Page 1

KNEE MECHANISM ANALYSIS

INPUT DATA:

· Coordinates of main axis reference O(xO,yO)

xO := 0 m yO := 0 m (immovable point)

· Length mechanism elements:

lAB := 0.4391 m

lBC := 0.2178 m

lBD := 0.2178 m

· Known coordinates points:

xA := -0.2743 m (yA will be calculate)

yB := 0 m (xB will be calculate)

xC := 0.25 m yC := 0.2 m (immovable point)

xD := 0.25 m yD := -0.2 m

lOD1 := 0.2 m lD1D := 0.25 m

lOD := lOD1 2 + lD1D 2

=
 Page 2

lOD = 0.32015621 m constant

· Angle between element 2 (AB) and Ox axis α2 [degrees]

α2 := -2 degrees assumed input data

· Linear speed of element 1 w1 [m/s]

213.6  0.001
w1 := m/s w1 = 0.00356 m/s
60

Mechanism structure:
1. Leading element 1 with linear (translational) movement driven by the actuator;
2. Dyad RRR (A-B-C);
3. Dyad RRR (B-C-O);

1. POSITIONAL ANALYSIS:
· Point A coordinates xA and yA [m];  π 
xA = -0.2743 m (input data) yA := yB - lAB  sin  α2  
 180 
· Point B coordinates xB and yB [m];
yA = 0.01532437 m

 π 
yB = 0 m (input data) xB := xA + lAB  cos  α2  
 180  xB = 0.16453251 m

· Point C coordinates xC and yC [m];

xC = 0.25 m yC = 0.2 m (input data)

· Angle between element 3 (BC) and Ox axis α3 [degrees]

 yC - yB  180
α3 := atan   degrees
( x - x
 C B π ) α3 = 66.86116748 degrees
 Page 3

· Angle between element 4 (BD) and Ox axis α4 [degrees]

 yD - yB  180
α4 := atan   degrees
 ( xD - xB)  π
α4 = -66.86116748 degrees

· Angle between element 5 (GRIPPER) and Ox axis α5 [degrees]

α5 := 0 degrees

· Dyad RRR (A-B-C) positional equations:

       
OB = OA + AB = OC + CB

( )
xB = xA + lAB  cos α2 = xC + lBC  cos α3 ( )
[1]
yB = yA + lAB  sin ( α2) = yC + lBC  sin ( α3)

· Dyad RRR (B-D-O) positional equations:

        
OD = OB + BD = OD1 + D1D

( )
xD = xB + lBD  cos α4 = xD1 + lD1D  cos α5 ( )
[2]
yD = yB + lBD  sin ( α4) = yD1 + lD1D  sin ( α5)

2. KINEMATIC ANALYSIS:

2.1. Leading element 1 with linear (translational) movement driven by the actuator;

xA = -0.2743 m (constant) Element 1 it slide always trough a direction parallel with Oy axis at distance
of -0.2743 metres.
yA = 0.01532437 m (variable)
 Page 4

To achieve speed axis components of element 1 it will derivate one times above A position equations:

xAp := 0 m/s yAp := -w1 m/s Element 1 it move down (-y direction) yAp = -0.00356 m/s

The vertical left actuator moves the slide 1 with constant speed, that means the acceleration components are zero.

xApp := 0 m/s2 yApp := 0 m/s2

2.2. Dyad RRR (A-B-C) speed equations. These equations result by derivating positional equation system [1]

( ) ( )
xBp = xAp - lAB  α2p  sin α2 = xCp - lBC  α3p  sin α3
[3]
yBp = yAp + lAB  α2p  cos ( α2) = yCp + lBC  α3p  cos ( α3)

System [ 3 ] is a linear equations system with 4 equations with following unknown items:
· xBp (horizontal component speed [m/s] - Ox direction);
· yBp (vertical component speed [m/s] - Oy direction);
· α2p (Element 2 angular speed [rad/s]);
· α3p (Element 3 angular speed [rad/s]).

( ) ( )
xAp - lAB  α2p  sin α2 = xCp - lBC  α3p  sin α3
become:
( ) ( )
lBC  α3p  sin α3 - lAB  α2p  sin α2 = xCp - xAp
[4]
yAp + lAB  α2p  cos ( α2) = yCp + lBC  α3p  cos ( α3) -lBC  α3p  cos ( α3) + lAB  α2p  cos ( α2) = yCp - yAp

xCp := 0 yCp := 0 xCpp := 0 yCpp := 0 (C(xC,yC) is a fix point)

System [ 4 ] is a linear equations system with 2 equations with following unknown items:
· α2p (Element 2 angular speed [rad/s]);
· α3p (Element 3 angular speed [rad/s]).

