sdfghjkghjk

© All Rights Reserved

Als PDF, TXT **herunterladen** oder online auf Scribd lesen

0 Aufrufe

461_1

sdfghjkghjk

© All Rights Reserved

Als PDF, TXT **herunterladen** oder online auf Scribd lesen

- Question Maths for class 8
- C2 June 06
- YEARLY PLAN ADD.MATHS FORM 5
- Dynamics
- H1 Physics - 8866_2013
- math practice test
- Lecture 2-Field Balancing
- Import Java
- Shape of You.doc
- Math Dictionary
- EYF.ppt
- Jee Adv Syllabi
- Basic Maths
- physics 1
- handleiding com18x6[1]
- quarter 3 trig identities
- y11specialist maths units 1&2 vce
- 93202-qbk-2015
- ann-marie katie cleigh and jennifer final math curriculum handout - google docs
- Module 2 Velocity

Sie sind auf Seite 1von 9

November 11-15, 2007, Seattle, Washington, USA

IMECE2007-41441

MECHANISM USING MATLAB AND SIMULINK

Ali Mohammadzadeh, Ph.D., P.E. Nael Barakat, Ph. D., P. Eng. Salim Haidar, Ph. D.

Associate Professor Assistant Professor Associate Professor

School of Engineering School of Engineering Department of Mathematics

Grand Valley State University Grand Valley State University Grand Valley State University

301 Fulton St. KEN 231 301 Fulton St. KEN 231 1 Campus Drive

Grand Rapids, MI. 49504 Grand Rapids, MI. 49504 Allendale, MI. 49401

Phone: 616.331.7268 Phone: 616-331.6825 Phone: 616-331-2042

Email: mohammaa@gvsu.edu Email: barakatn1@asme.org Email: haidars@gvsu.edu

The approach adopted in this work is an attempt to introduce concepts of Newtonian mechanics.

students, in kinematics and dynamics of machinery course, to

a complete design and analysis of function generation The project, though rigorous, is an excellent way to force

mechanisms via analytical methods. Although the approach students to practice their knowledge of dynamics and

implemented in this work is for function generation type of numerical methods. The project, certainly, meets the ABET

mechanisms, the concept is indeed extendable to the other criteria for implementing design in mechanical engineering

types of mechanisms as well. As a project in the kinematics curriculum. The author received positive feedbacks from his

and dynamics of machinery class, students designed, and students with regard to this project.

analyzed a four bar quick-return mechanism using MATLAB

and SIMULINK as the primary software tools. One of the Problem Statement

aims of this project was to abandon the traditional graphical Students in kinematics and dynamics of machinery class were,

synthesis and graphical analysis, covered in all the first, asked to design a four bar quick-return mechanism to

mechanisms textbooks, and to use the powerful combination meet a certain design specifications. Once the mechanism was

of MATLAB and SIMULINK to implement the entire design realized, students were then asked to analyze the synthesized

and analysis process. The project, given to an undergraduate mechanism- using Lagranges equations and Lagranges

class, serves also as a prologue to future advanced courses in multipliers method for constraint motion- to arrive at the

mechanical engineering, such as multi-body dynamics. positions, velocities and accelerations of the links. The

approach, instructed to the students and utilized by them in

In implementing the dimensional synthesis portion of the implementing this project, is based on the methods presented

project, students employed complex number arithmetic to by Erdman [1] and Crespo da Silva [2] in their respective

realize the design specifications. Once the design books. The author believes that the employed approach is an

specifications were met, a known motor torque was applied to excellent way to prepare students for future courses in multi-

the crank to drive the mechanism. With the known geometric body dynamics and computational dynamics. It also makes

and inertial properties of each link, Lagranges equations for students practice their knowledge of dynamics, numerical

constraint motion were then utilized to arrive at the second methods, and programming. Students feedback regarding this

order differential equations of motion. SIMULINK, as a user project was overwhelmingly positive.

friendly graphical interface, was used to carry out the

integration to obtain angular position, velocity, and The project required students to design a, four bar, quick-

acceleration of the designed mechanism. The project also return mechanism with a time ratio of 1.25 and a follower

sweep angle of 50o. To check their work, students were asked Equation (3) represents a Standard Dyad Form. This equation

to trace the paths of points on the crank, the coupler and the is used to implement the design specifications described in this

follower of their respective designs. A motor torque Mmotor = project.

