c) Fo,. l,;,k f .. .s inpf4.T J c.(se. el"G.I,-o", *3 -IS e~ It - c.os-r. z 789't"., 5""18') -= /,.

Z G, 113 • 80

ler/of = /13. 8' 0 - ~~~_~_~ __ =~7._' °.1 p_

lF~P3-2)

3. z,(110 So ,. JO = I""4i ) /loll-=-:-,., ) Ile :: s - ".s- J 13013 -.I = 1"3

,'1) GrtJ..s~(J.f .( -I S ) ,.. ".t => ~4 I, Ie ".Dcl(e". e)'J>~ t.'~~k z -+4.5 1i?~IA.i-J ","SC: e.z(.(o..f./on 3-IS

~ 1, - ,",=,$ '(-~2.5'3 - 0.975"), a ..J. - J .. _ '\ "'.. I I ,\ . - • "

C()$-I"1J.7/fj 11:: "Il'=e." . U:J -'(-I.2.)I3},'s nlll val'd. ~j ~.,s- /1.,,/ &lJJ r u.,.JI /Jr -~

,t. ,.~ ~

..,.... - . 10" 1J. ~6D" " .. .3/,/6 8.- {lo#f - e. ,-2-72'

I. e. , tlUftlDt ruch I(S (J • .... Ii "'~" = ~ - 4 = c; A I - -, Mf~ 11",,1'1 -

C) Fo~ ('nk ¥'l$ ""I"'~-I:-) CASe e_tkA.-6i:Jh 3-1£

~ ~k ~ cos-' (-0.11 ~ I.O~)_,(l1ut t-/'JJ :: ?~ 0 ~-¥;'t '= :t ?~O .. /7Z 0

3.3 t:l) F;,~ l,·" K L ~s I"ntoU-t

V"6Ui I{

J·llA la,

i

27

3. ~ /3) For (.,"nk 9 AS /n/,,,-t ~ {,ora « ~ 'I

F,i" 1"3-' 'I i s "oS one. ocst,-ut.

•

rJ' (fA""$ici:~ 3eo.rasJ i/,v, ~~. ~/c bc-l'ween to be. COlIs;qel'"ed.

Var.

110 ,F". P3-3

3. t' A) Fo ... {/"k 2. ctS ,;,pu't' f (;nl( S AS OU tpv-t

link lJ rcsta.tes 4!:tout tHt., 's JOoi"t "'''ItI01tarJ'!:I

=It Con.,ot..,. £,,,k a

•

8) Fora C"k S '8 ;,,!Obi

t. t.; It l. cu' 0 (J tpu-i-

I

I

3. S J9) Fa,. {,n~ 2. Q.6 ,"r,Jllui- f {,nJr

'Ie, "

1=:;_ P3-7

, 4.s oo-t~ utVDG

........ ~J"

28

B)

F,) .. P:s-' 6) For Ls;« , AS

I S":;aF5+

Pi.,. ,o~ - ~

F!_g: P- J.B __ . '

I

29

3.7

INpuT

At ~dl'nt 11:

"-lae .fYb..t'J6Y77/·$~"O'" o..na1e.

Go -I: ~'." -I ~ ,'t. ck/:'necl Joy con ue,,-i ;0"1 which S-iA-/es -//'A~ ';"C irQJ'l(imls&~o", Q?Jle

is e.1lJ..A..{ -lo 'OD_ c/eoia...l:iO'1 D.n3_ Ie . lI~e t-/'t! rd~·l]e.

u~/ot~l:y 01 iAe c.nu,o/~'"

is aion: 1:~t:. c/,Trcdiora o-P

~e s-6,..-t-,·c.,. -force.

-rJ, is l~ co.. ~ctG.. { C~Se. becQ.Llse tJ,e l"rtpU. -i is 0P1 -I~e Cot.yoler.

30

3. S OM.e. ...... s4 ~t. \It", c ... ttt..1 w"'~ Jt.~:"'ill\ .• I"j .. ,,- """J. M ... lr: ..... "'" ~Q.s ....... sJ,..'"

.or cluc.,.:"rJ ~ f"']t. 1'2.0. Tl~ s*' .. \1 ...... I~ """ ... t c·-r1e.JC ~II\. I'~ -rt .. ,.s.

i~c. al i~~~+ ~.s".~ -+~,t.S """ ~",J.(tc:l. i ..... JI'~~""~+ ""'Ci\W\-'~. ~~, -fk~y c .. "" ~e. d:,,~AcJ i.,-h -fowl) c.ceh.~ 611'1e\ , Jt.r~~ uf"" -&.c.~"" k.1·"'~·(. I·"V~,.OW\. ",k~c.k ~, -16 ScL, ,,'Ow ~C.1 1.t.""'Y'~ ,,"clv- ~t ... ~."" s.u .. III! ld2.

C,..",,,- -~t>Lk.~"" o.,J. ("'a. .. Jc. - c ...... k.. I<I'",_~(. 1·IIIV~\I·."'~.

Tle..sc. ; .. ~t .. \ e ... ,,,'Ot- ,.Cae!... 5. Jf!.4!-c.&M~ p.":~"" Botl. ~ " .. #~t"~ '!..I2. q...l ~.I~ .,e. sc..-+l\ +t<t.l. ~h"~, dc.~U-;"I·"'·"'~ MAId-"'-' _J.. _I"';. .. ~_ ~..,.sIoMIU/ ..... c .. ~I~~ is Alo,," CI,. _ ... th,. &~ ...... t'1., .. j ~ elt+~ p.-:,i4-io,,"-. ",Ir..&... I·"r~-..J ~~ .. ~ t;",ls c.",. ... c.+r _"J. e.,,d.c....!cJ.. ... ~ c.e.",+,-",,~ rOJi.f.iot\. I Iol~ ''''rut cud. j".",.J 'illlc~ _t_ c..IIMt.4,. .-J. c.._~o.c~, o"":l' ~ q~ ~~ C.A"5C,s.