      
 Page 5

  π    π  
 lBC  sin  α3   - lAB  sin  α2   
 180    180  
A1 :=   0.20027916 0.01532437 
   π   π   A1 =  
- 
 BC l  cos  α 3    l AB  cos  α 2     -0.08558678 0.43883251 
   180    180  

 α3p   xCp - xAp   0 

B1 = C1 := C1 =  
 α2p   yCp - yAp   0.00356 
   
-1
Based on above notes the system [ 3 ] becomes: A1  B1 = C1 B1 = A1  C1

-1
  π    π  
 lBC  sin  α3   - lAB  sin  α2   
 α3p    180    180     xCp - xAp   α3p   -0.0006116 
:=  =
 α2p      yCp - yAp  
  - l  cos  α  π   l  cos  α  π      α2p   0.00799315 
 
BC 3 AB 2
   180    180  
α2p = 0.00799315 rad/s Angular speed of element 2

α3p = -0.0006116 rad/s Angular speed of element 3

 π   π 
xBp := xAp - lAB  α2p  sin  α2   m/s yBp := yAp + lAB  α2p  cos  α2   m/s
 180   180 
xBp = 0.00012249 m/s yBp = -0.00005234 m/s

2 2
vB := xBp + yBp m/s vB = 0.00013321 m/s
 Page 6

2.3. Dyad RRR (A-B-C) acceleration equations. These equations result by derivating speed equation system [3]

( ) ( ) ( )
xBpp = xApp - lAB  α2pp  sin α2 - lAB  α2p 2  cos α2 = xCpp - lBC  α3pp  sin α3 - lBC  α3p 2  cos α3 ( )
[5]
yBpp = yApp + lAB  α2pp  cos ( α2) - lAB  α2p 2  sin ( α2) = yCpp + lBC  α3pp  cos ( α3) - lBC  α3p 2  sin ( α3)

System [ 5 ] is a linear equations system with 4 equations with following unknown items:
· xBpp (horizontal component acceleration [m/s2] - Ox direction);
· yBpp (vertical component acceleration [m/s2] - Oy direction);
· α2pp (Element 2 angular acceleration [rad/s2]);
· α3pp (Element 3 angular acceleration [rad/s2]).

( ) ( ) ( )
xApp - lAB  α2pp  sin α2 - lAB  α2p 2  cos α2 = xCpp - lBC  α3pp  sin α3 - lBC  α3p 2  cos α3 ( )
yApp + lAB  α2pp  cos ( α2) - lAB  α2p 2  sin ( α2) = yCpp + lBC  α3pp  cos ( α3) - lBC  α3p 2  sin ( α3) become:

( ) ( ) ( )
lBC  α3pp  sin α3 - lAB  α2pp  sin α2 = xCpp - xApp - lBC  α3p 2  cos α3 + lAB  α2p 2  cos α2 ( ) [6]
-lBC  α3pp  cos ( α3) + lAB  α2pp  cos ( α2) = yCpp - yApp - lBC  α3p 2  sin ( α3) + lAB  α2p 2  sin ( α2)

  π    π  
 lBC  sin  α3   - lAB  sin  α2   
  180    180   
A2 :=
   π   π    0.20027916 0.01532437 
A2 =  
- lBC  cos  α3    lAB  cos  α2   
 -0.08558678 0.43883251 
   180    180  

 
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 α3pp 
B2 =
 α2pp 
 
  π   π 
 xCpp - xApp - lBC  α3p 2  cos  α3  2
 + lAB  α2p  cos  α2  
 180   180 
C2 :=   0.00002801 
C2 = 
  π   π   
-
 Cpp App BC 3p
y y - l  α 2
 sin  3
α   AB 2p
+ l  α 2
 sin  2
α     -0.00000105 
  180   180  

-1
Based on above notes the system [ 6 ] becomes: A2  B2 = C2 B2 = A2  C2
-1
  π    π     π   π 
 lBC  sin  α3   - lAB  sin  α2     xCpp - xApp - lBC  α3p 2  cos  α3  2
 + lAB  α2p  cos  α2  
 α3pp    180    180     180   180 
:= 
 α2pp      π  
  - l  cos  α  π   l  cos  α  π   -
 Cpp App BC 3p
y y - l  α 2
 sin

 3
α 
π 
 AB 2p
+ l  α 2
 sin

 2
α   
BC 3 AB 2
   180    180     180   180  

 α3pp   0.00013796 
=  α2pp = 0.0000245 rad/s2 Angular acceleration of element 2
 α2pp   0.0000245 
 
α3pp = 0.00013796 rad/s2 Angular acceleration of element 3

 π  2  π 
xBpp := xApp - lAB  α2pp  sin  α2   - lAB  α2p  cos  α2   m/s2
 180   180  xBpp = -0.00002766 m/s2

