Anlise de Mecanismo 4 Barras

Determinao da Posio, Velocidades e Aceleraes

Mtodo: Lei dos Cosenos / Nmeros Complexos
Entrada de Dados (Inputs):
Comprimento do Solo L1 = 120 mm
Comprimento do Link Motor L2 = 9 mm
Comprimento do Link Acoplador L3 = 80 mm
Comprimento do Link Seguidor L4 = 100 mm
ngulo da barra motriz q2 = 60 0' => 1.05 rad
Velocidade Angular da barra motriz w2 = 100 rpm => 10.47 rad/s
Acelerao Angular da barra motriz a2 = 0 rad/s

Configurao da Montagem Normal2 Cruzada

Verificao da Montagem do 4 Barras - Lei de Reuleaux

L2 + L3 + L4 L1 OK
L2 + L3 - L4 L1 OK
possvel montar o mecanismo
L2 + L1 + L4 L3 OK
L2 + L1 - L4 L3 OK

Verificao da Rotao Completa da Barra Motriz - Lei de Grashof

A barra motriz percorre uma
Me + Ma b1 + b2 OK => rotao completa
Maior Barra = 120 mm
Menor Barra = 9 mm
Outra Barra (b1) = 80 mm
Outra Barra (b2) = 100 mm

Clculo das Variveis Auxiliares

z= 115.76 mm
g= 79.20 => 79 12' => 1.3822 rad
a= 42.75 => 42 45' => 0.7462 rad
b= 3.86 => 3 52' => 0.0674 rad
l= 58.05 => 58 3' => 1.0132 rad

Sada de Dados (Outputs)

q3 = 54.19 => 54 11' => 0.9458 rad
Posio Angular
q4 = 133.39 => 133 23' => 2.3281 rad

O2 = 0.00 ; 0.00
O4 = 120.00 ; 0.00
Posio Cartesiana
A= 4.50 ; 7.79
 Posio Cartesiana

B= 51.31 ; 72.67

w3 = -1.15 rad/s
Velocidade Angular
w4 = 0.10 rad/s

VA = 94.25 mm/s
Velocidade Linear
VB = 9.71 mm/s

a3 = 3.83 rad/s2
Acelerao Angular
a4 = 11.07 rad/s2

anA = 986.96 mm/s2

aA = 986.96 mm/s2
a =
t
A
0.00 mm/s2
Acelerao Linear
a =
n
B
0.94 mm/s2
a =
B 1,107.01 mm/s 2
a =
t
B
1,107.01 mm/s2

Tabela do Grfico
x y Verificao
0.00 0.00
L1 = 120
120.00 0.00 80.00
0.00 0.00
L2 = 9 70.00
4.50 7.79
4.50 7.79 60.00
L3 = 80
51.31 72.67
51.31 72.67 50.00
L4 = 100
120.00 0.00

Y
40.00

30.00

20.00

10.00 1; 7.79

0.00 1; 0.00
0.00 20.00
Posio Angular

Posio Cartesiana
 Posio Cartesiana

Velocidade Angular

Velocidade Linear

Acelerao Angular

Acelerao Linear

Mecanismo 4 Barras
00
2; 72.67
00

00

00

00

00

00

00 1; 7.79

00 1; 0.00 2; 0.00
0.00 20.00 40.00 60.00 80.00 100.00 120.00 140.00
X
Anlise de Mecanismo Biela-Manivela
Determinao da Posio
Mtodo: Lei dos Cosenos

Entrada de Dados (Inputs): Tabela do Grfico

x Mecanismo
y Bi
R = 0.00 0.00
0
-7.50
-20 -12.990 20
L = -7.50 -12.99
-2
91.65 0.00
-4

-6

Y
Comprimento da Manivela R= 15 mm

Comprimento da Biela L= 100 mm -8

ngulo da Manivela q = 240 0' => 4.1888 rad

-10
Clculo da Varivel Auxiliar
f= 7.4640 => 7 28' => 0.1303 rad -12
1; -12.99
Sada de Dados (Output) -14
X= 91.6527 mm
Mecanismo Biela-Manivela
15
0 2; 0.00
0 20 40 60 80 100
-2 100