1.02sin (1.5t) N.m was then assumed to be applied to the

crank, and students were asked to find the angular positions, Given the follower sweep angle of 50o, one realizes that, at the

velocities, and accelerations of each link using MATLAB and two extreme range of the follower motion, the mechanism is in

SIMULINK. Students also built their model in the shop. toggle condition. That is the crank is lined up with the coupler.

Since this is the only given in the problem, one has a two

Mechanism Synthesis precision points description of the mechanism. This translates

The complex number approach of Standard Dyad Form [3, 4, itself into adopting some free choices in order to solve

5] is used to perform the dimensional synthesis. This would equation (3) for the desired links dimensions and orientations.

render the size and starting configuration of the four bar Realizing that angle j for the follower in its sweeping motion

function generation mechanism. is j = 50o and j and j angles are prescribed, once the applied

time ratio (1.25) for the mechanism is implemented, one

Figure 1 is a depiction of a typical function generation four bar chooses vectors Z3 and Z4 freely to reduce the number of

mechanism. By applying the Loop-closure method to the unknowns in equation (3) to one link only. The unknown

vectors representing the links, in successive positions, a (complex number) Z2 is obtained from equation (3). If the

standard dyad form is resulted. Solution of the resulted vector rotation angle of the crank in the forward motion of the

equations then renders the size of each link of the mechanism follower is taken as and in the backward motion of the

and its starting configuration. follower is taken as we have:

Z3 + = 360 o (4)

j Z4

= 1.25 (5)

j

j Z2 Solution of (4) and (5) results in:

Z1

= 200 o and = 160 o (6)

Fig. 1: Complex vector depiction of four bar mechanism.

It can be easily shown that the angle, through which the

Figure 1 depicts the complex number vectors, Z1, Z2, Z3, Z4, coupler rotates when the mechanism moves from the first

representing, the ground, the crank, the coupler and the toggle condition to the next toggle condition is:

follower links respectively, in the starting position. The red

lines in the diagram are the depiction of the links in a different

position as a result of the motion. The loop closure approach j = = 20 o (7)

for position 1 (dark Vector lines) is: 2

The loop closure equation written again for the position 2 (red j = = 200 o (8)

lines), in terms of the original position vectors, results in:

With j, j, and j known as described in the above, one

i j i j i j

Z 2e + Z 3e Z 4e = Z1 (2) chooses vectors Z4 and Z3 in order to reduce the number of

unknowns to one complex value for Z2 in equation (3).

Choosing:

Subtracting Equation (1) from Equation (2) renders:

Z 4 = 1e i 65 , Z 3 = 1.43e i 26.2

o o

i j i j i j (9)

Z 2 (e 1) + Z 3 (e 1) = Z 4 (e 1) (3)

0

Z2 (ei 200 1) +1.43ei 26.2 (ei 20 1) = 1ei65 (ei50 1) (10)

o o o o

26.2 o .

With Z2, Z3, Z4, known, equation (1) is used to find the ground

link Z1 to be, Z1 = 1.178 m.

follower tip.

The next task was to find the angular velocities and

Fig. 2: CAD representation of synthesized mechanism.

accelerations of each link as part of the kinematics analysis of

the mechanism. Differentiating equations (11) with respect to

Once the mechanism was realized students were asked to find time renders equations for angular velocities of links 3 and 4,

the position of each link and trace the crank curve, the curve given the angular velocity of the link 2. These equations are:

for a point on the coupler, and the follower rocking curve.