E,,,._1IlS 3.12. , .. J ~.IJ ..... c. s • .J.It+iecl:

,) eo"~c."'~l rG\'4-.-., a1 :0· ~)(..f.e.,J.~ f.~ -k~\ .l. :''0·

if ~f: < 7be

~E: V.A" ~ it PI ) .,()-

~MG.)I = ~tl

iF t'c. '> ~O· ~1II")c • ISO- - ~c

~~~r- C."d",k o.WlJ. e .. c.kb"" -12C)c$~ kl""~- .. ~ '·...,\I~~i."'~.

TI-a.!. .. i .. ".....-;.l.~~ CCI."- ~c.\.. .. d.cul-,~+c.r p.~'"o"" 0" e, 'Or Io~ .~ ~..,."'i.,,'i. 3,.12,. Q.'tcJ. 't.I'!. o."~ \If\ ..... Gl-H{.w~". AJ.~- ~~l~.\ fl'lrl~ .,..~ 4~ "!sf) a...\4ty scJ 1M.. +k M4~~ I.t..\, '-".

i~ Pc < 90·

¥ .... " = 10·

~ i' 'co ') 10·

'g ... ~ = 130·- Pc.

31

--

ETU.~.II\ s. I Z vi 01.*'-' .... .l S.I~ s ,+fs.w~ :

,~ 'e..( fO· ¥111\~~ ~E S... it ~E > 'fJ· ~fIle.)I': '0°

&ik etuc~i.\45 3.1'2. q,IIlJ.. '1·\3 vlol&4-~: ~._''''' -:: o· ... A k'II4G.K· 10·

~\ • r , •

,; N&N-~f'''S'''-.~ .fvolpk,.~: ~O."6· ,. k' __ • 0, ~c = "Il.H· 5~ ... It~ 0

,) C~~, rO~1- ~C""l\_: Fe-: Jt.t'1·:. V.jlll I fE.: ,,&. UI V .... x = '0·

cd t~ J.ock..v: ".t""- 1.12. , .. ~ '.1'1 "i.~+cJ. ~ .. ;,,& O· • r ..... 1( .70.

li-'.~ Gc.'"- S

I :iB}"

\(6 = S.,. 5 ~/.C(!., ~

eNS = 0.'2. n..I/$t:~ GO c.J '. w,,: I.B' ,.aJ/.... cef.c)

32

1.11

Cl) Fi9.1'3.16

'YA. If :-/0:.1

~"" t 2..i7j1~' ~&: ,.t.Si'Y!'./

)k :: '.03 V (' ---'--:"---

Y,'1A ~i' r,f D"f ~ c.(.w

~ = .lD' rS. ~C.w

21"h«

;p,.A:lS~ Y& s 1.1.7 "'t:/ ~':.!.,.,;~/

'-0)3 ':: • ", ~) cc.... '03'4 -= 1.072. 'i''l. ee w

:r .. Y""""" 0.) a. .. ,A 1.\ ilL ~_ i ... : ~\c"J_ !4 • ~k~ '"-'t . ~'''' !

~.. 'tA" ~r.JIr

w., .......... o.)~

...... a._, ~

C",,,",-4- ~c.. "1 .,_i4."' .... :'_~c..

r .. ~_-\- c.) V •

I :?/A IS ""_ool ... ,J ~C...J Y4

- .... - ~:owJ ") -w.... tal:n-·

(.) F is' 'P3.18 A .. ,e-'t .. .;__ .."..

'j,,= 3. '17 iy!> -

~: S.~'i"'~ ~= 2.,l.l.y,\ 'it=: S.1S ;ryl'

~":.I.~S7~cc.WC "'If ~ . .,1,1'4 c:c.w

Z,tY ..

I

0- il> G
'''''s t:uJ I ....... t. In.''' t I,,, .... 3
. " ';'Ci C(.w "lIl CI 11'_'" 1 1 lit It 'I
/.' ~ c:e.~ "'14'- !. '/~" ., 11 .. ItZ I{ -+lie; rro~lc...A. tf "iO\"~ .-t~~"'1 I tlt c.N'dG-H- WO",", I.e. u.d·, i2.cs~ ~ '''''u,es CJtt.. <.o,~-k~.f e~ eH..a.r.

-rl.", i.t ~ W4'tt' I c::~ •• k. ... ~ ..... ~ ....

Co liS'*'" "c..hJ. ~-. ~. Il .. _ .l :'.1I Is •

1I,,1c.. " i~ i ... t--1Ic.l """~~II\ ) """(0. ~u()

b~ ~~ ~~""- (.1c.l~. \ WI.~~~""'"

W.3 = f. 085 ~ CCW

w~ =a676'Z ccv

w, =O.'62~ccw

w,==O

33

34

3.15

(b)

(2, lI)

.

5'"/sec 1

b

35

3.1'(e) !,.,- -3 .. ..,t, £"A~Z+Oi;4"3+'t) t£= /.Sl-2i.., ,tOlE = =« £e./4~ 1",f)~.!~Ii.1a't;lo'U 'Fit::' -(,ZCf,J..707~, VA: lD+15i... As. ,,~.ql .... c.~~5i'vJit""~ "'.~~ q·b~",:

'i&. VA'" V6fA ~ (:'1...,.". + ~""'t L) -( Zr, "'t!L) +( ~ "'Zu.J3i). Sc=k~"I"'~j: w,: -5 ~ \ ~3~-/.r~. Vf ': (-Sl){1.~+2l): 10 -7.fi , 'lc. "'Vi+~ -<ZQ+l5lW-IS'i)lH~~~~?6i()C ft4~ we... e.." ~ • .1 \If> k, ~f"ti~ ~ ~ ~ fDl .... ~ C....l e: Vt>" 'IE." V~~ : \(c:_ ... v,,£.

~o, 'Vf:>= (to -7.Se:) + (:214>5 -/'S'w.rc:.)::. (zeH>i)t(O-ZW(,t). y~..,...,., .. ok-f\"a~ ~ ,.~,,~ \&-..J, -.k ~ -tl1C; "v~._ 's <o .. ~.:) s· '10/(- CL_J. ~c. -c.. r.~ 1-~. ~ ... ~, sl""t'1 ~l~ ~t~., '"",,",,~Qots\) ""1i~J.' ~~ -S'~ I ~=o I v;, -= 2tI +~i c. \Ie. . s..6 \If: O"Oi...

3.19 ~'I. VIS~ + V.,. 2. 3.1Q (a) COt'lt;/",cl.ed

fa) - - - .,

~z :r {Oaalw&.~ ~ ~c - (J. :J7S'

fr- .. _ ~'I,iJ. .t: •• '1- IIl.r ~

l'_"n.,7 ""3. ;'.J7S' + to • -.23.3 S~

P3.2..7)

~i=tI.SIJ*

V-._(D.SO) ( ~3.3) == 6." I'U.:

fJ"ll I.L 3.11$" ('/,12. $'\

Va'· 0.,. •• y .... -~. ~

ov

Ir."'~-·-~~ .. -i'-: -.-.-Z-S-,-~ /o-.:s-c-c;-}

36

0.& =- z'I

4..: = ~ ,,) /"/1,

Z;;i = 0

~c+ CA a8A

Df

. .-,

VB' = bfJJ" ~,,+ L w3B~

N ••

\/ - 13 17 "11.8 i"L c

).,8' - • e. /se

37

38

3.25 [b)

3.27(.{~ Fi!]. (a) P3.3S)

Ve

-

V E .. C 7. I I~" ...... Vc :. 43 ''}1~ \

"'~ :; 4$.8 r~ec (&MI)

40

! i I

I

(1/4) ;

oo~

(

3.2.7 (b)

Ov

lJ,=e3~ =~TIItIh 87.5IiBec.\

.Ycb ; li~ R7.5 :: 50 ff/sec--

CcJ't = ~~/13C =(50){i2)1%~/2.3"=2'1=

t:..W

41

Lt: Constructions for3.28{b)

LET A.A ;;< 32 mm

