Mecanism pedipulator

Lungimile elementelor
BC  50
BT  100
AB  20
DC  50
Coordonatele cuplelor fixe
XD  0
XA  0
YA  0
YD  40
X2A  0
Y2A  0
X1A  0
Y1A  0
X2D  0
Y2D  0
Y1D  0
X1D  0
Viteza unghiulara
1  5
Acceleratia unghiulara
1  0
GMAI (A,1)
k  0  36

1k  k  10 
180
BPT (B)
Pozitii
XBk  XA  AB  cos 1k 
YBk  YA  AB  sin 1k 
 20

12
4
YBk
4
12

20
20 12 4 4 12 20
XBk
Viteze
X1Bk  X1A  AB  1  sin 1k 
Y1Bk  Y1A  AB  1  cos 1k 
Acceleratii
X2Bk  X2A  AB  1  sin  1k   AB  1  cos  1k 
2

Y2Bk  Y2A  AB  1  cos  1k   AB  1  sin  1k 

2

Diada RRR(2,3)
Pozitii
20  210
30  60

2  20 
180

3  30 
180
Given
XBk  XD  BC  cos 2  DC  cos 3 0
YBk  YD  BC  sin 2  DC  sin 3 0
solpk  Find 2  3
 2k 
 solpk
 3k 
 20k   2k  180
 
 30k   3k  
200

184
168
30k
152
136
120
0 8 16 24 32 40
k

6000

4800
20k 20
3600
30k 1 2400

1200

0
0 8 16 24 32 40
k
 240

224
208
20k
192
176
160
0 8 16 24 32 40
k
Viteze
 BC  sin  2k  DC  sin  3k  
Ak  
 BC  cos  2k  DC  cos  3k  
  X1Bk  X1D 
Bk   
   Y1Bk  Y1D  
solvk  lsolve Ak  Bk 
 2k 
 solvk
 3k 
4
2
0
2k
2
4
6
0 8 16 24 32 40
k
 4

2
0
3k
2
4
6
0 8 16 24 32 40
k
Acceleratii
  X2Bk  X2D  BC   2k   cos  2k   DC   3k   cos  3k   
2 2
Ck   
 
 Y2Bk  Y2D  BC   2k   sin  2k   DC   2k   sin  3k   
2 2

solak  lsolve Ak  Ck 
 2k 
 sola k
 3k 
40

24
8
2k
8
24
40
0 8 16 24 32 40
k
 40

24
8
3k
8
24
40
0 8 16 24 32 40
k
300

220
20k
140
2k
60
2k
20

100
0 8 16 24 32 40
k
400

200
30k
0
3k 100
200
3k 10
400

600
0 8 16 24 32 40
k
BPT (C)
Pozitii
XCk  XBk  BC  cos 2k
YCk  YBk  BC  sin 2k 
0
12
24
YCk
36
48

60
50 45 40 35 30 25
XCk
Traiectoria punctului C
Viteze
X1Ck  X1Bk  BC  2k  sin 2k 
Y1Ck  Y1Bk  BC  2k  cos 2k 
300
200
100
Y1Ck
0
100

200
50 10 30 70 110 150
X1Ck
Hodograful de viteze al punctului C
Acceleratii
X2Ck  X2Bk  BC  2k  sin  2k   BC   2k   cos  2k 
2
Y2Ck  Y2Bk  BC  2k  cos  2k   BC   2k   sin  2k 
2

3000

2000
1000
Y2Ck
0
1000

2000
1000 500 0 500 1000 1500
X2Ck
Hodograful de acceleratii al punctului C
BPT (T)
XTk  XBk  BT  cos 2k
YTk  YBk  BT  sin 2k 
50
20
10
YT k
40
70

100
100 95 90 85 80 75
XT k
 50

20
YT k
10
YT FRAME
40

70

100
100 95 90 85 80 75
XT k  XT FRAME
Traiectoria punctului T
Viteze
X1Tk  X1Bk  BT  2k  sin 2k 
Y1Tk  Y1Bk  BT  2k  cos 2k 
600

440
280
Y1T k
120
40
200
200 120 40 40 120 200
X1T k
Hodograful de viteze al punctului T
Acceleratii
X2Tk  X2Bk  BT  2k  sin  2k   BT   2k   cos  2k 
2

Y2Tk  Y2Bk  BT  2k  cos  2k   BT   2k   sin  2k 

2
 4000
2400
800
Y2T k
800
2400

4000
1000 200 600 1400 2200 3000
X2T k
Hodograful de acceleratii al punctului T