This was done numerically, through the application of r2 2 sin 2 r3 3 sin 3 + r4 4 sin 4 = 0

Newton-Raphson method [6] to the scalar form of the loop- (12)

closure equation (1). The scalar form of equation (1) is: r2 2 cos 2 + r3 3 cos 3 r4 4 cos 4 = 0

(11) respectively. Solving equations (12) for 3, 4 in terms of 2

r2 sin 2 + r3 sin 3 r4 sin 4 = 0 one obtains:

Where r stands for length of each link and 2, 3, and 4 are the r3 sin 3 r4 sin 4 3 sin 2

angles of links 2, 3, and 4 respectively. r cos = r22 (13)

3 3 r4 cos 4 4 cos 2

Given 2 for the increments of motion of the crank shaft,

nonlinear equations (11) are solved for the coupler and the Equation (13) is solved for angular velocities of links 3 and 4,

follower angles. Figure 3 is the trace of the crank-tip, a given the angular position of link 2 and its angular

coupler point (point C), and the follower tip of the mechanism.

velocity 2 . This is accomplished in the MATLAB function

The program also confirms that the design meets the required

specification and indicates that the follower sweeps a 50o of the SIMULINK model, presented later in the text.

angle in its ensuing motion.

To arrive at angular acceleration of the links when the motor

torque is applied to the crank, one adopts Lagranges approach

to Figure (4) as follow:

d T T f1 f 2

( ) = M + 1 + 2

C dt &2 2

motor

2 2

d T T f1 f 2 (17)

r3 ( ) = 1 + 2

dt &3 3 3 3

B 3 d T T f1 f 2

r4 ( ) = 1 + 2

&

dt 4 4 4 4

r2

Where 1, and 2 are Lagrange multipliers, due to the

constraint motion. Substituting the links moments of inertia in

2 4 terms of their lengths and masses (IA = (1/3)m2r22, ID =

A r1 r1

(1/3)m4r42, I3 = (1/12)m3r32) into the expression for the kinetic

energy, performing the partial derivatives of the constraint

D equations (16) with respect to 2, 3, and 4, and plugging the

Fig. 4: Nomenclature adopted for the four bar mechanism in results into equations (17); one arrives at the expressions for

Lagrangian approach. the angular accelerations of links 2, 3, and 4,

The Kinetic energy of the motion is obtained as: namely &&2 , &&3 , and&&4 . The outcome of these mathematical

operations would be 3 equations of (17) in terms of the 5

1 1 1 1

T = I A 22 + I 3 32 + I D 42 + m3 v cm

2

(14)

unknowns, &&2 ,&&3 ,&&4 , 1 , and2 .

3

2 2 2 2

In order to solve for the angular accelerations of the links 2, 3,

Where IA is the moment of inertia of link 2 about point A, ID is and 4, one needs to supplement the reduced form of the

the moment of inertia of link 4 about point D, and I3 is the equations (17) with two more equations. This is done by

moment of inertia of link 3 about the center of mass of the link differentiating the equations of constraints, equations (16),

3. Vcm3 is the velocity of the center of mass for link 3. In the twice with respect to time. The result of which is:

Cartesian coordinates Vcm3 is:

r r2&&2 sin 2 + r3&&3 sin 3 r4&&4 sin 4 + r2& 2 2 cos 2

v cm 3 = ( 3 sin 3 4 sin 4 ) i

r3 r4

2 2

(15)

+ r & 23 cos r & 2 4 cos = 0

r 3 3 4 4

(18)

+ ( r4 4 cos 4 23 3 cos 3 ) j

r

r2&&2 cos 2 + r3&&3 cos3 r4&&4 cos 4 r2& 2 2 sin 2

r & 23 sin + r & 2 4 sin = 0

3 3 4 4

One should note that equations (18) are nonlinear and carry

W = M motor 2 (16)

the angular positions and velocities of the links 2, 3, and 4 in

them. This means that the angular positions and velocities of

Where Mmotor is the torque applied to the crank by the motor. the links 3, and 4 need to be known prior to the solution for

The generalized coordinates 2, 3, and 4 are constrained by the angular accelerations of all the links. Solution of these

the loop closure equations (11). For the ease of following equations (reduced form of equations (17) and (18)) would be

those equations are rewritten here: implemented by SIMULINK as shown below in figure 5.

f1 = r2 cos 2 + r3 cos 3 r4 cos 4 r1 = 0 The MATLAB functions with foreground colors, blue, orange

(16) and red, seen in the SIMULINK model, are MATLAB .m files

f 2 = r2 sin 2 + r3 sin 3 r4 sin 4 = 0 for finding positions, velocities and accelerations of the links

respectively. The program also animates the mechanism. A

Defining the Lagrangian as L = T V, where T is the kinetic snapshot of such an animation is shown in figure 6.

energy and V is the potential energy for the system.