~~~~~~- -------~~~~~

l tJ.t=lJz(fU))jlf-2!i) =-22.~3rpm

43

3.:32 (~) Conflnued

(b) The IBN BAS/CA a/gor-/t.hm forihe comrlex-nvmber COWLI'U to.tions

fo/lows:. . .... ,\~

10 REM FBL DISPLACEMENT ANALYSIS (FILE FBLDISPL.BAS)

20 INPUT "GIVE LINK LENGTHS R1 - R6";R1,R2,R3,R4-,R5,R6

30 INPUT "GIVE BASE ANGLE IN DEGREES";THETA1DEG

laO INPUT "GIVE STARTING DRIVER ANGLE IN DEGREES"; THETA2DEG 50 PI = 3.14-1593

60 THETA1 = THETAlDEG * PI/l80 70 THETA2J = THETA2DEG * PI/180

80 INPUT "GIVE FIXED PIVOT COORDINATES"; AOX.AOY.BOX,BOY

90 LPRINT "Rl = flRl "R2 = "R2 "R3 = "R3 "R4 = "R,* "R5 = "R5 "R6 = "R6 100 LPRINT "THETAlDEG =,jTHETAIDEG", THETAl RADIANS ="THETAl

110 LPRINT "THETA2JDEG ="THETA2DEG", THETA2 RADIANS ="THETA2J 120 LPRINT "AOX ="AOX", AOY ="AOY", BOX ="BOX", BOY ="BOY

130 J=O

14-0 DELTHETA2DEG = 5

CtJIJTI/vVEI> ,,'" FA GE 36

44

150 160 170 180 190 200 210 220 230 240 250 260 270 280 290 300 310 320 330 340 350 360 370 380 390 400 410 420 430 440 450 460 470 480 490 500 510 520 530 540 550 560 570 580 590 600 610 620 630 640 650 655 656 657 658 659 660 661

3.32(b) Continu.ed

DELTHETA2 = DELTHETA2DEG * PI/180 LPRINT "DELTHETA2 ="DELTHETA2

AX = AOX + R2 * COS(THETA2J)

AY = AOY + R2 * SIN(THETA2J)

LPRINT "AX = II AX " , AY ="AY

DX = BOX - AX

DY = BOY - AY

D = SQR(DX~2 + DY~2)