-4

-6

-8

-10

-12
1; -12.99

-14

X
Resoluo Exerccio em Sala 3 - Projeto Camos
Entrada de Dados (Inputs):
Curva do Movimento 5
Movimento Cicloidal

ngulo de presso mximo amx = 15 0' => 0.26 rad

ngulos de ao b1 = 240 0' => 4.19 rad
b2 = 300 0' => 5.24 rad
Deslocamento Mximo L = 40.00 mm
Dimetro do Rolete d = 20.00 mm
Velocidade angular w = 600.00 rpm => 62.83 rad/s
Carga Externa Q = 25.50 Kg
Massa do seguidor P= 0.50 Kg
Rigidez da mola k = 160.00 N/mm
Deformao Inicial de Montagem x = 10.00 mm

Clculo das Variveis de Projeto

Fator do Camo f= 7.46 (conforme tabela)

Raio da Circunferncia Primitiva rp = 71.24 mm

a f .L
r p= =

L
Raio da Circunferncia Principal rA = 51.24 mm r A= r p (apenas sugesto)
2
d
Raio da Circunferncia Base rB = 41.24 mm r B= r A
2
Raio de Curvatura Mnimo b1 = 240 L/Ro (1) = 1.00 Ro = 26.67 mm

(entrar com valores conforme nomograma de

Varnum) b2 = 300 L/Ro (2) = 1.50 OK, r < Ro

Diagrama de Deslocamento Movimento Cicloidal

+ Velocidade e Acelerao q
y y' y"
o rad Mo
1
(
y=L . . sen
2 ( ))
2 0.00
20.00
0.00
0.35
0.00
0.15
0.00
80.38
0.00
28274.33 40.00
40.00 0.70 1.15 300.00 48972.58
dy L
dt (
v= = . 1cos (
))
2
60.00
80.00
1.05
1.40
3.63
7.82
600.00
900.00
56548.67
48972.58 35.00
2 2
d y 2
=2L . ( ) . sen (
)
a= 100.00 1.75 13.48 1119.62 28274.33
2
dt 120.00 2.09 20.00 1200.00 0.00
30.00
140.00 2.44 26.52 1119.62 -28274.33
160.00 2.79 32.18 900.00 -48972.58
180.00 3.14 36.37 600.00 -56548.67
25.00
200.00 3.49 38.85 300.00 -48972.58
220.00 3.84 39.85 80.38 -28274.33
240.00 4.19 40.00 0.00 0.00 20.00

15.00
 25.00

20.00
260.00 4.54 40.00 0.00 0.00
280.00 4.89 40.00 0.00 0.00
300.00 5.24 40.00 0.00 0.00 15.00
305.00 5.32 39.85 -80.38 28274.33
310.00 5.41 38.85 -300.00 48972.58
315.00 5.50 36.37 -600.00 56548.67 10.00
320.00 5.59 32.18 -900.00 48972.58
325.00 5.67 26.52 -1119.62 28274.33
330.00 5.76 20.00 -1200.00 0.00 5.00
335.00 5.85 13.48 -1119.62 -28274.33
340.00 5.93 7.82 -900.00 -48972.58
0.00
345.00 6.02 3.63 -600.00 -56548.67
0.00 40.00 80.0
350.00 6.11 1.15 -300.00 -48972.58
355.00 6.20 0.15 -80.38 -28274.33
360.00 6.28 0.00 0.00 0.00