 π  2  π 
yBpp := yApp + lAB  α2pp  cos  α2   - lAB  α2p  sin  α2   m/s2
yBpp = 0.00001173 m/s2
 180   180 
 Page 8

aB := xBpp 2 + yBpp 2 m/s2 aB = 0.00003005 m/s2

2.4. Dyad RRR (B-D-O) speed equations. These equations result by derivating positional equation system [2]

 π 
( )
xD = xB + lBD  cos α4 = xD1 + lD1D  cos α5 ( ) ( )
xD1 := xO + lOD1  cos  α5 + 90  
[2] where:  180 
yD = yB + lBD  sin ( α4) = yD1 + lD1D  sin ( α5)  π 
( )
yD1 := yO - lOD1  sin  α5 + 90  
[ 2 ] becomes:  180 

 π 
( ) (
xD = xB + lBD  cos α4 = xO + lOD1  cos  α5 + 90  )  + lD1D  cos α5 ( ) xD1 = 0 m
 180 
[7]
yD1 = -0.2 m
 π 
yD = yB + lBD  sin α4( ) ( )
= yO - lOD1  sin  α5 + 90   + lD1D  sin α5 ( )
 180 

By derivating [ 7 ] result:

 π 
( ) (
xDp = xBp - lBD  α4p  sin α4 = xOp - lOD1  α5p  sin  α5 + 90  ) ( )
 - lD1D  α5p  sin α5
 180 
[ 7.1 ]
 π 
yDp = yBp + lBD  α4p  cos α4 ( ) (
= yOp - lOD1  α5p  cos  α5 + 90  )
 + lD1D  α5p  cos α5 ( )
 180 

   
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  π  
( )
xDp = xBp - lBD  α4p  sin α4 = xOp - α5p  lOD1  sin  α5 + 90  ( )  + lD1D  sin α5  ( )
  180  
[8]
  π 
( ) ( )
yDp = yBp + lBD  α4p  cos α4 = yOp + α5p  lD1D  cos α5 - lOD1  cos  α5 + 90  ( ) 
  180 
System [ 8 ] is a linear equations system with 4 equations with following unknown items:
· xDp (horizontal component speed [m/s] - Ox direction);
· yDp (vertical component speed [m/s] - Oy direction);
· α4p (Element 4 angular speed [rad/s]);
· α5p (Element 5 angular speed [rad/s]).

xO = 0 m yO = 0 m
Origin position, speed and acceleration
xOp := 0 m/s yOp := 0 m/s

xOpp := 0 m/s2 yOpp := 0 m/s2

  π  
( ) (
xBp - lBD  α4p  sin α4 = xOp - α5p  lOD1  sin  α5 + 90  )  + lD1D  sin α5 ( )
  180  
[9]
  π 
( )
yBp + lBD  α4p  cos α4 = yOp + α5p  lD1D  cos α5 ( ) (
- lOD1  cos  α5 + 90  )
  180 
[ 9 ] becomes:
  π  
(
α5p  lOD1  sin  α5 + 90  ) ( ) (
 + lD1D  sin α5  - α4p  lBD  sin α4 ( )) = xOp - xBp
  180  
[ 10 ]
  π 
-α5p  lD1D  cos ( α5) - lOD1  cos ( α5 + 90)   + α4p  ( lBD  cos ( α4) ) = yOp - yBp
  180 
 Page 10

  π   π    π  
 lOD1  sin ( α5 + 90)   + lD1D  sin  α5   - lBD  sin  α4   
 180   180    180   
A3 :=   0.2 0.20027916 
   π   π    π   A3 =  
-lD1D  cos  α5   - lOD1  cos ( α5 + 90)    BD
l  cos  4
α     -0.25 0.08558678 
   180   180    180   

 α5p   xOp - xBp   -0.00012249 

B3 =  C3 :=  C3 =  
 α4p   yOp - yBp   0.00005234 
   

Based on above notes the system [ 10 ] becomes: A3  B3 = C3 B3 = A3 - 1  C3

-1
  π   π    π  
 lOD1  sin ( α5 + 90)   + lD1D  sin  α5   - lBD  sin  α4   
 α5p    180   180    180     xOp - xBp 
:= 
 α4p    π    yOp - yBp 
  -l  cos  α  π  - l  cos ( α + 90)  π  
 BD
l  cos

 4
α     
D1D 5 OD1 5
   180   180    180   

 α5p   -0.00031207  α4p = -0.00029996 rad/s Angular speed of element 4

= 
 α4p   -0.00029996 
  α5p = -0.00031207 rad/s Angular speed of element 5

 π 
(
xD1 = xO + lOD1  cos  α5 + 90  ) 
 180 
Derivating positional equations for D1 point (xD1,yD1) result the D1 speed components xD1p and yD1p

 
 Page 11

 π 
(
yD1 = yO - lOD1  sin  α5 + 90  ) 
 180 

) 180 
π
(
xD1p = xOp - lOD1  α5p  sin  α5 + 90  
( ) 180 
xD1p := xOp - lOD1  α5p  sin  α5 + 90 
π
   