Neglecting the weight of the links in comparison with their Figure 6 is the Auto-Scale Graph of the SIMULINK model,

respective inertia forces, the potential energy of the system is which is the plot of the angular position of link 4 ( 4 ) vs.

set to zero. With that in mind, the Lagranges equation for

time. Figure 6 confirms the rocking motion of the follower. It

each generalized coordinate is then written as follows:

also shows that the follower sweeps an angle of 50o in its

rocking motion.

.

Fig. 6: SIMULINK model for position, velocity, and acceleration analysis of each link.

Fig. 6: Snapshot of the animated mechanism. Fig. 7: Angular position of link 4 (the follower) vs. time

F32, x + F43, x = m3ac 3, x

F32, y + F43, y = m3ac 3, y (19)

r3 r r r

Load Analysis F43, x sin( 3 ) + F43, y 3 cos( 3 ) F32, x 3 cos( 3 ) + F32, y 3 sin( 3 )

2 2 2 2

Once the kinematics analysis is done, the kinetic analysis of

= I 3c&&3

the mechanism is accomplished. Figures 8 and 9 depict the

Free Body Diagrams and Inertia Response Diagrams for links

2 and 3 respectively. Like wise the equations of motion for link 4 is derived. These

equations are:

F 14 ,x F 43 , x = m 4 a c 4 , x

F32,y

F 14 ,y F 43 , y = m 4 a c4,y

F32,x

m2ac2,y F 43 , x r 4 sin( 4 ) + F 43 , y r 4 cos( 4 ) (20)

C.M I2c &&2 r 42 && 1

m2ac2,x = (I 4c + m 4 ) 4 = m 4 r 42 &&4

4 3

Mmotor 2

2 Equations (18), (19), and (20) can be written in matrix form in

F12,x terms of unknown forces, as follows:

F12,y m2 a c 2, x

1 0 1 0 0 0 0 0 F12, x

m a

0 0 0 F12, y

2 c 2, y

1 0 1 0 0

Fig. 8: Free Body and Inertia Response Diagrams for Link 2. m3 a c 3, x

0 0 1 0 1 0

0 0 32, xF

m 3 a c 3, y

0 0 0 1 0 1 0 0 F32, y

= m a

1 0 F43, x

4 c 4, x

0 0 0 0 1 0

m a

4 c 4, y

F43,y 0 0 0 0 0 1 0 1 F43, y 1

2 &&

0 0 r2 sin 2 r2 cos 2 0 0

0 0 F14, x m 2 r2 2 M motor

3

m3ac3,y r4 sin 4 r4 cos 4 0 0 F14, y 1

F43,x 0 0 0 0 2 &&

m4 r4 4

3

C.M I3c &&3

3 m3ac3,x The kinematics analysis in the above provided the angular

3 positions, velocities, and accelerations of each link, as it is

F23,x F23,y demonstrated in the SIMULINK model. To arrive at the

acceleration of each links center of mass, the kinematics

equations for rotation about a fixed point and plane motion are

Fig. 9: Free Body and Inertia Response Diagrams for Link 3.

employed. The procedure is as follow.

Where F23,x ,for instance, is the x component of force exerted For link 2 rotation about fixed point A (see Figure 4) the

by link 2 to link 3, and likewise F43,y is the y component of acceleration of the center of mass is due to vector sum of

force exerted by link 4 to link3. I2c and I3c are Moments of normal and tangential acceleration of center of mass relative to

inertia of links 2 and 3 about their center of masses, fixed point A, due to rotational motion of the link. Having that

respectively. The accelerations of center of masses are in mind the x and y component of ac2 are:

indicated as aci ,where i takes value of 2 for link 2 and value

of 3 for link 3. It is assumed that the center of mass for all r2 && r

links located at the middle of each link. The equations of a c 2, x = 2 sin 2 2 &2 2 cos 2

motion for links 2 then become: 2 2 (21)

r r 2

F 12 + F 32 = m 2a c2,x a c 2, y = 2 &&2 cos 2 2 &2 sin 2

,x ,x

2 2

F 12 ,y + F 32 ,y = m 2a c2,y (18)