Perfil do Camo

q Circ. Base Circ. Principal

y r
o rad xb yb xA
0.00 0.00 0.00 41.24 0.00 41.24 0.00
20.00 0.35 0.15 41.39 14.10 38.75 17.52
40.00 0.70 1.15 42.39 26.51 31.59 32.93
60.00 1.05 3.63 44.87 35.71 20.62 44.37
80.00 1.40 7.82 49.06 40.61 7.16 50.46
100.00 1.75 13.48 54.72 40.61 -7.16 50.46
120.00 2.09 20.00 61.24 35.71 -20.62 44.37
140.00 2.44 26.52 67.75 26.51 -31.59 32.93
160.00 2.79 32.18 73.42 14.10 -38.75 17.52
180.00 3.14 36.37 77.60 0.00 -41.24 0.00
200.00 3.49 38.85 80.08 -14.10 -38.75 -17.52
220.00 3.84 39.85 81.09 -26.51 -31.59 -32.93
240.00 4.19 40.00 81.24 -35.71 -20.62 -44.37
260.00 4.54 40.00 81.24 -40.61 -7.16 -50.46
280.00 4.89 40.00 81.24 -40.61 7.16 -50.46
300.00 5.24 40.00 81.24 -35.71 20.62 -44.37
305.00 5.32 39.85 81.09 -33.78 23.65 -41.97
310.00 5.41 38.85 80.08 -31.59 26.51 -39.25
315.00 5.50 36.37 77.60 -29.16 29.16 -36.23
320.00 5.59 32.18 73.42 -26.51 31.59 -32.93
325.00 5.67 26.52 67.75 -23.65 33.78 -29.39
330.00 5.76 20.00 61.24 -20.62 35.71 -25.62
335.00 5.85 13.48 54.72 -17.43 37.37 -21.65
340.00 5.93 7.82 49.06 -14.10 38.75 -17.52
345.00 6.02 3.63 44.87 -10.67 39.83 -13.26
350.00 6.11 1.15 42.39 -7.16 40.61 -8.90
355.00 6.20 0.15 41.39 -3.59 41.08 -4.47
360.00 6.28 0.00 41.24 0.00 41.24 0.00
Diagrama de Foras Movimento Cicloidal

Fk=k . x q Pr-carga (Fk) Fora da Mola (Fm)

y y' y"
o rad [N] [N]
Fm =k . y 0.00 0.00 0.00 0.00 0.00 -1600
F i= 1,1. m . a 20.00 0.35 0.15 80.38 28274.33 -1600
F p =m . g 40.00 0.70 1.15 300.00 48972.58 -1600
Fa = F k + F m + Fi + F p 60.00 1.05 3.63 600.00 56548.67 -1600
80.00 1.40 7.82 900.00 48972.58 -1600
100.00 1.75 13.48 1119.62 28274.33 -1600
120.00 2.09 20.00 1200.00 0.00 -1600
140.00 2.44 26.52 1119.62 -28274.33 -1600
160.00 2.79 32.18 900.00 -48972.58 -1600
180.00 3.14 36.37 600.00 -56548.67 -1600
200.00 3.49 38.85 300.00 -48972.58 -1600
220.00 3.84 39.85 80.38 -28274.33 -1600
240.00 4.19 40.00 0.00 0.00 -1600
260.00 4.54 40.00 0.00 0.00 -1600
280.00 4.89 40.00 0.00 0.00 -1600
300.00 5.24 40.00 0.00 0.00 -1600
305.00 5.32 39.85 -80.38 28274.33 -1600
310.00 5.41 38.85 -300.00 48972.58 -1600
315.00 5.50 36.37 -600.00 56548.67 -1600
320.00 5.59 32.18 -900.00 48972.58 -1600
325.00 5.67 26.52 -1119.62 28274.33 -1600
330.00 5.76 20.00 -1200.00 0.00 -1600
335.00 5.85 13.48 -1119.62 -28274.33 -1600
340.00 5.93 7.82 -900.00 -48972.58 -1600
345.00 6.02 3.63 -600.00 -56548.67 -1600
350.00 6.11 1.15 -300.00 -48972.58 -1600
355.00 6.20 0.15 -80.38 -28274.33 -1600
360.00 6.28 0.00 0.00 0.00 -1600
Movimento Cicloidal - Deslocamento
1500.00