 π 
yD1p = yOp - lOD1  α5p  cos ( α5 + 90)   
yD1p := yOp - lOD1  α5p  cos ( α5 + 90) 
π 
 180  
 180 

xD1p = 0.00006241 m/s

vD1 := xD1p 2 + yD1p 2 vD1 = 0.00006241 m/s
yD1p = 0 m/s

 π 
xDp := xBp - lBD  α4p  sin  α4  
 180 
xDp = 0.00006241 m/s
 π 
yDp := yBp + lBD  α4p  cos  α4  
 180  yDp = -0.00007802 m/s

vD := xDp 2 + yDp 2 vD = 0.00009991 m/s

2.5. Dyad RRR (B-D-O) acceleration equations. These equations result by derivating speed equation system [7.1]
 Page 12

 π 
( ) (
xDp = xBp - lBD  α4p  sin α4 = xOp - lOD1  α5p  sin  α5 + 90 ) ( )
 - lD1D  α5p  sin α5
 180 

 π 
( ) (
yDp = yBp + lBD  α4p  cos α4 = yOp - lOD1  α5p  cos  α5 + 90  ) ( )
 + lD1D  α5p  cos α5
 180 


) 180 
π
(
xD1p = xOp - lOD1  α5p  sin  α5 + 90  [ 7.1 ]
 
 π 
yD1p = yOp - lOD1  α5p  cos ( α5 + 90)  
 180 

( ) ( )
xDpp = xBpp - lBD  α4pp  sin α4 - lBD  α4p 2  cos α4 =

 π   π 
( )
= xOpp - lOD1  α5pp  sin  α5 + 90  2
(
 - lOD1  α5p  cos  α5 + 90  ) ( ) 2
( )
 - lD1D  α5pp  sin α5 - lD1D  α5p  cos α5
 180   180 
[ 11 ]

( ) ( )
yDpp = yBpp + lBD  α4pp  cos α4 - lBD  α4p 2  sin α4 =

 π   π 
( )
= yOpp - lOD1  α5pp  cos  α5 + 90  2
(
 + lOD1  α5p  sin  α5 + 90  ) ( ) 2
( )
 + lD1D  α5pp  cos α5 - lD1D  α5p  sin α5
 180   180 

( ) ( )
 Page 13

( ) 2
xDpp = xBpp - lBD  α4pp  sin α4 - lBD  α4p  cos α4 = ( )
  π    π 
(
= xOpp - α5pp  lOD1  sin  α5 + 90  ) ( ) 2
(
 + lD1D  sin α5  - lOD1  α5p  cos  α5 + 90  ) 2
 - lD1D  α5p  cos α5 ( )
  180    180 
[ 12 ]

( ) 2
yDpp = yBpp + lBD  α4pp  cos α4 - lBD  α4p  sin α4 = ( )
  π    π 
(
= yOpp - α5pp  lOD1  cos  α5 + 90  ) ( ) 2
(
 - lD1D  cos α5  + lOD1  α5p  sin  α5 + 90  ) 2
 - lD1D  α5p  sin α5 ( )
  180    180 

  π  
( )
α5pp  lOD1  sin  α5 + 90  ( )
 + lD1D  sin α5  - lBD  α4pp  sin α4 = ( )
  180  
 π 
2
( ) 2
(
= xOpp - xBpp + lBD  α4p  cos α4 - lOD1  α5p  cos  α5 + 90  ) 2
( )
 - lD1D  α5p  cos α5
 180  [ 13 ]

  π  
( )
α5pp  lOD1  cos  α5 + 90  ( )
 - lD1D  cos α5  + lBD  α4pp  cos α4 = ( )
  180  
 π 
2
( ) 2
(
= yOpp - yBpp + lBD  α4p  sin α4 + lOD1  α5p  sin  α5 + 90  ) 2
( )
 - lD1D  α5p  sin α5
 180 

        
 Page 14

  π   π    π  
 lOD1  sin ( α5 + 90)   + lD1D  sin  α5   - lBD  sin  α4   
 180   180    180   
A4 := 
   π   π    π  
- 
 D1D
l  cos  α 5   - l OD1  cos ( α 5 + 90 )    lBD  cos  α4   
   180   180    180   

 α5pp 
B4 =  0.2 0.20027916 
 α4pp  A4 =  
   -0.25 0.08558678 

  π   π   π 
xOpp - xBpp + lBD  α4p 2  cos  α4   - lOD1  α5p  cos ( α5 + 90) 
2 2
 - lD1D  α5p  cos  α5  
 180   180   180 
C4 := 
  π   π   π  
- +
 Opp Bpp BD 4p
y y l  α 2
 sin  α 4   + l  α
OD1 5p
2
 sin ( α 5 + 90 )   - l  α
D1D 5p
2
 sin  α 5   
  180   180   180  
 0.00002765 
C4 =  
 -0.00001173 
-1
[ 13 ] becomes: A4  B4 = C4 then B4 = A4  C4

