1

MECHANISMS Homework

For the mechanical structure shown in fig.1, the following parameters are known : l1,
l3, l4, a, b, m1, m2, m3, m4, m5, n1, F5u, δ. We have to perform:
1. The configuration and kinematic analysis
1.1. The graphical and the analytical methods for configuration (the input crank
rotates with 2π.
1.2. The analytical method for kinematics (the input crank rotates with 2π).
2. Dynamics analysis
2.1. Determining the reduced inertia moment, the reduced motor moment and the
variation of kinetic energy ;
2.2. Choosing the electrical motor and the speed reducer.
2.3. Calculus of the inertia moment of flywheel using the diagram ΔE(J1*)

l1= 0.18 [m] l3=0.8 [m] l4=0.3 [m]

a=0.9 [m] b=0.4 [m] m1=1.5[kg]
m2=2.1[kg] m3=6.4[kg] m4=3.1[kg]
m5= 16 [kg] n1= 60 rot/min F5u= 15000N
δ= 1/12

D 4

B C

y
A 2
b

1



O
x
a

C
B

Fig. 1
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Chapter 1
The configuration and kinematic analysis

The mobility of mechanism is:

M = 3n – 2C5 – C4 = 3*3-2*4=1
1.1.1. Graphical method for configurations
Steps :
1. Draw the circle with its center in O having the radius = l 1 and divide this circle into
12 parts ; determine the positions of joint A : A1, A2,….A12
2. Find 12 positions of joint C on the circle with central point C, radius = l 3 at the
intersection of this circle with lines BA1,BA2,….BA12
3. The 12 positions of D point are on the parallels to axis x at « a » distance and the
circles with central point in Ci, i = 1,12 , radius = l4
8 D7 D9 D6 D5 D4=D10 D3 D2 D11 D1 D12

y
C6 C4=C10 C3
C7 C5 C2
C8 C9
A5 A4
A3

A6 A2

A7 O A1

A8 A12
A9 A11
A10

B
1.1.2. Analytical method for configuration
We determine the coordinates of the characteristic joints and the axis x and y
projections.
OAx = l1cos LBA = BAx2  BAy2
OAy = l1 sin1; l3
BC x=  BAx
BAx = OAx LBA
BAy = a – b + OAy
 3
l3 CDx = -  l 42 CD y2
BCy = L  BAy
BA BDx = CDx + BCx;
CDy = a – BCy ;

φ1 OAx OAy BAx BAy LBA BCx BCy CDy CDx BDx
0
30
60

360

1.2. The analytical method for kinematics (the input crank rotates with 2π)
1.2.1. The velocity field
Vectorial equations are written, in order to determine the unknown characteristic of
the kinematic field.
A.
v A  1  OA
VAx  OA y VAx  1OA y
 1 
VAy OA x VAy  1OA x

  n1
ω1 =
30
v A  v A 3  v AA3
BA
v A 3  3  BA ; v AA3  v AA3 
L BA
  BA x  v Ay  BA y  v Ax 
 1
3  L2
 BA y VAA 3 BA x
VAx 

BA
    v AA 3  1
  BA x  v Ax  BA y  v Ay 
VAy 3 BA x L BA BA y
 
 L BA

C. VC  3  BC
VCx  BC y VCx  3  BC y
 3 
VCy BCx VCy  3  BCx

D. VD  VC   4  CD
VDx  V5
Obs. 
VDy  0
  VCy
4 
V5 VCx  CD y V5  VCx  4  CD y  CD x
  4   
0 VCy CD x 0  VCy  4  CD x  VCx  CD x  VCy  CD y
V V 
 Dx 5 CD x


Pos vAx vAy 3 vAA3 vCx vCy 4 v5=vD

0
30
60
…
360
To draw these charts: ω3(1); vAA3(1); v5(1); v5(xD).
 4

1.2.2. The acceleration field

A.
a Ax  12  OA x  1  OA y  12  OA x
aA  12  OA  1  OA   2 2
a Ay  1  OA y  1  OA x  1  OA y
t C a
a A  a A 3  a AA3  a AA3  32  BA   3  BA  AA3  BA  23  v AA3 
L BA
 2 a AA3 v AA3
a Ax  3  BA x   3  BA y  L BA x  23  L BA y

BA BA 
a v
a Ay  32  BA y   3  BA x  AA3 BA y  23  AA3 BA x
 L BA L BA
 BA x BA y
 a AA3  a Ax  a Ay  L BA  32
 L BA L BA

  1  BA x a  y a  2  v   
BA
L BA  L BA
3 Ay Ax 3 AA3  2
 L BA 
C.
a Cx  32  BC x   3  BC y
aC  32  BC   3  BC   2
a Cy  3  BC y   3  BC x
D.
 a Dx  a Cx   24  CD x   4  CD y
aD  a C   24  CD   4  CD   2 
a Dy  a Cy   4  CD y   4  CD x  0
24  CD y  a Cy CD y
4  ; a Dx  a Cx   24  CD x  (24  CD y  a Cy )
CD x CD x

Pos aAx aAy 2  3 aAA3 aCx aCy 4 aDx

0
30
60
…
360

To draw these charts: 3(1); aAA3(1); aDx(1).

