.
1 :
1 ( );
2 ;
3
4 -
5 ,
n = 5 .
: 16,12, 24, 23,D36,45 ;
56-
5 = 7,
4 = 0.
: W = 3n 2P5 P4 (1)
5 5- ;
4 4- ,
:
W = 3*5 2*7 0 = 1
W=1 , .
1.2 , :
II . II II .
:
I (1; 6) II (2; 3) II (4;5)
2. - :
.
1:
-1, (2)
/. (3)
V
(4)
V
(5)
(6)
VE
(7)
, .
V,
V
(8)
.
:
1.-
V | VC | VD | VEC | VE | |
1,256 | 2,44 | 0.075 | |||
1,256 | 1,86 | 0.78 | 0.17 | 0.8 | |
1,256 | 0.78 | 0.55 | 0.17 | 0.60 | |
1,256 | 0.1 | 1.36 | 0.17 | 1.4 | |
1,256 | 0.6 | 1.5 | 0.25 | 1.46 | |
1,256 | 0.93 | 1.4 | 0.5 | 1.1 | |
1,256 | 1,13 | 0.55 | 0.75 | ||
1,256 | 1.4 | 0.68 | 0.38 | 0.4 | |
1,256 | 1.33 | 0.12 | 0.075 | 0.1 | |
1,256 | 0.9 | 0.45 | 0.3 | 0.3 | |
1,256 | 0.17 | 1.2 | 0.63 | 0.88 | |
1,256 | 1.3 | 0.75 | 1.7 |
(9)
2.- :
12,56 | 5.3 | 0.07 | ||
12,56 | 2.4 | 0.15 | ||
12,56 | 1.7 | 1.6 | 0.07 | |
12,56 | 0.2 | 4.1 | 0.15 | |
12,56 | 1.3 | 4.54 | 0.23 | |
12,56 | 4.24 | 0.45 | ||
12,56 | 2.50 | 0.5 | ||
12,56 | 0.35 | |||
12,56 | 2.9 | 0.36 | 0.07 | |
12,56 | 1.9 | 1.36 | 0.27 | |
12,56 | 0.37 | 3.6 | 0.57 | |
12,56 | 2.9 | 0.68 |
2.2 2 4:
(10)
(11)
(12)
3.- 2 4.
|
|
VS2 | 1.2 | 0.50 | 0.2 | 1.3 | 1.4 | 1.25 | 0.9 | 0.75 | 0.6 | 0.55 | 1.25 | 1.7 |
VS4 | 1.60 | 0.60 | 0.88 | 0.89 | 0.74 | 0.49 | 0.21 | 0.11 | 0.51 | 0.98 | 1.30 | 0.89 |
4.- 2 4.
5.2 | 5.6 | 6.1 | 5.4 | 3.2 | 2.6 | 2.4 | 5.4 | 7.4 | ||||
3.6 | 1.4 | 2.7 | 2.7 | 2.2 | 1.6 | 0.9 | 0.2 | 0.33 | 1.8 | 3.5 |
.
B
(13)
C
(14)
(15)
(16)
(17)
E
(18)
(19)
(20)
.
(21)
:
5-
16.3 | 14.5 | 10.3 | 6.2 | 7.8 | 0.6 | 3.7 | 11.5 | 19.3 | ||||
18.8 | 1.5 | 6.8 | 14.6 | |||||||||
12.56 | 6.28 | 2.5 | 6.3 | 7.2 | 2.5 | 13.4 | 8.4 | 3.11 | ||||
42.7 | 18.8 | 11.3 | 6.5 | 8.8 | 6.8 | 1.24 | 13.6 | 18.6 | 4.6 | |||
45.8 | 18.8 | 6.5 | 4.3 | 7.7 | 8.7 |
(22)
6-
13.5 | 1.3 | |||||||||||
4.5 | ||||||||||||
11.5 | 5.7 | 2.3 | 5.7 | 6.5 | 5.4 | 2.3 | 4.5 | 12.5 | 7.4 | 2.8 |
2 4.
.
:
(23) (24)
(25)
7.- 2 4.
aS2 | 15.7 | 10.5 | 10.2 | 12.4 | 10.9 | |||||||
aS4 | 3.1 | 7.5 | 5.2 | 9.9 | 9.3 | 9.3 | 12.4 |
(24)
8.- 2 4.
7.5 | 1.5 | 2.5 | 4.4 | 4.3 | 4.6 | 1.4 |
( )
|
|
:
l1+ l2 +l3= l0 (20)
l3+ l4= l5+ l6 (21)
(20) :
l1 cos j1+ l2 cos j2+ l3 cos j3= l0 cos j0 (22)
l1 sin j1 + l2 sin j2+ l3 sin j3 = l0 sin j0
(21) :
l3 cos j3+ l4 cos j4= l6 (23)
l3 sin j3+ l4 sin j4= l5
l3 sin j3= l5- l4 sin j4
.