 α5pp  -1  α5pp   0.00007018 

:= A4  C4 =
 α4pp  
   α4pp   0.00006795 
 
 Page 15

α4pp = 0.00006795 rad/s2 Angular acceleration of element 4

α5pp = 0.00007018 rad/s2 Angular acceleration of element 5

 π  2  π 
xDpp := xBpp - lBD  α4pp  sin  α4   - lBD  α4p  cos  α4  
 180   180 

 π  2  π 
yDpp := yBpp + lBD  α4pp  cos  α4   - lBD  α4p  sin  α4  
 180   180 
xDpp = -0.00001406 m/s2
aD := xDpp 2 + yDpp 2 m/s2
yDpp = 0.00001757 m/s2

 π   π  aD = 0.0000225 m/s2
(
xD1pp := xOpp - lOD1  α5pp  sin  α5 + 90  ) 2
( )
 - lOD1  α5p  cos  α5 + 90  
 180   180 

 π   π 
(
yD1pp := yOpp - lOD1  α5pp  cos  α5 + 90  ) 2
( )
 + lOD1  α5p  sin  α5 + 90  
 180   180 

aD1 := xD1pp 2 + yD1pp 2 m/s2

xD1pp = -0.00001404 m/s2

yD1pp = 1.94774662  10 - 8 m/s2

aD1 = 0.00001404 m/s2

 Page 16

3. KINETOSTATIC ANALYSIS:
3.1. Positions, speeds and acceleration of gravity centre for each mechanism element

· Element 1.
xG1 := xA m yG1 := yA m

xG1p := xAp m/s yG1p := yAp m/s

xG1 = -0.2743 m yG1 = 0.01532437 m

xG1pp := xApp m/s2 yG1pp := yApp m/s2

xG1p = 0 m/s yG1p = -0.00356 m/s

xG1pp = 0 m/s2 yG1pp = 0 m/s2

· Element 2. xA + xB yA + yB
xG2 := m yG2 := m
2 2
xG2 = -0.05488374 m yG2 = 0.00766218 m
lAG2 := ( xG2 - xA) 2
(
+ yG2 - yA ) 2
m

lAG2 = 0.21955 m
 π 
xG2p := xAp - lAG2  α2p  sin  α2   m/s
 180 
 π 
yG2p := yAp + lAG2  α2p  cos  α2   m/s
 180 

 π  2  π 
xG2pp := xApp - lAG2  α2pp  sin  α2   - lAG2  α2p  cos  α2   m/s2
 180   180 

 π  2  π 
yG2pp := yApp + lAG2  α2pp  cos  α2   - lAG2  α2p  sin  α2   m/s2
 180   180 
xG2p = 0.00006125 m/s yG2p = -0.00180617 m/s
 Page 17

xG2pp = -0.00001383 m/s2 yG2pp = 0.00000587 m/s2

· Element 3.
xB + xC yB + yC
xG3 := m yG3 := m
2 2
xG3 = 0.20726626 m yG3 = 0.1 m
lBG3 := ( )
xG3 - xB
2
(
+ yG3 - yB ) 2
m

lBG3 = 0.10874821
 π 
xG3p := xBp - lBG3  α3p  sin  α3   m/s
 180 
 π 
yG3p := yBp + lBG3  α3p  cos  α3   m/s
 180 

 π  2  π 
xG3pp := xBpp - lBG3  α3pp  sin  α3   - lBG3  α3p  cos  α3   m/s2
 180   180 

 π  2  π 
yG3pp := yBpp + lBG3  α3pp  cos  α3   - lBG3  α3p  sin  α3   m/s2
 180   180 

xG3p = 0.00018365 m/s yG3p = -0.00007848 m/s

xG3pp = -0.00004147 m/s2 yG3pp = 0.00001759 m/s2

 Page 18

· Element 4.
xB + xD yB + yD
xG4 := m yG4 := m
2 2
xG4 = 0.20726626 m yG4 = -0.1 m
lBG4 := ( ) (
xG4 - xB 2 + yG4 - yB 2 ) m

lBG4 = 0.10874821
 π 
xG4p := xBp - lBG4  α4p  sin  α4   m/s
 180 
 π 
yG4p := yBp + lBG4  α4p  cos  α4   m/s
 180 

 π  2  π 
xG4pp := xBpp - lBG4  α4pp  sin  α4   - lBG4  α4p  cos  α4   m/s2
 180   180 

 π  2  π 
yG4pp := yBpp + lBG4  α4pp  cos  α4   - lBG4  α4p  sin  α4   m/s2
 180   180 

xG4p = 0.00009249 m/s yG4p = -0.00006516 m/s

xG4pp = -0.00002087 m/s2 yG4pp = 0.00001464 m/s2

 Page 19

· Element 5.

