Obliczenia w programie MathCAD

a_ = −

a_ := − εl_⋅ _⋅sin

( )

α_ −l_⋅

( )

ω_ ⋅cos

( )

α_ −l_⋅ε_⋅sin

( )

α_ −l_⋅

( )

ω_ ⋅cos

( )

α_ ε =  ε − εl⋅ ⋅cos

( )

α l

( )

ω  ⋅ ⋅sin

( )

α +





+l⋅

( )

ω ⋅sin

( )

α l_⋅cos

( )

α_ :=

:\]QDF]HQLHSU]\VSLHV]HRJQLZPHchanizmu

V_ =  V_ := − ωl_⋅ _⋅sin

( )

α_ −l_⋅ω_⋅sin

( )

α_ ω =  ω − ωl⋅ ⋅cos

( )

α l_⋅cos

( )

α_ :=

:\]QDF]HQLHSUGNRFLRJQLZPHFKDQizmu

α =  deg

α := angle cos

(

α2_,sinα2_

)

cosα2_ s−l⋅cos

( )

α l_ := sinα2_ −l⋅sin

( )

α l_ := l_⋅sin

( )

α_ +l_⋅sin

( )

α_  s_ =  s_ = − s_  l⋅ ⋅cos

( )

α + ∆  := s31  l⋅ ⋅cos

( )

α − ∆  := ∆ :=

(

−⋅l_⋅cos

( )

α_

)

 −⋅



( )

l_  −

( )

l_ 



ε := − ω := − α :=  deg⋅ l_ :=  l_ := 0.12

.,1(0$7<.$

aS3y =  aS3x = − aS3y:=  aS3x:= a_

3UGNRüLSU]\VSLHV]HQLH URGNDPDV\RJQLZD

aS2y = − aS2x = −

aS2y l_⋅ε_⋅cos

( )

α_ −l_⋅

( )

ω_ ⋅sin

( )

α_ l

 ε⋅cos

( )

α

( )

ω  sin

( )

α_ ⋅ −





⋅ + :=

aS2x − εl_⋅ _⋅sin

( )

α_ −l_⋅

( )

ω_ ⋅cos

( )

α_ l

 ε⋅sin

( )

α

( )

ω  cos

( )

α_ ⋅ +





⋅ − := VS2y = − VS2x = 

VS2y l_⋅ω_⋅cos

( )

α_ l⋅ω⋅cos

( )

α  + := VS2x − ωl_⋅ _⋅sin

( )

α_ l⋅ω⋅sin

( )

α  − :=

3UGNRüLSU]\VSLHV]HQLH URGNDPDV\RJQLZD

aS1y = − aS1x = − aS1y l  ε⋅cos

( )

α

( )

ω  sin

( )

α_ ⋅ −





⋅ := aS1x −l  ε⋅sin

( )

α

( )

ω  cos

( )

α_ ⋅ +





⋅ := VS1y = − VS1x =  VS1y l⋅ω⋅cos

( )

α  := VS1x − ωl⋅ ⋅sin

( )

α  :=

3UGNRüLSU]\VSLHV]HQLH URGNDPDV\RJQLZD

Pbx2 =  Pby2 = 

Pbx3 := −aS3x⋅m Pby3 := −aS3y⋅m

Pbx3 =  Pby3 = 

F:= −

rxBS := l⋅cos_

( )

α ryBS := l⋅sin_

( )

α rxBS =  ryBS = − rxBC:= l⋅cos

( )

α ryBC := l⋅sin

( )

α rxBC =  ryBC = −

rxBS := l⋅cos

(

_ +α

)

ryBS := l⋅sin

(

_ +α

)

rxBS = − ryBS = −

rxBA := l⋅cos

(

+α

)

ryBA := l⋅sin

(

+α

)

rxBA = − ryBA = −

.,1(7267$7<.$

m :=  m :=  m :=  g:=  J :=  J :=  G := −g⋅m G := −g⋅m G := −g⋅m G = − G = − G = − Mb1 := −ε⋅J Mb2 := −ε⋅J Mb1 =  Mb2 = −

Pbx1 := −aS1x⋅m Pby1 := −aS1y⋅m

Pbx1 =  Pby1 = 

Mnap =  Mnap M1+M2

ω :=

M2:= −



(

Pbx_

)

⋅VS1x+

(

Pby_+G_

)

⋅VS1y+



(

Pbx_

)

⋅VS2x+

(

Pby_ +G_

)

⋅VS2y



+

(

Pbx_

)

⋅V_



M1:= −

(

F V⋅ _+Mb_⋅ω_+Mb_⋅ω_

)

WYZNACZENIE MOMENTU NAPEDOWGO M

n

W OPARCIU O BILANS

MOCY MECHANIZMU

Find Rx23 Ry23( , ,R43,Rx12,Ry12,Rx41,Ry41,Mn)

  −   −   −  













































=

Mb_ +rxBS_⋅

(

Pby_+G_

)

−ryBS_⋅

(

Pbx_

)

+rxBA Ry41⋅( )−ryBA Rx41⋅( ) +Mn  Ry12

− +Ry41+Pby1+G 

Rx12

− +Rx41+Pbx1 

Mb_ +rxBS_⋅

(

Pby_+G_

)

−ryBS_⋅

(

Pbx_

)

+rxBC⋅(−Ry23)−ryBC⋅(−Rx23)  Ry23 − +Ry12+Pby_+G_  Rx23 − +Rx12+Pbx_  Ry23+G_+R43  Rx23+Pbx_+F  Given Mn:=  Ry12 :=  Ry41 :=  Rx41:=  Rx12:=  R43 :=  Ry23 :=  Rx23:=