LPRINT "DX ="DX", DY ="DY", D ="D THETAD = ATN(DY / DX) + PI THETADDEG :: THETAD * 180/PI

LPRINT "THETAD RADIANS ="THETAD" RADIANS" LPRINT "THETAD DEGREES ="THETADDEG" DEGREES" SIGNGAMMA = 1

COSDELTA = SIGNGAMMA * (R3~2 + D~2 - R4~2) / (2 * R3 * D) SINDELTA:: SIGNGAMMA * (SQR(l - COSDELTA~2»

TANDELTA = SINDELTA / COSDELTA

DELTA = ATN(TANDELTA)

LPRINT "DELTA IN RADIANS ="DELTA"RADIANS DELTADEG = DELTA * 180 / PI

LPRINT "DELTA IN DEGREES ="DELTADEG"DEGREES THETA3DEG :: -360 + DELTADEG + THETADDEG THETA3 :: THETA3DEG * PI / 180

LPRINT "THETA3 IN RADIANS ="THETA3"RADIANS LPRINT "THETA3 ::IITHETA3"RADIANS

LPRINT "THETA3 ="THETA3DEG"DEGREES

COSSIGMA = SIGNGAMMA * (R4~2 + D~2 -R3~2) / (2 * R4 * D) SINSIGMA :: SIGNGAMMA * (SQR(l - COSSIGMA"2»

TANSIGMA = SINSIGMA / COSSIGMA

SIGMA = ATN(TANSIQMA)

LPRINT "SIGMA IN RADIANS ="SIGMA"RADIANS SIGMADEG = SIGMA * 180 / PI

LPRINT "SIGMA IN DEGREES ="SIGMADEG"DEGREES THETA4DEG = -180 + THETADDEG - SIGMADEG THETA4 = THETA4DEG * PI / 180

LPRINT "THETA4 IN RADIANS ="THETAf,j."RADIANS LPRINT "THETA4 IN DEGREES ="THETA4DEG"DEGREES BX = AX + R3 * COSCTHETA3)

LPRINT "BX =IIBX"INCHES

BY = AY + R3 * SIN(THETA3) LPRINT "BY ="BY"INCHES

CX = AX + R5 * COS{THETA3) LPRINT IICX ="CX"INCHES

CY = AY + R5 * SIN(THETA3)

LPRINT "CR1 ="Rl"exp(i("THETAlDEGtt»" LPRINT "CR2 ="R2"expCiC"THETA2DEG"»" LPRINT "CR3 ="R3"exp(i("THETA3DEGtI»" LPRINT "CR4 ="R4"expCi("THETA4DEG"»" LPRINT "CRS ="R5"exp(i("THETA3DEG"»" LPRINT "CR6 ="R6"exp(i("'T'H'F:'T'A~DF.G"»"

REM (b) Perform velocity analysis by complex numbers. REM Start by solving the vector equation VB = VA + VBA. DETFACTOR1:: SlN(THETA4)

DETFACTOR2 :: COS(THETA3)

DETFACTOR3 :: -COS(THETAf,j.)

DETFACTOR4 = -SIN(THETA3)

DETB = (DETFACTOR1*DETFACTOR2)-(DETFACTOR3*DETFACTOR4)

LPRINT "THETA3 = "THETA 3 Continued On Page. 37

45

3.32 (b) continued

662 LPRINT "THETA4 ="THETA4

663 LPRINT "DETFACTOR1 ="DETFACTOR1" DETFACTOR2 ="DETFACTOR2 66'* LPRINT "DETFACTOR3 ="DETFACTOR3" DETFACTOR4 ="DETFACTOR4 665 LPRINT "DETB ="DETB

670 VB=«4*SIN(THETA2J»*(COS(THETA3»-(-4*COS(THETA2J»*

680 VBX = VB*SINCTHETA4) (-SIN(THETA3»)/DETB

690 VBY = VB*(-COS(THEA4»

695 LPRINT "VB ="VR"in/Rp.r.

700 VBA=«SIN(THETA4»*(-4*COS(THETA2J»-(-COS(THETA4»*(4*

705 THETAVB = ATN(VBY/VBX) - PI SIN(THETA2J»)/DETB

710 THETAVBDEG = THETAVB * lBO/PI

720 LPRINT "CVB = "VB"exp(THETAVBDEG)

721 THETAVBA = THETA3 + PI*3/4

722 THETAVBADEG = THETAVBA * 180 I PI 71J.0 LPRINT "CVBA = "VBA"exp (THETAVBADEG)

750 REM To solve the vector equation VC5 = VA + VC5A, which is 751 REM proportional to VBA with its distance from A.

770 REM Also, the coordinates of all points will be with

780 VC5A = 3.5*VBA reference to o(V).

785 LPRINT "VCSA ="VCSA"in/sec

790 VC5X = 4*SINCTHETA2J) + VC5A*SIN(THETA3) 795 LPRINT "VC5X ="VCSX"in

800 VC5Y = VC5A*C-COS(THETA3»+IJ.*(-COSCTHETA2J» 805 LPRINT "VC5Y ="VC5Y"in

810 VATIPX = 4 * SIN(THETA2J)

820 VATIPY = IJ. * (-COS(THETA2J»

830 VC5 = SQR(VC5X~2 + VC5Y~2)

840 LPRINT "VC5 ="VC5"in/sec

850 VC5B = VC5A - VBA

860 THETAVC5 = ATN(VC5Y/VC5X) -PI

870 LPRINT "THETAVC5 ="THETAVC5"radians 880 THETAVC5DEG = THETAVC5 *180/PI

890 LPRINT "THETAVC5 ="THETAVC5DEG"DEGREES

900 THETA6 =-ATN«2*SINCTHETA2J)+3.5*SIN(THETA3»/S.79)-PI 910 LPRINT "THETA6 ="THETA6"radians

920 THETA6DEG = THETA6 * 180 I PI

930 LPRINT "THETA6 ="THETA6DEG"degrees

940 VC6 = VC5B*SIN(THETA3)*SIN(THETA6)+VC5B*(-COSCTHETA3»*'

91.i,5 LPRINT "VC6 ="VC6"in/sec (-COS(THETA6»