xG5 := -1.6 m yG5 := -6.1 m

xG5 = -1.6 m yG5 = -6.1 m

lOG5 := ( ) (
xG5 - xO 2 + yG5 - yO 2 ) m

lOG5 = 6.30634601 m
 π 
xG5p := xOp - lOG5  α5p  sin  α5   m/s
 180 
 π 
yG5p := yOp + lOG5  α5p  cos  α5   m/s
 180 

 π  2  π 
xG5pp := xOpp - lOG5  α5pp  sin  α5   - lOG5  α5p  cos  α5   m/s2
 180   180 

 π  2  π 
yG5pp := yOpp + lOG5  α5pp  cos  α5   - lOG5  α5p  sin  α5   m/s2
 180   180 

xG5p = 0 m/s yG5p = -0.00196802 m/s

xG5pp = -0.00000061 m/s2 yG5pp = 0.00044261 m/s2

3.2. Mass, weight and inertia related to the gravity centre for each mechanism element
 Page 20

3.2. Mass, weight and inertia related to the gravity centre for each mechanism element

· Element 1 (slide). Assumed dimensions for slide are:

L1 := 0.16 m B1 := 0.16 m H1 := 0.12 m b1 := 0.08 m h1 := 0.04 m

· Element 1 (slide). Volume [m3] (

V1 := L1  B1  H1 - b1  h1 ) m3
V1 = 0.00256 m3

· Element 1 (slide). Specific weight γ [N/m3] for steel γs := 78500 N/m3

· Element 1 (slide). Weight [N] G1 := V1  γs N

G1 = 200.96 N

· Element 1 (slide). Mass [Kg]

gg := 9.80665 m/s2
 Page 21

G1
m1 := Kg m1 = 20.49221702 Kg
gg

· Element 1 (slide). Inertia Mass [Kg*m2] IG1 :=

( 2
m1  L1 + B1 ) - m  ( L 2 + b 2)
2
1 1 1
Kg*m2
12 12
IG1 = 0.03278755 Kg*m2
· Element 1 (slide). Inertia Forces [N] Fi1x := -m1  xG1pp N
Fi1x = 0 N
α1pp := 0 Fi1y := -m1  yG1pp N
Fi1y = 0 N
Mi1 := -IG1  α1pp
Mi1 = 0

· Element 2. Assumed dimensions are: L2 := lAB m B2 := 0.12 m H2 := 0.063 m

 Page 22

2
 B2 
V2 := π     H2 + L2  B2  H2 m3
 2
B2
L2ech := L2 + π  m
4

G2 := V2  γs N

G2
m2 := Kg

IG2 :=
(
m2  L2ech 2 + B2 2 ) Kg*m2
gg

12 L2 = 0.4391 m

V2 = 0.00403211 m3

L2ech = 0.53334778 m
Fi2x := -m2  xG2pp N
Fi2x = 0.00044641 N
G2 = 316.52057329 N
Fi2y := -m2  yG2pp N
Fi2y = -0.00018934 N
Mi2 := -IG2  α2pp m2 = 32.27611603 Kg
Mi2 = -0.0000197
IG2 = 0.80383628 Kg*m2

· Element 3. Assumed dimensions are: L3 := lBC m B3 := 0.12 m H3 := 0.063 m

 Page 23

L3 = 0.2178 m
2
 B3 
V3 := π     H3 + L3  B3  H3 m3
V3 = 0.00235908 m3
 2
B3
L3ech := L3 + π  m
4 L3ech = 0.31204778 m

G3 := V3  γs N
G3 = 185.18787529 N

G3
m3 := Kg m3 = 18.88390789 Kg
gg

IG3 :=
( 2
m3  L3ech + B3
2
) Kg*m2 IG3 = 0.17589387 Kg*m2
12
:= - 
 Page 24

Fi3x := -m3  xG3pp N

Fi3x = 0.00078318 N
Fi3y := -m3  yG3pp N
Fi3y = -0.00033217 N
Mi3 := -IG3  α3pp
Mi3 = -0.00002427

· Element 4. Assumed dimensions are: L4 := lBD m B4 := 0.12 m H4 := 0.063 m

L4 = 0.2178 m
2
 B4 
V4 := π     H4 + L4  B4  H4 m3
V4 = 0.00235908 m3
 
2

B4
L4ech := L4 + π  m
4 L4ech = 0.31204778 m

G4 := V4  γs N
G4 = 185.18787529 N
 Page 25

G4
m4 := Kg m4 = 18.88390789 Kg
gg

IG4 :=
(
m4  L4ech + B4
2 2
) Kg*m2 IG4 = 0.17589387 Kg*m2
12
Fi4x := -m4  xG4pp N
Fi4x = 0.00039413 N
Fi4y := -m4  yG4pp N
Fi4y = -0.00027655 N
Mi4 := -IG4  α4pp
Mi4 = -0.00001195