Chapter 2 - Dynamics analysis

 5
2.1. Determining the reduced inertia moment (J ), the reduced motor *
1

moment (M ) and the variation of kinetic energy (ΔE)

*
1

J 1* [kg.m2]
2 2
5  Vcj  5  
The general equation is : J1*   mj    J cj  j 
  
j1  1  j1  1
where
mj = element j  mass;
vcj = element j center mass velocity ;
Jcj = the inertia moment of element j ;
j = the angular velocity of element j.
For the mechanical structure, the expression of J1* , becomes :
2 2 2 2 2 2 2
V  V  V  V  V     
J1*  m1  c1   m 2  c 2   m 3  c3   m 4  c 4   m 5  c5   J c1  J c3  3   J c 4  4 
 1   1   1   1   1   1   1 
m1l12 m 3 l 32 m 4 l 24
Jc1 = ; Jc3 = ; Jc4 = ;
12 12 12
vc1 = 0,5vA; vc2 = vA; vc3 = 0,5vC; Vc4 = 0,5  v C  v D  ; vC5=vD;
2 = 3

M 1* [N.m]
a) for the active phase of motion (vD  0):
  m1v C1y  m 2 v C 2 y  m 3 v C3 y  m 4 v C 4 y  where :
F5u V5 g
M1* 
1 1
vC1y = 0,5vAy
vC2y = vAy
vC3y = 0,5vCy
vC4y = 0,5  v Cy 

b) for the passive phase of motion (vD>0):

M1*  
g
1

m1v C1y  m 2 v C 2 y  m 3 v C3 y  m 4 v C 4 y 
c) the medium reduced moment is :
1 12 *
M1*med   M1 j
12 j 1

ΔE  [J]
The kinetic energy variation is :


E   M1*med  M1* d 
0

We perform a numerical calculus of variation of energy  and we get the following

recursive equation :
 6

 1
E j  E j1   M1*med  M1*j 1  M1*j 
2



 6
We assume that E 0  0

1 J1* M1* M1*med E

0 0
30
60
…
360 0
To draw these charts: J1*(1); E(1); M1*(1)+M*1med.
Variatia lui Ej in functie de f1

Variatia lui J1* in functie de f1 4500

7 4000

3500
6
3000
5
2500
4
J1* 2000 DE
3 1500

2 1000

500
1
0
0 0 50 100 150 200 250 300 350 400
0 50 100 150 200 250 300 350 400 -500

Variatia lui M1* si a lui M1med* in functie de f1

2000

1000

M1*
-1000
M1*med

-2000

-3000

-4000

2.2. Choosing the electrical motor and the speed reducer

1. We determine the necessary mechanical power:

P1 = M 1*med · ω1
2. We choose an electrical motor (from Annexe) having the mechanical power greater
that the necessary one
Pn > P1 => Pn
4. We extract from tables the following characteristics of the electrical motor :

Motor type ns Pn nn Mmax/Mn GD2 i

 7
2
(rot/min) (kW) (rot/min) (N·m )

nn
4. We calculate the necessary ratio : i = n
1

5. The mechanical efficiency of the velocity gear is ηR = 0,931

6. The necessary mechanical power is :
P1
P0   Pn
R
7. We determine the synchronism angular velocity :
  ns
ωs =
30
8. We determine the nominal angular velocity :
nn
ωn =
30
9. We determine the nominal specific sliding :
s  n
sn = s
10. We calculate the nominal moment :
Pn
Mn = 
n
11. We calculate the overcharge coefficient :
M max
λ= M 2
m

12. We determine the critical specific sliding :


sk = sn·   2  1 

2.3. The calculus of flywheel inertia moment

For the calculus of flywheel inertia moment we use a graphical-analytical method

based on the diagram ΔEc(ΔJ*). We choose convenient scale for kinetic energy and for
reduced inertia moment:
E c real
Kinetic energy: E   5 [ J / mm]
E c desen
J
Reduced inertia moment:  J  J
real
 0,03[kg  m 2 / mm]
desen

We calculate the angles: αmin and αmax:

  
 min  arctg  J  12 1    
2  E 
 J 
 max  arctg   1 2 1    
 2  E 
 8
We draw the tangents to the diagram, (the angles between these lines and Ox axis
are αmin and αmax ). We determine the intersection points with Oy axis (A and B). We
   AB 
determine the length of AB in mm and we calculate: J v nec  tg  tg
J

max min

Jv=Jv nec – J1r*

2
 GD 2   nn 
Where: J  
*
1r       R
 8  g   n1 

Chapter 5
The analysis of motion at the input state

We study the angular velocity and acceleration variations from the start to the
working phase:

We calculate the total reduced inertia moment:

Jt*=Jv nec + J1*

In order to integrate the motion equation we use the following equations:

2 M maxi  R
*
M mj 
s j sk

sk s j
j=iteration ratio
2  M max  i   R  sk
M m* 0  2
1  sk
for j=0 =>
  M m* 0  M 10* 
0 
6  J t*0
*
( M mj  M 1*j )   3  J tj*  J tj*1
 j 1    j
6   j  J tj* 2  J tj*
 s  i   j 1
s j 1 
s
 j
 j  j 1  j

2 
  
12 6
 9
w e
9 1

8 0.8

7 0.6
6 0.4
5
omega 0.2
4 epsilon
0
3 0 20 40 60 80 100 120
-0.2
2
-0.4
1
-0.6
0
0 20 40 60 80 100 120 -0.8