950 VC6X = VC6 * SIN(THETA6) ,

960 VC6Y = VC6 * (-COS(THETA6»

970 VC5C6X = VC5X - VC6X

980 VC5C6Y = VC5Y - VC6Y

990 VC5C6 = SQR(VC5C6X~2 + VC5C6Y-2)

1000 THETAC5C6 = ATN(VC5C6Y/VC5C6X) - 180 1010 LPRINT "VC5C6 ="VC5C6"exp(-130.61.i,16) 1020 LINK6X = CX - 5.79

101.i,0 LINK6Y = CY

1050 LIN,K6 = SQR(LINK6X~2 + LINK6Y-2) 1055 LPRINT "LINK6 ="LINK6"inches 1060 OMEGA6 = -(VC6/LINK6)

1080 LPRINT "FINAL ANSWER: VC5C6 ="VC5C6"IN/SEC. AND OMEGA6 =" OMEGA6"rad/sec,cw

END OF ALGOR, irHM

L/sf,"ng (){ the results (output) is on Page 38.

46

3.32 (b) coniinued. Output of the al90r i t nm.

R1 = 1.11 R2 = 2 R3 = 1 R~ = 2.8 R5 = 3.5 R6 = 2.5 THETA1DEG = 180 , THETA1 RADIANS = 3.1~1593 THETA2JDEG =-30 , THETA2 RADIANS =-.5235988

AOX = 0 , AOY = 0 • BOX =-1.11 , BOY = 0

DELTHETA2 = 8.7266~8E-02

AX = 1.732051 , AY =-1

DX =-2.8~2051 t DY = 1 t D = 3.012849 THETAD RADIANS = 2. 80326~ RADIANS THETAD DEGREES = 160.6151 DEGREES DELTA IN RADIANS = 1.190403 RADIANS DELTA IN DEGREES = 68.20506 DEGREES THETA3 IN RADIANS =-2.289519 RADIANS THETA3 =-2.289519 RADIANS

THETA3 =-131.1798 DEGREES

SIGMA IN RADIANS = .3380135 RADIANS SIGMA IN DEGREES = 19.36674 DEGREES THETA4 IN RADIANS =-.6763431 RADIANS THETA4 IN DEGREES =-38.7516 DEGREES BX = 1.073627 INCHES

BY =-1.752647 INCHES

CX =-.5724335 INCHES

CRl = 1.11 exp(i( 180 »

CR2 = 2 exp(i(-30 »

CR3 = 1 exp(i(-131.1798 » CR4 = 2.8 exp(i(-38.7516 }) CR5 = 3.5 exp(iC-131.1798 » CR6 = 2.5 exp(iC-131.1798 » THETA3 =-2.289519

THETA4 =-.6763431

DETFACTOR1 =-.6259~53 DETFACTOR2 =-.6584241 DETFACTOR3 =-.779867 DETFACTOR4 = .7526472 DETB = .9991021

/VB = 3.927621 in/segJ

CVB = 3.927621exp(THETAVBDEG)

~BA = .6091~i~/ex~ETAVBADEG) ~5A = 2 .132m _inl

VC5X =-3.604666 in

VC5Y =-2.060322 in

/VC5 = 4.151933 in/ieo7 THETAVC5 =-2.62234 radians THETAVC5 =-150.249 DEGREES THETA6 =-2.581069 radians THETA6 = -11,&. 7 . 8 B_~_~._._~. __ eS7ees

/VC6 = 1. 1,&.58_613.:j_nI~~9_

/VC5C6 = I,&. ._343_5L;-3~~expr~-.iJ_Q .. -6..~..fIT7 LINK6 = 7.32721,&. inches

FINAL ANSWER: VC5C6 = 4.343543 IN/SEC, AND

3 .. 33(F!9P.3.41) (a)See next p~ /OMEGA6--;':'-:i990671 rad/5e~~ _ fDr ve./t:Jcit.!i p"I!:J9oY1~ Let AH~/mk2 hhl_!:!! h == II:.

= 1.5~ ,hel1; ~ = I.Slf!fo7r:: /5.7/ "Vgx. \ he - He * 0" 3 ..... ,&3 •

Dra.w fhe veJoc.ilu Ll L.",,: Starling now Irt:JWI ~ assume file triA! .

..J [V'. I' rlUll. -rr,/' nJi H ,It

V = II: .,. 11.: 1 'v' ~ ~ IUft. &c)s = 20 sec' t'he", v.e :=20;;C J =20,;a

1>1 D\ 'D';! J =>J{:: /7. 75" ~e~ .. ) ~ J! ~ICI JraMr lire I r/alve/oci f.!:J .A /01': --.

,M t.Vs=Vc,,/CH =i5=2.42StL Cont,nued... On Page 3q

47

3.33(a),Continved

,/1 1 III] 'f' ~F :: YE +..rFE ==>Ao .. e .

VII' DI D .......