:
u= w1∙ l1 (24)
w1 = (2 p n) / 30 (25)
w1 = (2∙ 3,14 ∙120) / 30= 12.56 -1
u = 12,56∙ 0,1 = 1.256 /
: u = (dl3 /dj1) w1 (26)
w2 = (dj2 /dj1) w1, (27)
dl2/dj1 ;
dj2/dj1 .
(22) (23).
dj1:
- l1 sinj1- l2 sinj2(dj2 /dj1)- l3 sinj3(dj3 /dj1)= -dl0 sinj0/dj1 (28)
l1 cosj1 + l2 cosj2(dj2 /dj1)+ l3 cosj3(dj3/dj1)= dl0 cosj0/dj1
:
- l3 sinj3(dj3 /dj1)- l4 sinj4= -dl6 /dj1 (29)
l3 cosj3(dj3 /dj1)+ l4 cosj4= 0
dj3 /dj1- w3 d l6 /dj1 Ve
d l6 /dj1 =l3sinj3(dj2 /dj1)+ l4 sinj4(dj2 /dj1) (30)
dj3 /dj1 =l4 cosj4 / l3 cosj3
() .
60 :
j1= 60, j2= 35, j0= 14,j3=75,j4=21
dj2 /dj1= 1,89
d l6 /dj1 = 0,634
:
XS2 = l1 cos j1 + l2/2cos j2 (31)
YS2 = l1 sin j1 + l2/2 sin j2
dXS2/dj1 dYS2/dj1 (31) :
dXS2/dj1 = - l1sin j1 + l2/2 sin j1(dj2/dj1) (32)
dYS2/dj1 = l1 cos j1 + l2/2 cos j2 (dj2/dj1)
X Y :
uXS2 = (dXS2/dj1) w1 (33)
uYS2 = (dYS2/dj2) w1
S2 :
uS2 = (uXS2)2 + (uYS2)2 (34)
uS2 = 0.97 /
uS2 :
cs ax = uXS2/uS2 (35)
a = arccos (uXS2/uS2)
:
XS4 = l3 cos j3 + l4/2cos j4 (36)
YS4 = l3 sin j3 + l4/2 sin j4
dXS4/dj1 dYS4/dj1 (31) :
dXS4/dj1 = - l3sin j3(dj3/dj1)+ l4/2 sin j4 (37)
dYS4/dj1 = l3 cos j3(dj3/dj1) + l4/2 cos j4
X Y :
uXS4 = (dXS4/dj1) w1 (38)
uYS4= (dYS4/dj1) w1
S2 :
uS4 = (uXS2)2 + (uYS2)2 (39)
uS4 = 0.63 /
(28) (29)
dj2 /dj1= U21 = w2 /w1 ;
d l5 /dj1= Ve
- l1 sinj1- l2 sinj2U21- l3 sinj3U31= V (40)
l1 cosj1 + l2 cosj2 U21+ l3 cosj3U31= V
- l3 sinj3 U31- l4 sinj4= V (41)
L3 cosj3 U31 + l4 cosj4 = 0
(44) (45) dj1:
- l1 cos j1- l2 cos j2U221 l3(dU31/ dj1)= V/ dj1 (42)
- l1 sin j1 + l2 U221 sin j2+ l3(dU31/ dj1) cosj3 =0
- l3 cos j3 U231- l4 cos j4 = V/ dj1 (43)
l 3 sin j3 U231 + l4 sin j4 = 0
dU31/ dj1 =1.023
Ve/ dj1 = 1.0507
ae =(Ve/ dj1) w1 =15/2
e3= (dU31/ dj 1) w21=12 / c-1
9.
