
r3
Amax
r2
O2
O4
Amin
r1
The maximum transmission angle can be obtained by applying the Cosine rule to Amax BmaxO4 ,
(r r )
max = 31.63
Similarly the minimum transmission angle can be obtained by applying the Cosine to
Amin BminO4
(r + r )
max = 100.79
2.19)
x
Given O2 F = R
O4 EF O4 GH
4
C
E
EF O4 E
=
GH O4 G
O2
R sin D + R cos
=
x
C+D
x =
(C + D)Rsin
D + Rcos
O4
2.30)
O4
Given:
O2 A = r2 = 4 in
AB = r3 = 8 in
O4 B = r4 = 4 in
2 = 120
r4
r1
8.5
r3
r2
O2
8.5
From geometry
and
O2 O4 = r1 = 2 8.5 2 = 12.02 in
1 = 135 .
The vector loop equation for the above four bar mechanism is
r2 + r3 r4 r1 = 0 .
2.20
(a)
3 O2 K
r3
O2
r2
r2
r3
B
r4
r1
O4
r4
2-35
30.0
86.2
52.7
30.0
165.9
180
113.0
clear all
r1x=224;r1y=-178;r2=152;r3=96.2;
r4=sqrt((178-121)^2+(224-61)^2);
t3=180*pi/180;
t4=110*pi/180;
dt=1;
k=0;
for t2=-30*pi/180:1:-30*pi/180,
while norm(dt)>1e-8,
k=k+1;
f1=r2*cos(t2)+r3*cos(t3)-r4*cos(t4)-r1x;
f2=r2*sin(t2)+r3*sin(t3)-r4*sin(t4)-r1y;
J=[-r3*sin(t3) r4*sin(t4);
r3*cos(t3) -r4*cos(t4)];
dt=inv(J)*[-f1;-f2];
t3=t3+dt(1,1);
t4=t4+dt(2,1);
end
hold off
[t2*180/pi t3*180/pi-180+180-t4*180/pi t4*180/pi]
x1=0;y1=0;
x2=r2*cos(t2);y2=r2*sin(t2);
x3=x2+r3*cos(t3);y3=y2+r3*sin(t3);
x4=x3-r4*cos(t4);y4=r1y;
x=[x1;x2;x3;x4];
142.0
y=[y1;y2;y3;y4];
subplot(2,2,1)
plot(x,y)
hold on
plot(x,y,'ro')
axis([-10 320 -230 100])
axis('equal')
pause(0.1);
end
P.2.5
The matlab code for solving the vector loop equations is given below. The coordinates of point
are C (7.0521,4.9083)
clear all;
r1=5.5;r2=3.5;r3=6;r4=4.5;r5=2.5;
t1=0;t3=pi/6;t4=pi/4;
for i=121:121,
t2=(i-1)*2*pi/360;
d=1;
while norm(d)>1e-12,
f1=r2*cos(t2)+r3*cos(t3)-r1-r4*cos(t4);
f2=r2*sin(t2)+r3*sin(t3)-r4*sin(t4);
A=[-r3*sin(t3) r4*sin(t4);
r3*cos(t3) -r4*cos(t4)];
b=[-f1 -f2]';
d=inv(A)*b;
t3=t3+d(1,1);
t4=t4+d(2,1);
end;
x(1,1)=0;y(1,1)=0;
x(2,1)=r2*cos(t2);y(2,1)=r2*sin(t2);
x(3,1)=x(2,1)+r3*cos(t3);y(3,1)=y(2,1)+r3*sin(t3);
x(4,1)=r1;y(4,1)=0;
x5=x(3,1)+3*cos(t3);y5=y(3,1)+3*sin(t3);
hold off
clf
axis([-5 15 -5 10]);
axis('square')
hold on
plot(x,y);
plot(x,y,'ro');
plot([x(3,1) x5],[y(3,1) y5],'b')
plot(x5,y5,'ro')
pause(0.0001);
end;
hold 'off'
The plot of the mechanism is given below
10
-5
-5
10
15