1000.00

500.00

0.00
0.00
 0.00
0.00

-500.00

-1000.00

40.00 80.00 120.00 160.00 200.00 240.00 280.00 320.00 360.00

-1500.00

80.00
Circ. Principal Circ. Primitiva Perfil do Camo
yA xp yp x' y'
51.24 0.00 71.24 0.00 41.24 60.00
48.15 24.36 66.94 14.16 38.89
39.25 45.79 54.57 27.25 32.47
25.62 61.69 35.62 38.86 22.44 40.00
8.90 70.16 12.37 48.31 8.52
-8.90 70.16 -12.37 53.89 -9.50
-25.62 61.69 -35.62 53.03 -30.62
20.00
-39.25 45.79 -54.57 43.55 -51.90
-48.15 24.36 -66.94 25.11 -68.99
-51.24 0.00 -71.24 0.00 -77.60
0.00
-48.15 -24.36 -66.94 -27.39 -75.25
-100.00 -80.00 -60.00 -40.00 -20.00 0.00 20.0
-39.25 -45.79 -54.57 -52.12 -62.12
-25.62 -61.69 -35.62 -70.35 -40.62
-8.90 -70.16 -12.37 -80.00 -14.11 -20.00
8.90 -70.16 12.37 -80.00 14.11
25.62 -61.69 35.62 -70.35 40.62
29.39 -58.35 40.86 -66.42 46.51 -40.00
32.93 -54.57 45.79 -61.35 51.48
36.23 -50.37 50.37 -54.87 54.87
39.25 -45.79 54.57 -47.19 56.24
-60.00
41.97 -40.86 58.35 -38.86 55.50
44.37 -35.62 61.69 -30.62 53.03
46.44 -30.11 64.56 -23.13 49.59
-80.00
48.15 -24.36 66.94 -16.78 46.10
49.49 -18.44 68.81 -11.61 43.34
50.46 -12.37 70.16 -7.36 41.75
51.04 -6.21 70.97 -3.61 41.23 -100.00
Perfil do Camo Circ. Base
51.24 0.00 71.24 0.00 41.24
 -100.00
Perfil do Camo Circ. Base

Fora da Mola (Fm) Fora de Inrcia (Fi) Peso Prprio do Sistema (Fp) Fora Axial (Fa)
[N] [N] [N] [N]
0.00 0.00 255.06 -1344.94 2000000.00
-24.04 808645.95 255.06 807276.97
-184.54 1400615.87 255.06 ###
-581.41 1617291.90 255.06 ### 1500000.00
-1251.21 1400615.87 255.06 ###
-2157.37 808645.95 255.06 805143.64
-3200.00 0.00 255.06 -4544.94 1000000.00
-4242.63 -808645.95 255.06 -814233.52
-5148.79 -1400615.87 255.06 ###
-5818.59 -1617291.90 255.06 ### 500000.00
-6215.46 -1400615.87 255.06 ###
-6375.96 -808645.95 255.06 -816366.85
0.00
-6400.00 0.00 255.06 -7744.94
0.0
-6400.00 0.00 255.06 -7744.94
-6400.00 0.00 255.06 -7744.94
-500000.00
-6400.00 0.00 255.06 -7744.94
-6375.96 808645.95 255.06 800925.05
-6215.46 1400615.87 255.06 ###
-1000000.00
-5818.59 1617291.90 255.06 ###
-5148.79 1400615.87 255.06 ###
-4242.63 808645.95 255.06 803058.38
-1500000.00
-3200.00 0.00 255.06 -4544.94
-2157.37 -808645.95 255.06 -812148.26
-1251.21 -1400615.87 255.06 ### -2000000.00
-581.41 -1617291.90 255.06 ###
-184.54 -1400615.87 255.06 ###
-24.04 -808645.95 255.06 -810014.93
0.00 0.00 255.06 -1344.94
 Movimento Cicloidal - Velocidade
1500.00 80000.00

60000.00
1000.00

40000.00

500.00
20000.00

0.00 0.00
0.00 40.00 80.00 120.00 160.00 200.00 240.00 280.00 320.00 360.00 0.

-20000.00
 20000.00

0.00 0.00
0.00 40.00 80.00 120.00 160.00 200.00 240.00 280.00 320.00 360.00 0.