F 32 , x r 2 sin( 2 ) + F 32 , y r 2 cos( 2 ) + M motor

Link 4 is also in rotational motion about fixed point D (see

2 Figure 4). Following the rational in writing equations (21), one

r 1

= ( I 2c + m 2 ) &&2 =

2

m 2 r 22 &&2 can deduce the components of acceleration of the center of

4 3 mass of link 4 as:

Noting that, F23,x = - F32,x and F23,y = - F32,y then the equations

of motion for link 3 are derived as follow:

r4 && r of mass of link 3 about B. With this in mind the x and y

a c 4, x = 4 sin 4 4 &4 2 cos 4 components of center of mass of link 3 are:

2 2 (22)

r r 2 r r 2

= 4 &&4 cos 4 4 &4 sin 4 ac3, x = r2&&2 sin 2 r2&2 cos 2 3 &&3 sin3 3 &3 cos3

2

a c 4, y

2 2 2 2 (23)

r2 && r2 & 2 r3 && r3 & 2

ac3, y = 2 cos 2 2 sin 2 + 3 cos3 3 sin3

Link 3 is in plane motion and accordingly one can write (see 2 2 2 2

Figure 4):

r r r r r r Substituting components of accelerations of centers of mass of

ac3 = aB + (ac3/ B )rotation= aB + (ac3/ B )rotation,normal+ (ac3/ B )rotation,tangentia the links 2, 3, and 4 in the matrix equation, one can solve for

the reaction forces in the mechanism. SIMULINK is used to

r solve for these forces as in figure10. Notice that the

Where a B is the acceleration of the point B and SIMULINK model shown in figure 10 has been augmented by

r another MATLAB function to solve for the unknown

(a c 3 / B ) rotation is the acceleration of center of mass of link 3

reactions.

relative to B due to rotation of link 4 about B.

r r

(a c 3 / B ) rotation ,normal and (a c 3 / B ) rotation , tan gential are normal Notice also that once the forces are calculated, the results are

and tangential components of rotational acceleration of center being transferred into MATLAB, using a workspace block.

Below is a copy of the result transferred to MATLAB the values transferred into MATLAB Workspace by the block

workspace, for time periods between 20 and 25 seconds. named Load in figure 10. This graph is shown in figure 13.

20.491 4.4118 0.66185 -1.9824 -1.0326 -1.0209 -1.034 -0.05938 -1.0354

21.104 5.9094 3.5452 -3.0353 -2.4299 -2.007 -1.8425 -0.97857 -1.2551

21.717 1.6765 2.8161 -3.3691 0.39552 -1.2413 0.5314 0.8865 0.66727

22.23 -3.687 4.8586 -0.20099 -0.28224 -0.01136 -2.449 0.17826 -4.6157

22.333 -13.648 4.9406 5.111 3.9295 1.5321 2.8108 -2.0468 1.6921

22.436 -42.489 -14.573 25.359 13.235 7.0675 19.133 -11.224 25.03

22.531 -18.295 -19.768 13.673 5.5013 4.2518 7.9579 -5.1695 10.414

22.626 -6.8813 -14.145 5.4738 3.4198 1.7324 2.8252 -2.009 2.2307

22.891 3.4141 -9.3643 -0.18004 0.6479 -0.07572 -1.5588 0.028604 -3.7655

23.271 28.47 6.6312 -11.508 -6.5263 -6.4679 -4.8229 -1.4279 -3.1195

23.509 -6.4385 -7.6435 4.3541 23.77 10.256 26.789 16.157 29.809

23.746 -4.3188 -0.07837 -1.8876 3.5866 -0.08622 2.5941 1.7152 1.6016

23.991 -3.7093 -1.5338 0.21406 2.5404 0.16629 0.75264 0.11852 -1.0352

24.283 -8.7342 -2.2078 4.2417 4.839 1.0392 4.4379 -2.1633 4.0369

24.576 -3.4399 -7.8825 3.3413 2.5587 0.77483 3.3285 -1.7917 4.0982

seconds.

from Link 1 (ground) is:

Fig. 13: Force exerted by ground to the crank as a function of

F12 = F 2

12, x +F 2

12, y = (3.4399) + (7.8825) = 8.6N

2 2 time

7.8825 Notice that this plot confirms the magnitude of force F12 at

= tan1 ( ) = 246.420 24.58 seconds, to be 8.6 N, as was calculated in the above.