j1 | |||||||||||||||||||||||
j2 | |||||||||||||||||||||||
j3 | |||||||||||||||||||||||
j0 | |||||||||||||||||||||||
dj2 dj1 | 5.09 | 0.4 | 1.89 | 0.32 | 1.24 | 2.09 | 2.78 | 3.21 | 3.56 | 0.46 | 2.05 | 4.03 | |||||||||||
dj3 dj1 | 3.79 | 3.56 | 1.96 | 4.03 | 3.15 | 3.96 | 2.03 | 1.42 | 0.54 | 3.68 | 5.6 | 5.88 | |||||||||||
dj4 dj1 | 0.05 | 1.43 | 0.14 | 0.35 | 0.23 | 0.43 | 0.45 | 0.67 | 0.15 | 0.47 | 0.35 | 0.1 | |||||||||||
XS2 | 0.134 | 0,153 | 0,198 | 0,316 | 0,362 | 0,407 | 0,446 | 0,477 | 0,496 | 0,503 | 0,446 | 0,316 | |||||||||||
YS2 | 0.07 | 0.06 | 0,062 | 0.054 | 0.06 | 0.053 | 0.042 | 0.058 | 0.067 | 0.083 | 0.84 | 0.93 | |||||||||||
dl6 dj1 | 1.25 | 1.13 | 0.67 | 1.24 | 1.18 | 0.87 | 0.64 | 0.34 | 0.58 | 1.05 | 1.47 | 1.96 | |||||||||||
uXS2 | 0.25 | 1,943 | 1,94 | 1,806 | 1,529 | 1,058 | 0,552 | 0.78 | 1,53 | 1,94 | 1,27 | 1.35 | |||||||||||
uYS2 | 0.68 | 1,012 | 0,817 | 0,253 | 0,001 | 0,28 | 0,55 | 0,79 | 0,94 | 1,01 | 0,55 | 0,253 | |||||||||||
uS2 | 1.1 | 0.3 | 0.2 | 1.3 | 1.6 | 1.3 | 0.9 | 0.73 | 0.5 | 0.7 | 1.5 | ||||||||||||
uS4 | 1.8 | 0.7 | 0.5 | 1.2 | 1.3 | 0.8 | 0.2 | 0.1 | 0.3 | 1.3 | 1.8 | ||||||||||||
|
|
3. :
3.1 :
uS2, uE, G2, G5, cos(G4^uS2), cos(G5^uE), uS4, G4, cos(G4^uS2)
G2 = m2∙g =18∙9,8= 176,4. (45)
G4 = m4∙g = 90∙9,8= 882. (46)
G5 = m5∙g =350∙9,8= 3430. (47)
:
M.. = å Fi (uSi/w1) cos (Fi^uSi), (48)
. ;
uSi Si;
Fi , i- ;
Fi^uSi Fi uSi.
= =(j1), . .
:
(j1) = (GS2∙uS2∙cos(GS2^uS2) + GS4∙uS4∙cos(GS4^uS4) + G5∙uE∙cos(G5^uE)+ +F∙uE∙cos(F^uE)) /w1 (49)
(j1) , F j1 (90180), u F (.. cos(F^uB) = -1).
(j1) , cos(G5^uE) = 0.
0, 1, 8, 9,10,11,12:
(j1) = (GS2∙uS2∙cos(GS2^uS2) + GS4∙uS4∙cos(GS4^uS4) + G5∙uE∙cos(G5^uE)) /w1 (50)
(2, 3, 4, 5, 6,7):
(j1) = (GS2∙uS2∙cos(GS2^uS2) + GS4∙uS4∙cos(GS4^uS4) + G5∙uE∙cos(G5^uE)) /w1 - F∙uE∙cos (51)
(j1) ( 14).
= max/y m =0,56 H /
10.
-21 | -13 | -27 | -55 | -56 | -30 | -32,5 | -9,8 | 0,16 |
3.2 :
..(j1) = ò (j1)dj1 (52)
:
..1 = Dj1-0∙(0 + 1)/2 (53)
..2 = Dj2-1(1 + 2)/2 + ..1 (54)
|
|
, , , ( 12). , ,
= ò (j1)dj , ..(j1):
= ..·Δφ/2π (55)
3.3 :
(j1) :
= .. (56)
, :
1 = Jwmax2/2 (57)
2 = Jwmin2/2 (58)
wmax = w1 (1 + d/2) (59)
wmin = w1 (1 - d/2) (60)
3.4 :
uS2, uS4, w2, w4, uE.
:
J = å mi (uSi/w1)2 + å JSi (wi/w1)2, (61)
uSi i- ;
mi i- ;
JSi i- ;
wi - i- ;
w1 1.
, J ( ) :
J(j1) = (m2∙uS22)/w12 +(m4∙uS42)/w12 + (JS2∙w22)/w12 +(JS4∙w42)/w12 +(m2∙uE2)/w12 (62)
(62) J ( 13).
J =Jmax/ yJ=0.114 (*2 /)
11. -
J | 11,4 | 1,8 | 5,8 | 5,94 | 3,792 | 1,86 | 0,595 | 0,086 | 0,278 | 2,5 | 8,85 |
3 .5 .
, , .
D = D(J). D = D(j) J = J(j1). j1 .
:
tg£max=(m/2T) ∙w12 (1+d) (63)
tg£min=(m/2T) ∙w12 (1-d) (64)
:
h=76
J =h∙ T /d∙w12 (65)
J =30 ∙2
m=4∙ J/ (4∙ l1) 2 (66)
: m=1000 u