-20000.00
-500.00

-40000.00

-1000.00
-60000.00

-1500.00 -80000.00

80.00

60.00

40.00

20.00

0.00
0.00 20.00 40.00 60.00 80.00

20.00

40.00

60.00

80.00

00.00
rc. Base Circ. Principal
00.00
rc. Base Circ. Principal

Foras sobre o seguidor

2000000.00

1500000.00

1000000.00

500000.00

0.00
0.00 40.00 80.00 120.00 160.00 200.00 240.00 280.00

-500000.00

-1000000.00

-1500000.00

-2000000.00
Pr-Carga Fora Mola Fora Inrcia Peso Prprio
 Movimento Cicloidal - Acelerao
80000.00

60000.00

40000.00

20000.00

0.00
0.00 40.00 80.00 120.00 160.00 200.00 240.00 280.00 320.00 360.00

-20000.00
20000.00

0.00
0.00 40.00 80.00 120.00 160.00 200.00 240.00 280.00 320.00 360.00

-20000.00

-40000.00

-60000.00

-80000.00
 280.00 320.00 360.00

Peso Prprio
360.00
360.00
Resoluo Exerccio em Sala 3 - Projeto Camos
Entrada de Dados (Inputs):
Curva do Movimento 1
Movimento Uniforme

ngulos de ao b1 = 180 0' => 3.14 rad

Velocidade angular w = 200.00 rpm => 3.49 rad/s
Deslocamento Mximo L= 20.00 mm
Dimetro do Rolete d= 5.00 mm

Diagrama de Deslocamento Movimento Uniforme

+ Velocidade e Acelerao q
y y' y"
o rad
L 0.00 0.00 0.00 22.22 0.00 30.00
y= . 20.00 0.35 2.22 22.22 0.00
40.00
60.00
0.70
1.05
4.44
6.67
22.22
22.22
0.00
0.00 20.00
80.00 1.40 8.89 22.22 0.00
dy L d L
v= = = . 100.00 1.75 11.11 22.22 0.00
10.00
dt dt 120.00 2.09 13.33 22.22 0.00

d 2 y L d
140.00 2.44 15.56 22.22 0.00
a= 2 = =0 160.00 2.79 17.78 22.22 0.00
0.00
dt dt 179.00 3.12 19.89 22.22 0.00 0.00 40.00 80.00
180.00 3.14 20.00 0.00 -1000.00
181.00 3.16 20.11 -22.22 0.00 -10.00
200.00 3.49 17.78 -22.22 0.00
220.00 3.84 15.56 -22.22 0.00
240.00 4.19 13.33 -22.22 0.00 -20.00
260.00 4.54 11.11 -22.22 0.00
280.00 4.89 8.89 -22.22 0.00
-30.00
300.00 5.24 6.67 -22.22 0.00 D
320.00 5.59 4.44 -22.22 0.00
340.00 5.93 2.22 -22.22 0.00
360.00 6.28 0.00 -22.22 0.00
 Movimento Uniforme

40.00 80.00 120.00 160.00 200.00 240.00 280.00 320.00 360.00

Deslocamento Velocidade Acelerao

ngulo [o] 0 30 60 45 90 330
sen 0.00 0.50 0.87 0.71 1.00 -0.50
cos 1.00 0.87 0.50 0.71 0.00 0.87
tan 0.00 0.58 1.73 1.00 -0.58

Curvas do Movimento do Camo

Movimento Uniforme
Movimento Uniforme Modificado
Movimento Harmnico
Movimento Parablico
Movimento Cicloidal

Fatores de Camo
ngulo de Tipo de Movimento
Presso Uniforme Uniforme Modificado Harmnico Parablico Cicloidal
10 5.67 5.84 8.91 11.34 11.34
15 3.73 3.99 5.85 7.46 7.46
20 2.75 3.10 4.32 5.50 5.50
25 2.14 2.58 3.36 4.28 4.28
30 1.73 2.27 2.72 3.46 3.46
35 1.43 2.06 2.24 2.86 2.86
40 1.19 1.92 1.87 2.38 2.38
45 1.00 1.83 1.57 2.00 2.00

Curvas de Deslocamento