MAKİNA TEORİSİ - UYGULAMA 2

Prof. Dr. Özgür TURHAN – Araş. Gör. S. Aycan YETİM 06.03.2023

Problem 1: Şekildeki mekanizmada sayısal yoldan kinematik çözümleme yapmak amacıyla;

a) Kısıt denklemlerini elde edip gerekli matris ve vektörleri belirleyerek hız ve ivme
çözümlemesi problemlerini formule ediniz,
b) Konum, hız ve ivme çözümlemesi problemlerini bir bilgisayar programında
çözdürünüz.

r11=0.1 m , r12=0.2 m , r13=0.3 m , r2=0.05 m , r3=0.3 m , r41= r42=0.2 m , r5=0.15 m ,

=/9 rad , q = 0.2 rad/s , q = 0

Çevrim kapama denklemleri;


Vektörel çevrim kapama denklemleri Skaler çevrim kapama denklemleri

r2 + r3 − r11 − r12 − r5 − r41 = 0  r2 cos ( q ) + r3 cos ( s3 ) − r12 − r5 cos ( s5 ) − r41 cos ( s4 ) = 0


 r2 sin ( q ) + r3 sin ( s3 ) + r11 − r5 sin ( s5 ) − r41 sin ( s4 ) = 0

r2 + r3 + r42 − r13 − s6 = 0  r2 cos ( q ) + r3 cos ( s3 ) + r42 cos( s4 + 2 ) − s6 = 0

 r2 sin ( q ) + r3 sin ( s3 ) + r42 sin( s4 + 2 ) − r13 = 0


1
Kısıt denklemleri;

f1 ( q, s3 , s4, s5 , s6 ) = r2 cos ( q ) + r3 cos ( s3 ) − r12 − r5 cos ( s5 ) − r41 cos ( s4 ) = 0

f 2 ( q, s3 , s4, s5 , s6 ) = r2 sin ( q ) + r3 sin ( s3 ) + r11 − r5 sin ( s5 ) − r41 sin ( s4 ) = 0
f 3 ( q, s3 , s4, s5 , s6 ) = r2 cos ( q ) + r3 cos ( s3 ) + r42 cos( s4 + 2 ) − s6 = 0
f 4 ( q, s3 , s4, s5 , s6 ) = r2 sin ( q ) + r3 sin ( s3 ) + r42 sin( s4 + 2 ) − r13 = 0

Hız çözümlemesi: J s = − f   q

− r3 sin ( s3 ) r41 sin ( s4 ) r5 sin ( s5 ) 0 − r2 sin ( q )   s3 

    s 
r cos ( s3 ) − r41 cos ( s4 ) − r5 cos ( s5 ) 0  f  r2 cos ( q )   
J = 3 , f= = , s =  4
 − r3 sin ( s3 ) −r42 sin( s4 + 2 ) −1 q  − r2 sin ( q ) 

0
  s5 
 r3 cos ( s3 ) r42 cos( s4 + 2 ) 0 0   r2 cos ( q ) 
   s6 

− r3 sin ( s3 ) r41 sin ( s4 ) r5 sin ( s5 ) 0   s3  −r2 sin ( q ) 

    
r cos ( s3 ) −r41 cos ( s4 ) −r5 cos ( s5 ) 0   s4   r2 cos ( q ) 
  3   = −  q
 − r3 sin ( s3 ) − r42 sin( s4 + 2 ) 0 −1  s5  − r2 sin ( q ) 
  
 r3 cos ( s3 ) r42 cos( s4 + 2 ) 0 0  
 s6   r2 cos ( q ) 
 

dJ df 
İvme çözümlemesi: J s = − s −  q − f  q
dt dt
− r3 cos ( s3 ) s3 r41 cos ( s4 ) s4 r5 cos ( s5 ) s5 0 − r2 cos ( q )   s3 
    s 
dJ  − r3 sin ( s3 ) s3 r41 sin ( s4 ) s4 r5 sin ( s5 ) s5 0  df   − r2 sin ( q )   
= , =  q, s =  4
dt  − r3 cos ( s3 ) s3 − r42 cos( s4 + 2 ) s4 0 0  dt  − r2 cos ( q )   s5 
 
 − r3 sin ( s3 ) s3 − r42 sin( s4 + 2 ) s4 0 0   − r2 sin ( q ) 
   s6 

− r3 sin ( s3 ) r41 sin ( s4 ) r5 sin ( s5 ) 0   s3 

 
 r3 cos ( s3 ) − r41 cos ( s4 ) −r5 cos ( s5 ) 0   s4 
  =
 − r3 sin ( s3 ) −r42 sin( s4 + 2 ) 0 −1  s5 
 
 r3 cos ( s3 ) r42 cos( s4 + 2 ) 0 0   s6 

 − r3 cos ( s3 ) s3 r41 cos ( s4 ) s4 r5 cos ( s5 ) s5 0   s3  − r2 cos ( q )  − r2 sin ( q ) 

      
− r sin ( s3 ) s3 r41 sin ( s4 ) s4 r5 sin ( s5 ) s5 0   s4   −r2 sin ( q )  2  r2 cos ( q ) 
− 3  −  q − q
 − r3 cos ( s3 ) s3 −r42 cos( s4 + 2 ) s4 0 0   s5  −r2 cos ( q )  −r2 sin ( q ) 
  
 − r3 sin ( s3 ) s3 −r42 sin( s4 + 2 ) s4 0 0   s6   −r2 sin ( q )   r2 cos ( q ) 
 