I H, " 1,

"'()IV:~6:Ye + ~"E. = ~ + lB~F __

This leadt tD:.6 e'.f'b') and V' =O.,b:

I ~ -b' •

---, J ,/ t

Now b1 b, = YB6.83' The true .!a6&3 J'IW$

'be/tD fiC •• ':. draw a line from h3Jt.oHC

;-to in/ersecf 01" ~'. ?h,S locates ~h~ tr:e :b,. NDwcolflj,lefe IheJO. b,ef;'VA ~e f J

. fYD1n whichF(g:3.33-S1 was dr:awn.

.~ ,f&8" ,i;,(;= 7.25" /.sec

a lt~Lt.43%J-107·

v ,./£

tc= (r,75!S~fI

FI,3.3~1

~ =~4:J~JI -44.31

I

It

~-

»>:

• ~$ =~1's:2.28Z ~c",

.... t'

1 REM FILE: PROB3-33.C

10 LPRINT " FILE= "PROB3-33(C)SOL

15 LPRINT "Coordinates of the pivots of Fig. P3.41 on page 197

16 LPRINT " Scale: Link 2. (AH), = 1. 5 inches

18 PI = 3.1415927.

20 AX = 0

30 AY = 0

48

'*0 BX = 6879 50 BY = 1.4:06 60 ex = .293 70 CY = 2.4:8t.. 80 OX = 2.988

90 DY = 2.168

100 EX = 1.992

110 EY = 2.t..t..3

120 FX = 2.4:02

130 FY = 1.3t..8

1'*0 GX = 3.75

150 GY = 0

152 HX = 1.""65 15t.. HY = .322

156 LPRINT"AX156="AX"(all coords inches) AY="AY" BX="BX" BY="BY 157 LPRINT"CX157="CX"CY="CY"DX="DX"DY="DY"EX="EX"EY="EY

158 LPRINT "FX158="FX"FY="FY" GX =IIGX" GY ="GY" HX ="HX" HY ="HY 160 LLENGTH2 = SQR«HY-AY)-2 + (HX-AX)~2)

170 THETA2 = ATN( (HY-AY)/(HX-AX»

180 LPRINT "180 Link length 2 ="LLENGTH2"inches

190 LPRINT "190 Argument of Link 2 ="THETA2" radians 200 THETA2DEG = THETA2 * 180 / PI

210 LPRINT "210 THETA2 ="THETA2DEG" degrees 220 LLINK3 = SQR«CX-HX)-2+(CY-HY)A2)

230 LPRINT "230 Linklength 3 ="LLINK3" inches 2~0 THETA3 = ATN«CY-HY)/(CX-HX»

250 THETA3DEG = THETA3 * 180 / PI 260 LPRINT "260 Argument of Link 3 270 LPRINT "270 Argument of Link 3 280 LPRINT"280Solve vector equ. of 290 OMEGA2 = -100 * PI I 30

300 LPRINT "OMEGA2 ="OMEGA2" radians/sec = -100 rpm cw

310 VH = LLENGTH2 * OMEGA2

320 LPRINT "VH ="VH" inches/sec

330 LPRINT "330 Find IC13 by computation: 3~0 LAMBDA2 = (CY-HY)/(HY-AY)

3""2 IC13X = HX * (1 + LAMBDA2)

350 LAMBDAt.. = (IC13X - CX) I HX

360 LPRINT "360 LAMBDA2 ="LAMBDA2" LAMBDA"" ="LAMBDA~ 370 OMEGAS = -OMEGA2 I LAMBDA2

375 OMEGA5RPM = OMEGAS * 30 I PI

380 LPRINT"3800MEGA5="OMEGA5"rad/s OMEGASRPM ="OMEGA5RPM"rpm ccw 389 B3X = BX

390 IC13Y = Cy

391 B3Y = BY

392 LPRINT "392 Calculate the length and argument of IC13-to-B3 393 ARGRB3 = ATN«B3Y -IC13Y)/(B3X - IC13X» - PI

39"" ARGRB3DEG = ARGRB3 * 180 / PI

395 LPRINT "395 ARGRB3 ="ARGRB3" radians, ="ARGRB3DEG"degrees 396 RB3LGTH = SQR«B3Y-IC13y)A2+(B3X-IC13X)-2)

397 LPRINT "397 RB3LGTH ="RB3LGTH" inches

398 ARGVB3 = ARGRB3 + (PI/2)

399 ARGVB3DEG = ARGRB3DEG + 90

""00 LPRINT "'*00 ARGVB3 ="ARGVB3" radians, ="ARGVB3DEG" degrees '*05 VB3 = OMEGA5 * RB3LGTH

408 LPRINT "'*08 VB3 ="VB3" inches/sec

t..10 LPRINT ii,*10 Calc ARGVB6 by finding IC16 420 LINK7X = FX - GX

t..30 LINK7Y = FY - GY

3.33 (c)

CON""~IIf..D

="THETA3" radians ="THETA3DEG" degrees closure of the slider crank

49

4iJ.0 LINKBX = EX - DX 3 33 f. )

450 LINKBY = EY - DY • LC

460 LPRINT"LINK7X= "LINK7X" inch, LINK7Y= "LINK7Y" inch CoIJT'/NVtD 465 LPRINT"LINKBX="LINK8X"inch. LINK8Y="LINK8Y"inch

470 LPRINT"470Solve the system for LAMBDA7 and LAMBDA8: 472 LPRINT"t.t12 FX+LINK7X*LAMBDA7 =EX+LINK8X*LAMBDA8, and 47iJ. LPRINT"t.t1iJ. FY+LINK7Y*LAMBDA7 = EY+LINK8Y*LAMBDA8