3.4399

r

F12 = 8.6 N @ 246.460 It is also interesting to see the angular acceleration of link 2

vs. time by opening scope1 in the SIMULINK model, as

One can also plot calculated forces vs. time, from this data. shown in figure 14.

Figure 12 shows F12,x as a function of time using scope2 in the

SIMULINK model.

Fig. 12: Force F12,x (N) vs. time (s) Fig. 14: Angular acceleration of link 2(rad/s2) vs. time (s).

link 1 to link 2 is about 205 N. The total force from link1 to The project significantly helped students understand the

link 2, F12 can be plotted using MATLAB plot command for abstract concepts in dynamics. This was reflected in the result

of the follow up exam. Majority of the students exhibited a [3] Erdman, Arthur G, Three and Four Precision Point

very thorough understanding of Lagranges equations. Kinematics Synthesis of Planar Linkages, Mechanism and

Students enjoyed the animation part of the project and built Machine Theory, 16, pp. 227-45.

their models in the shop. The principal author received [4] Erdman, Arthur G, Three Position Synthesis by Complex

positive feedback from the students regarding this exercise. Numbers, In Monograph on Mechanical Design, Paper No.

49, 1977.

[5] Erdman, Arthur G, and Carlson, W. L., Teaching Unit on

REFERENCES Complex Numbers as Applied to Linkage Modeling, In

[1] Erdman, Arthur G., Sanders, George N., Mechanism Monograph on Mechanical Design, NSF report No. GK36624,

Design Analysis and Synthesis Prentice Hall, 2001. Paper No. 12, 1977.

[2] Crespo da Silva, M. R.M., Intermediate Dynamics, [6] Moore, Holly MATLAB for Engineers, Prentice Hall,

McGraw Hills, 2004. 2007.

- Question Maths for class 8Hochgeladen vonMeghraj Sapkota
- C2 June 06Hochgeladen vonshah143
- YEARLY PLAN ADD.MATHS FORM 5Hochgeladen vonJamaliah Daud
- DynamicsHochgeladen vonpunjabian43
- H1 Physics - 8866_2013Hochgeladen vonDeborah Malanum
- math practice testHochgeladen vonapi-253151509
- Lecture 2-Field BalancingHochgeladen vonpkpnitian_152297088
- Import JavaHochgeladen vonSaurabh Gupta
- Shape of You.docHochgeladen vonJay Mañibo
- Math DictionaryHochgeladen vonAbegail Garcimo
- EYF.pptHochgeladen vonHarsha
- Jee Adv SyllabiHochgeladen vonasuhass
- Basic MathsHochgeladen vonBryan
- physics 1Hochgeladen vonapi-244640341
- handleiding com18x6[1]Hochgeladen vonbhu
- quarter 3 trig identitiesHochgeladen vonapi-288610675
- y11specialist maths units 1&2 vceHochgeladen vonben12345
- 93202-qbk-2015Hochgeladen vonHitesh Bhardwaj
- ann-marie katie cleigh and jennifer final math curriculum handout - google docsHochgeladen vonapi-335982597
- Module 2 VelocityHochgeladen vonbunty
- Calculus 1984Hochgeladen vonsayhigaurav07
- North Sydney Girls 2008 2U Prelim Yearly & Solutions.pdfHochgeladen vonYe Zhang
- Dynamic Analysis of Elevated Water Storage Tanks Due to...Hochgeladen vonAlla Eddine G C
- mathexit-4Q1112.docxHochgeladen vonJoachim De Leon
- QuickReferenceGuide IntermediateHochgeladen vonshariz500
- tRsPbIBZVp2Y2lcaJRSZywcxyIVP4O0020170428043754598Hochgeladen vonHans Izairi
- 0000.May 2018 CXC Maths P 2.pdfHochgeladen vonNatalie Lessey - Collymore
- Notes 8-14 (4)Hochgeladen vonAbood Al-atiyat
- BooleHochgeladen vonÃmïñê Zëkrïê
- 9781680330908_big ideas integrated mathematics III.pdfHochgeladen vonShivamKumar

