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Mechanism Design
Mechanism Design
02
04
r2
r4
A
r3
B
+ = +
ThegivenmechanismismappedtoalocalcoordinatesystemXY.
Fromthefigure,thepositionvectorscanbedefinedas
+ = +
Projectingthevectorsw.r.ttheXY coordinatesystem,wehavethefollowingequations
. cos
. cos
. cos
(1)
(2)
LetusDefine;
1;
(3)
Substituting(3)inequation(1),wehave
. cos
cos
. cos
Substituting(4)inequation(2),wehave
.
Rewritingtheaboveequations,wehave
.
. cos
. cos
cos
Eliminating ,weobtain;
cos
. cos
. cos
(4)
LetusAssume;
C
n; C
; C
cos
C . cos
Itisgiventhat;
45;
180;
315;
C . cos
(6)
140
270
300
Usingthevaluesinequation(6),wehavethebelowequations;
0.7071
C
0.0876. C
.766. C
0.7071
0.9659. C
0.5. C
Solvingfortheseequations,weobtain
C
2.581; C
2.586;
Assuming
0.831;
3.103; C
2.581;
1 . ;
1;
0.831
2.586 ;
2.581