480 LPRINT"t.t80 LINK7X*LAMBDA7 - LINKBX*LAMBDA8 = EX - FX • and 485 LPRINT"t.t85 LINK7Y*LAMBDA7 - LINK8Y*LAMBDA8 = EY - FY

490 RIGHTSIDE1 = EX - FX

SOD RIGHTSIDE2 = EY - FY

510 DET16 = CLINK7X*(-LINK8Y)-(LINK7Y*(-LINK8X»

520 LAMBDA7 = (RIGHTSIDE1*(-LINK8Y)-RIGHTSIDE2*(-LINK8X»/DET16 530 LAMBDAS = (LINK1X*RIGHTSIDE2-LINK7Y*RIGHTSIDE1)/DET16

540 LPRINT "5iJ.0 LAMBDA7 =IILAMBDA7". LAMBDAS ="LAMBDAS"

545 IC16Xl = LAMBDA7 * LINK1X + FX

550 IC16X2 = EX + LAMBDA8 * LINKBX

560 IC16X = (IC16X1 + IC16X2) I 2

570 LPRINT "570 IC16X1 ="IC16X1", IC16X2 ="IC16X2", IC16X ="IC16X 580 IC16Y1 = FY + LAMBDA7 * LINK7Y

590 IC16Y2 = EY + LAMBDA8 * LINK8Y

593 IC16Y = (IC16Y1 + IC16Y2)/2

596 LPRINT"596 IC16Yl ="IC16Yl",IC16Y2 ="IC16Y2", IC16Y ="IC16Y 610 RB6LGTH = SQR«BX-IC16X)A2+(BY-IC16Y)-2)

620 ARGRB6 = ATN«BY-IC16Y)/(BX-IC16X»-PI

630 ARGRB6DEG = ARGRB6 *180 I PI

61.l.0 LPRINT "6t.t0 RB6 ="RB6LGTH" inch exp("ARGRB6DEG") 650 DIRVB6 = ARGRB6+3*PI I 2

655 DIRVB6DEG = DIRVB6 * 180 I PI

660 LPRINT "660 DIRVB6 ="DIRVB6"radians, ="DIRVB6DEG"degrees 670 LPRINT "Since VB6B3 is along the link 3 slide, both VB3 and 673 LPRINT "673 VB6 must have equal components perpendicular to 676 LPRINT "676 the link 3 slide.

680 DIRNORMTOLK3 = THETA3 - (PI/2)

685 DIRNORMTOLK3DEG = DIRNORMTOLK3 * 180 I PI

690 LPRINT"690DIRNORMTOLK3="DIRNORMTOLK3"rad.="DIRNORMTOLK3DEG"deg 700 N3X = COS(DIRNORMTOLK3)

710 N3Y = SIN(DIRNORMTOLK3)

715 LPRINT "715 N3X ="N3X", N3Y ="N3Y

720 VB3NTOLK3 = VB3 * COS(DIRNORMTOLK3-ARGVB3) 725 LPRINT "VB3NTOLK3 ="VB3NTOLK3

730 VB6 = VB3NTOLK3 I COS(DIRVB6 - DIRNORMTOLK3 - (2*PI» 735 LPRINT "VB6 ="VB6"in/sec exp("DIRVB6DEG")

740 OMEGA6 = -VB6/RB6LGTH

745 LPRINT "OMEGA6 ="OMEGA6"rad/sec cw

750 RE6 = SQR«EY - IC16Y)-2 + (EX - IC16X)-2) 755 LPRINT "RE6 ="RE6" inch

760 VE6 = RE6 * (-OMEGA6)

770 ARGVE6 = ATN«EX -IC16X) I (IC16Y - EY» - PI 775 ARGVE6DEG = ARGVE6 *lS0 I PI

780 VC = (IC13X - CX) * OMEGAS

790 LPRINT "The results are: VC ="VC"in/sec exp(-90 deg),

800 LPRINT liVE =" VE6"in/sc exp("ARGVE6DEG"), OMEGA5 ="OMEGA5"rls 805 OMEGA8 = VE6 I SQR(LINK8X-2 + LINKSY-2)

810 LPRINT "OMEGAB ="OMEGA8"rad/sec

ENf) OF AL (iOR ,"lHM

OUTPUT:

Coordinates of the pivots of Fig. P3.~1 on page 197 Scale: Link 2, (AH), = 1.5 inches

C.ONilNUED

50

AX156= 0 (all coords inches) AY= 0 BX= .879 CX157= .293 CY= 2.~8~ DX= 2.988 DY= 2.168 EX= FX158= 2.~02 FY= 1.3~8 GX = 3.75 GY = 0 HX 180 Link length 2 = 1.~9997 inches

190 Argument of Link 2 = .216355 radians 210 THETA2 = 12.39623 degrees

230 Linklength 3 = 2.~59233 inches

260 Argument of Link 3 =-1.07~0~6 radians 270 Argument of Link 3 =-61.53829 degrees

280Solve vector equ. of closure of the slider crank OMEGA2 =-10.~7198 radians/sec = -100 rpm cw

VH =-15.70765 inches/sec

330 Find IC13 by computation:

360 LAMBDA2 = 6.71~286 LAMBDA~ = 7.51~285

3800MEGA5= 1.559656 rad/s OMEGASRPM = 1~.89362 rpm ccw 392 Calculate the length and argument of IC13-to-B3 395 ARGRB3 =-3.038529 radians, =-17~.09~9 degrees