· Element 5. Assumed dimensions are: L5 := 12.2 m B5 := 2.57 m H5 := 0.5 m

L5 = 12.2 m

V5 := L5  B5  H5 m3
V5 = 15.677 m3

G5 := V5  γs N
G5 = 1230644.5 N

G5
m5 := Kg m5 = 125490.81490621 Kg
gg

IG5 :=
(
m5  L5 + B5
2
)
2
Kg*m2 IG5 = 1625575.59783455 Kg*m2
12
:= - 
 Page 26

Fi5x := -m5  xG5pp N

Fi5x = 0.07707121 N
Fi5y := -m5  yG5pp N
Fi5y = -55.5431839 N
Mi5 := -IG5  α5pp
Mi5 = -114.0901648
 Page 27

3.3. Calculation of reactions in kinematic couplings for Dyad B-D-O (elements 4 and 5)

 ( M ( 4) = 0)
D

 ( M ( 5) = 0)
D

 (F (4 + 5) = 0)
x

n [ 14 ]

 ( F ( 4 + 5) = 0)
y

 (F (4) = 0)
x

 (F (4) = 0)
y

n
On the ecuation system [ 14 ] are known following data:
xO, yO, xD, yD, xB, yB, xG4, yG4, xG5, yG5, Fi4x, Fi4y, Fi5x, Fi5y, Mi4 and Mi5

On the ecuation system [ 14 ] unknown data are:

R05x, R05y, R54x, R54y, R34x and R34y
 Page 28

 ( M ( 4) = 0)
D ( ) ( ) ( ) ( ) ( )
G4  xG4 - xD - Fi4x  yG4 - yD - Fi4y  xG4 - xD - Mi4 - R34y  xB - xD - R34x  yB - yD = 0
n
( ) ( ) ( ) ( ) ( )
 ( M ( 5) = 0)
G5  xG5 - xD + Fi5x  yG5 - yD - Fi5y  xG5 - xD - Mi5 - R05x  yO - yD - R05y  xO - xD = 0
D

 (F (4 + 5) = 0)
Fi5x + Fi4x + R05x + R34x = 0
x

n it means:

 ( F ( 4 + 5) = 0)
Fi5y - G5 + R05y + R34y + Fi4y - G4 = 0
y

 (F (4) = 0)
x Fi4x + R34x + R54x = 0
n

 (F (4) = 0)
y R34y + Fi4y - G4 - R54y = 0
n

( ) ( ) ( ) ( ) (
R34y  xB - xD + R34x  yB - yD = G4  xG4 - xD - Fi4x  yG4 - yD - Fi4y  xG4 - xD - Mi4 )
R05x  ( yO - yD) + R05y  ( xO - xD) = G5  ( xG5 - xD) + Fi5x  ( yG5 - yD) - Fi5y  ( xG5 - xD) - Mi5

R34x + R05x = -( Fi5x + Fi4x)

[ 15 ]
R34y + R05y = G5 - Fi4y - Fi5y + G4

R34x + R54x = -Fi4x

R34y - R54y = G4 - Fi4y

 Page 29

 yB - yD xB - xD 0 0 0 0   R34x 
 
 0 0 0 0 yO - yD xO - xD   R34y 
   
 R54x 
Q1 :=  
1 0 0 0 1 0
 0  P1 =  
1 0 0 0 1 R
   54y 
 1 0 1 0 0 0  R 
   05x 
 0 1 0 -1 0 0   R05y 
 
Q1 = -0.0329065

G4  ( xG4 - xD) - Fi4x  ( yG4 - yD) - Fi4y  ( xG4 - xD) - Mi4 
 -7.91381052 
G5  ( xG5 - xD) + Fi5x  ( yG5 - yD) - Fi5y  ( xG5 - xD) - Mi5   
   - 2276681.44444558 
 -( Fi5x + Fi4x)   
R1 :=  -0.07746534
 R1 =  
 G 5 - F i4y - F i5y + G4  1230885.23133574
 
 -Fi4x
  
  -0.00039413
 
 G4 - Fi4y   185.18815184 
 

    ( - )-  ( - )-  ( - )- 
 Page 30

 R34x   yB - yD xB - xD  ( ) ( ) ( )
- 1 G4  xG4 - xD - Fi4x  yG4 - yD - Fi4y  xG4 - xD - Mi4 
0 0 0 0  
 R34y    G5  ( xG5 - xD) + Fi5x  ( yG5 - yD) - Fi5y  ( xG5 - xD) - Mi5 
   0 0 0 0 yO - yD xO - xD   
 R54x   1   -( Fi5x + Fi4x) 
 :=  
0 0 0 1 0
  
