LECTURE3-12.pptVIP

Chapter 3 Kinematic Analysis of Mechanisms3.1 Tasks and Methods of Kinematic Analysis 3.1.2 Methods： All kinematics dimensions(LAD、LAB、LBC、LDC、LDE、?CDE、LEF) are known. Draw the kinematic diagram of the mechanism when ?1=80?. (1)Locate A and D according to LAD. (2)Locate B according to LAB and ?1 (3)Draw two arcs with the points B and D as the centres and LBC and LDC as the radii(半径复数). The intersection(交点) of the two arcs is point C. (4) Locate point E according to LDE and ?CDE. (5)Draw an arc with the point E as the centre and LEF as the radius(半径). The intersection of the arc and the horizontal pathway(导路) is point F. * (a)Position:to determine whether all links will interfere(干涉) with each other,to find locus(轨迹) (b)Velocity: to calculate the stored kinetic energy(动能) or power(功率) P. (c ) Acc.：To calculate the dynamic（动态的） forces, 3.1.1 Tasks: to find position、velocity、and acceleration(加速度) of driven links according to input parameters(参数) of driving link(s) and kinematics dimensions (尺寸)of all links. （1）Graphical method(图解法) （2）Analytical(解析的) method （3）Experimental(实验) method* (a) Geometrical(几何学的) method for  position (b) Instant(瞬时的) centre method for  velocity* (c) Vector(矢量) equation method* (a) Closed-loop method* (b) Assur group method