397 RB3LGTH = 10.~7803 inches

~OO ARGVB3 =-1.~67732 radians, =-8~.09~85 degrees ~08 VB3 = 16.3~212 inches/sec

~10 Calc ARGVB6 by finding IC16

LINK7X=-1.3~8 inch, LINK7Y= 1.3~8 inch LINK8X=-.9959999 inch, LINK8Y= .2750001 inch ~70So1ve the system for LAMBDA7 and LAMBDA8:

~72 FX+LINK7X*LAMBDA7 =EX+LINK8X*LAMBDA8, and

~7~ FY+LINK7Y*LAMBDA7 = EY+LINK8Y*LAMBDA8

~80 LINK7X*LAMBDA7 - LINK8X*LAMBDA8 = EX - FX ,and ~85 LINK7Y*LAMBDA7 - LINK8Y*LAMBDA8 = EY - FY

5~0 LAMBDA7 = 1.006134 , LAMBDA8 = .9500697

570 IC16X1 = 1.0~5731 , IC16X2 = 1.0~5731 , IC16X = 1.0~5731 596 IC16Y1 = 2.70~269 ,IC16Y2 = 2.70~27 , IC16Y = 2.704269 6~0 RB6 = 1.308932 inch exp(-97.31818 )

660 DIRVB6 = 3.013867 radians, = 172.6818 degrees Since VB6B3 is along the link 3 slide, both VB3 and 673 VB6 must have equal components perpendicular to 676 the link 3 slide.

690DIRNORMTOLK3=-2.6~~842 rad,=-151.5383 deg

715 N3X =-.8791358 , N3Y =-.~765713

VB3NTOLK3 = 6.26876

VB6 = 7.727103 in/sec exp( 172.6818 ) OMEGA6 =-5.903367 rad/sec cw

RE6 = .9816755 inch

The results are: VC = 17.16936 in/sec exp(-90 deg),

VE = 5.795191 in/sc exp(-105.~351°). OMEGA5 = 1.559656 r/s OMEGA8 = 5.608609 rad/sec

BY= 1. ~06

1. 992 EY= 2. ~~3

= 1.~65 HY = .322

3.'33 (c) OVT''Pvr COMP'_e..-r~

51

DRAW/Ai' FoR

3.3~ (b)J,(c)

A'

v' .-vA

a'

3.3b (a) Fie. P3#44

52

COl1lpletitf9 the. vector cJ,io.g_ram of vetod» tie.s:}

S3

_"

(c)(t) 3.39

3.41 P3.49

54

(1,4J.IK = tUJ.1J.B~ BC~-t4P8"BS-

fl'SX -517C

;)1 I :: -2. 187 Mhec

I Iv.: := "107 ~ 180 III/.

I r5 ~.'O e ,sec..

1/ Ans

/1 I =

. / I

I I

I

/ \

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~DC£f)IIJ!£: I. LOCATE, AI-I- O&III1/1t)S I. C.-A

55

56

57

58

3.55{Set ie1lt 0" previ""s PAj8..J

60

POSIT"IOAJ J

POSITION 2

61

62

1,'3

t-...-- FiB.P3.'72

F ..

YFDut V.

:po u,.,POI./$IT

of ~"t~ 2. 'I in/sec

MA,:: l1:,~ =4~s AJJS /f..'A"'1 .:

~ 2.. = " IlLS'

FtNJI: • ('2.67 /1(,5 ,-,F.: <, ,.B

'y;.=6.13 ..J

";sec d ~p ./ I ,."

~~6~ !Pi!i~:~?i~~6~1;~~~~~ec r~' 'I F ... I 1;,

To find YfCOUfI.: get instant ctr ,\ "

1 t 3; this gives the direction of"" \

~c; find yc by the relative " ~ \

velocity method: ~c=)t .... +~CA,; • \ I

From d draw the direction line of I

X-D; from c draw the direction line of y~o, e is the intersection of these two lines. Extend the velocity image ce and locate the image point "fout" by propor-" tiona The component of Vroufl. perpendicular to the anvil is the crushing velocity V".ou. ... =2.l.&-"/s. Therefore, M.A.=12/2.l.&-= 5. Ans.

~6r ('4{b) 2, =

P3.69

63

3.71 (Fi_g P3.79)

Togg .• PrIll

65

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in hof~ Dpen /J.i'1/L dosed ,"S'f/()PI-St2~ . well as [PI befween,

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T\~· l'-tK~ 1 (So \\,f) ('-\0" .... J/0l5.l.j

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Figure PI:7~" " __

(e)

o.s Su~ of" O\J\d-'r~(.\';~ 0'

o..~ e. ~: ~~\..q, l? ;'),,01 ~~ '.:>o~ . ~ 0.:. r()(~ ,C/'I' \~ ~ (Clv;\d .

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T.~ = (J.\a~)(So\\,f)~~..__) I~S.4

f ~. d- \\;:):\'J,~

67

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po,·.\\~ 0\..

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& T,", = \.33 (\S\\of)(\()\-\WI\ 1 /~~4

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@ T,~ -= .44(\S,~f)l!>5_ )/~5.~ 1= <t \ \b - \~ \

® \,~:: ;).(\S''of)(4M~ J I as. '-I E '-1.1 a \\.:,. \ "- ,

68

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(2.J~J ~})~ v;) n(~J;')(?JS) OJ')) ('14')(LlI~) (\ (')/!,"')( ~/5 ') ~I)") ~.,,")<..aJ» (\ (\/"I")l'll .. l')

T'

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3

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b.) T\~ ~ b.d. (~O\bf)( Q.--. ') I ~S·4 ,\,~ ~ 1..J3.C\l.Hb·\l\ \

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