- Multi ObjectiveHochgeladen vonPramodVerma
- Clash of ValuesHochgeladen vonPramodVerma
- AdvHydMotionDesignPractices-Paso.pdfHochgeladen vonPramodVerma
- DRDO Mechanical Engineering Question paper.pdfHochgeladen vonAjay Kumar Verma
- ProcessHochgeladen vonPramodVerma
- High Rate NanomanufacturingHochgeladen vonPramodVerma
- Technology vs EnvironmentHochgeladen vonPramodVerma
- Lect5 Detachable Fastener Bolt Nut Locking FoundationHochgeladen vonPramodVerma
- Introduction to TensorsHochgeladen vonPramodVerma
- CME2Hochgeladen vonPramodVerma
- CME1Hochgeladen vonPramodVerma
- Order of Magnitude AnalysisHochgeladen vonPramodVerma
- art%3A10.3938%2Fjkps.62.794.pdfHochgeladen vonPramodVerma
- question_bank.pdfHochgeladen vonPramodVerma
- Slides Synthesis 1Hochgeladen vonPramodVerma
- computational mechanics.pdfHochgeladen vonPramodVerma
- Experimental and Numerical Investigations of Turbulent Flow Induced Pipe Vibration in Fully Developed Flow_2004Hochgeladen vonPramodVerma
- ECD Flow Through NozzleHochgeladen vonPramodVerma
- Flow and Headlosses in PipeHochgeladen vonPramodVerma
- Flow and headlosses in Pipe.PDFHochgeladen vonPramodVerma

- Car PhysicsHochgeladen vonVipul
- CE-R07Hochgeladen vonRavikumar Puli
- Difference Between an Accelerometer and a GyroscopeHochgeladen vonpotternbmeoejrso
- MEC 262 DynamicsHochgeladen vonAshish Johnson
- ED Delivery 2Hochgeladen vonshashiw777
- Biomechanics Report WC Berlin 2009 ThrowsHochgeladen vonNataniel Lopes
- F543-07 Standard Specification and Test Methods for Metallic Medical Bone Screws1Hochgeladen vonRoberto Carlos Ramos Santillano
- IndicatorsHochgeladen vonmihalikj2190
- How Cosmic Forces Shape Our Destiny, By Nikola Tesla, 1915Hochgeladen vondag57
- 1 Lozica Ivanovic 121-127Hochgeladen vonjackmsrini
- Validation of a Quad-rotor Helicopter Matlab-simulink and Solidworks Models_ABHochgeladen vonriverajluiz
- Classical Mechanics G. AruldhasHochgeladen vonDeepanshu Sharma
- Exam of Applied MechanicsHochgeladen vonputex247
- M Rades - Dynamics of Machinery 2Hochgeladen vonMircea Rades
- Moment_Inertia.pptHochgeladen vonHamka Hidayah
- Moment and Angular MomentumHochgeladen vonDelfinManuel
- Angular Momentum 1Hochgeladen vonAtif Imam
- Dynamics of Machinery11Hochgeladen vonLankipalli Hemanth
- Lecture-Introduction to Machinery PrinciplesHochgeladen vonRizwan Nizamani
- Snake RobotsHochgeladen vonNandagopal Sivakumar
- Wind Turbine Aerodynamics Database.pdfHochgeladen vonKanishk Mehta
- The Ascending Double-Cone - A Closer Look at a Familiar DemonstrationHochgeladen vonLâm Văn Sa Huỳnh
- Earth Horizon SensorHochgeladen vonHamid Nawaz
- kjlc_ed09_sec08_web200910Hochgeladen vonNickMolo
- vocb vibration, 2007.pdfHochgeladen vonStephanie Nixon
- Standard Lesson PlanHochgeladen vonMarconi Quiachon
- Tm440 Asim Basic FunctionsHochgeladen vonEdward Armijo
- ps1Hochgeladen vonrhusseinpos4765
- Falling Ladder ParadoxHochgeladen vonBryy Anyy
- [2] the Aerodynamics of Hovering Insect Flight I. the Quasi-Steady AnalysisHochgeladen vonJoon Hyuk Park

## Viel mehr als nur Dokumente.

Entdecken, was Scribd alles zu bieten hat, inklusive Bücher und Hörbücher von großen Verlagen.

Jederzeit kündbar.