 R54y   0 1 0 0 0 1   G 5 - F i4y - Fi5y 
R     
 05x   
1 0 1 0 0 0 -Fi4x
 
 R05y   0 1 0 -1 0 0

  G4 - Fi4y 
   

R34x = -5114126.33241021

R34y = -11967326.73827774

R05x = 5114126.25494487

R05y = 13198026.78173819

R54x = 5114126.33201608

R54y = -11967511.92642958

3.4. Calculation of reactions in kinematic couplings for Dyad A-B-C (elements 2 and 3)
 Page 31

 (M (2) = 0)
B

 (M (3) = 0)
B

 (F (2 + 3) = 0)
x

n [ 16 ]

 ( F ( 2 + 3) = 0)
y

 (F (2) = 0)
x

 (F (2) = 0)
y

n
On the ecuation system [ 16 ] are known
following data:
xA, yA, xC, yC, xB, yB, xG2, yG2, xG3, yG3,
Fi2x, Fi2y, Fi3x, Fi3y, Mi2, R43x, R43y and Mi3

R43x := -R34x R43y := -R34y

On the ecuation system [ 16 ] unknown data

are:
R03x, R03y, R32x, R32y, R12x and R12y

( )
 Page 32

 (M (2) = 0)
B ( ) ( ) ( ) ( ) (
-R12y  xA - xB - R12x  yA - yB - Mi2 + G2  xG2 - xB - Fi2y  xG2 - xB - Fi2x  yG2 - yB = 0 )
n

 (M (3) = 0)
B ( ) ( ) ( ) ( ) ( )
R03y  xC - xB - R03x  yC - yB - Mi3 + Fi3y  xG3 - xB - Fi3x  yG3 - yB - G3  xG3 - xB = 0
n

 (F (2 + 3) = 0)
x R12x + Fi2x - R43x + Fi3x + R03x = 0
n

 ( F ( 2 + 3) = 0)
y R12y + Fi2y - G2 - R43y + Fi3y - G3 + R03y = 0
n

 (F (2) = 0)
x R12x + Fi2x + R32x = 0
n

 (F (2) = 0)
y R12y + Fi2y - G2 + R32y = 0
n

( ) ( ) ( ) ( ) (
R12x  yA - yB + R12y  xA - xB = G2  xG2 - xB - Fi2y  xG2 - xB - Fi2x  yG2 - yB - Mi2 )
R03x  ( yC - yB) - R03y  ( xC - xB) = -Mi3 + Fi3y  ( xG3 - xB) - Fi3x  ( yG3 - yB) - G3  ( xG3 - xB)

R12x + R03x = R43x - Fi2x - Fi3x

R12y + R03y = G2 + G3 + R43y - Fi2y - Fi3y

R12x + R32x = -Fi2x

R12y + R32y = G2 - Fi2y

 Page 33

yA - yB xA - xB 0 0 0 0   R12x 
 
 0 0 0 0 yC - yB -( xC - xB)   R12y 
   
 32x 
Q2 :=  
1 0 0 0 1 0 R
 0  P2 =  
1 0 0 0 1
   R32y 
 1 0 1 0 0 0  R 
   03x 
 0 1 0 1 0 0   R03y 
 
Q2 = -0.08645677

 G2  ( xG2 - xB) - Fi2y  ( xG2 - xB) - Fi2x  ( yG2 - yB) - Mi2 

-Mi3 + Fi3y  ( xG3 - xB) - Fi3x  ( yG3 - yB) - G3  ( xG3 - xB) 
 
 R43x - Fi2x - Fi3x 
R2 :=  
 G 2 + G 3 + R 43y - F i2y - F i3y 
 -Fi2x

 
 G2 - Fi2y 
 

    ( - )-  ( - )-  ( - )- 
 Page 34

 R12x  yA - yB xA - xB 0 0 0 0 
-1  G2  ( xG2 - xB) - Fi2y  ( xG2 - xB) - Fi2x  ( yG2 - yB) - Mi2 
 R12y    -Mi3 + Fi3y  ( xG3 - xB) - Fi3x  ( yG3 - yB) - G3  ( xG3 - xB) 
   0 0 0 0 yC - yB -( xC - xB)   
 R32x   1   R43x - Fi2x - Fi3x 
 :=  
0 0 0 1 0
  
 R32y   0 1 0 0 0 1   G 2 + G 3 + R 43y - F i2y - F i3y 
R     
 03x   
1 0 1 0 0 0 -Fi2x
 
 R03y   0 1 0 1 0 0

  G2 - Fi2y 
   
 R12x 
 -68.65598584 
 R12y   
   155.86282436 
 R32x   68.65553943 
R12x = -68.65598584
 = 
R
 32y   160.65793826  R12y = 155.86282436
 R   5114194.98716646 
 03x    R32x = 68.65553943
 R03y   11967672.58442346 
 
R32y = 160.65793826

R03x = 5114194.98716646

R03y = 11967672.58442346