SINTII POINGS IV INTNTIONL ONGSS "MINS. TNOLОGIS. MTILS." 7 - SUMM SSSION NLSIS O KINMTIS N KINTOSTTIS O OU- LINKG MNISM S ON GIVN POGM W ISSN - PINT ISSN - Pof.soc.. Shl Pof.soc.. Likj. * Pof.ss.. ji. MSc. Qelj M. cul of Mechnicl ngineeing Uniesi of Pishin sn Pishin Kosoo e.likj@uni-p.eu *coesponing uho bsc: In his ppe is pesene Snhesis of fo-b linkge echnis of he lif c eusion. In his echnis e inouce een highe kineic pis. The oeen of he echnis is epee peioicll n i is sufficien o o is kineic su fo n ngle 7 [eg]. The escipion of he echnis oeen cn be pefoe in he gfonlicl o nlicl ph b cenes of spee oens which belong o now link n loop of he cene echnis n he insn cenes belonging o he wo ele oeens. In he kineic nlsis of he fow echniss e use gphicl ehos. These e siple n uniesl king i possible o eeine he posiions eloci n cceleion of he links of n sucue. Wih he pplicion of conepo clculing echnolog he gphicl ehos in he nlsis of echniss ke he igh plce. The eloci of ech link of he echnis linkge h pefos he oeen of he plne cn be shown s e geoeic of he insn cene spee n he spee of oion oun he cene of he insnneous. The nlsis will be pefoe b Mh sofwe while kineosic nlsis will be cie ou using onou Meho coping esuls of wo iffeen sofwe s Mh n Woking Moel. The siulion pees will be copue fo ll poins of he conous of echnis. o he siulions esuls we he use Mh n Woking Moel sofwe s. Kewos: MNISM; OLLOW; TTO; SIGN; VLOIT; LTION; POGM. Inoucion Kineics n nic su of echniss using plns n gphic ehos is known h peissie eo. To e his eo is equie use of nlic ehos especill fo nic su of s echniss whee eo is no llowe. In espie of h wok uing clculions which e equie fo nlic su fo s echniss his eho is equie This ppe hs been elise wih wo pplicion sofwe s: Mh n Woking Moel. In his ppe is pesene fie-b linkge n siple cnk echnis G s shown in he figue below. In his echnis fisl is eeine n. The sses e ope since he oens of inei nee o clcule. The kineic p of he ppe will be coplee b fining he elociies n cceleions of ech poin n G. In his w e eeine he ngul cceleions n elociies of he linkges n. Whees fo he kineosic p will be eeine he ecion foces of he poins: N 6 n which e cing on he leing link. In he picue e shown boies: igh ingle o slie b. ig. : Linkge n cnk echnis w n p n n p p W W 7 n p.8[eg] p cos γ p cos T T 7[eg] G cos sin n cos p sin sin β n cos cos γ 9 eg β sin... sin... 77 I VOLUM V P.P. 77-8 7
.8[eg] cos 9 eg cos cos sin sin n γ β γ β ig. igs fo posiions elociies... eg zih in Soluion Gien 7.68... cos sin n G.89..7..86. Poin sin.8. ig. Velociies n cceleion of poin Poin.. sin cos 78 SINTII POINGS IV INTNTIONL ONGSS "MINS. TNOLОGIS. MTILS." 7 - SUMM SSSION W ISSN - PINT ISSN - I VOLUM V P.P. 77-8 7
ig. Velociies n cceleion of poin Poin.9..9. sin cos ig. Velociies n cceleion of poin Poin sin ig. Velociies n cceleion of poin. Kineosic nlsis of he linkge echnis Gien : G eg.eg...7eg sin cos sin cos... 9.8 8. 8.. g Linkge I The equilibiu coniions fo he poin e equl o zeo. Si linkges e use fo he kineosic nlsis. o he fis linkge e gien he following equilibiu coniions n fo he ile poins of he linkge poin n fo he bo ss M. 79 SINTII POINGS IV INTNTIONL ONGSS "MINS. TNOLОGIS. MTILS." 7 - SUMM SSSION W ISSN - PINT ISSN - I VOLUM V P.P. 77-8 7
ig. Linkge I quilibiu coniions fo he poin nic equions of oion fo link : sin cos cos sin cos Linkge II lso fo he linkge II e wien he equilibiu coniions which e cene bo ss n oen of inei fo he poin. ig. 6. Linkge I quilibiu coniions fo he poin nic equions of oion fo link : cos cos sin Linkge III lso fo he linkge III e wien he equilibiu coniions which e cene M bo ss n oen of inei fo he poin. ig. 7. Linkge I quilibiu coniions fo he poin nic equions of oion fo link : coseg coseg cos g In peious equions e 9 unknown foces-oens: 8 7 6 in Whee: i n i e coponens of join foces 8 SINTII POINGS IV INTNTIONL ONGSS "MINS. TNOLОGIS. MTILS." 7 - SUMM SSSION W ISSN - PINT ISSN - I VOLUM V P.P. 77-8 7
esuls fo posiions: esuls fo ech poin e gien below whee sep ies b. 8 SINTII POINGS IV INTNTIONL ONGSS "MINS. TNOLОGIS. MTILS." 7 - SUMM SSSION W ISSN - PINT ISSN - I VOLUM V P.P. 77-8 7
SINTII POINGS IV INTNTIONL ONGSS "MINS. TNOLОGIS. MTILS." 7 - SUMM SSSION W ISSN - PINT ISSN - onclusions n ecoenions In his ppe e e he clculions of ll posiions isplceen fo he whole echnis n lso e eeine he plns fo elociies n cceleions fo ech poin. owee in his ppe e shown he ouline plnes of he echnis se s he igs fo ech linkge hough Mh sofwe Si-b linkge echnis igs which e eie b Woking Moel e los siil o he igs eie b Mh Though Woking Moel sofwe e eie he esuls of ecions fo he equilibiu coniions of si b linkge echnis ngul elociies n cceleions fo he poins n fo he ngles n in ie oin hough he con un s he genel conclusion; he esuls eie b boh sofwe se s fo hei igs fo ll poins of he si b linkge echnis e wihin he esonble bounies.. efeences Shl : 8 isenjii i Meknize e Kopjue Ushie esh kulei i Inhinieisë Meknike Pishinë. ehwl W. Luck K.7 esech of ouple ues of Geoeicl Poles of fis Oe ounl of Mechniss n Mnipulos ol. 6 n. pp. -6. Shl he ë Likj n Milin uqi. "Snhesis of echnis bse on gien pog." I Poceeings Volues 6.8 : 6-6.. Siulion fo echnis b Woking Moel sofwe In he secon p of his ppe is cie ou he siulion fo ll poins n G ie epenen of linkge echnis b Woking Moel which is shown in he following. Poiis hisophe G. " noel echnis o pouce figue-eigh-shpe close cues in he hee-iensionl spce." Poceeings of Thi Inenionl onfeence on peiens/pocess/sse Moeling/Siulion & Opiizion hens. 9. Uesh hn. ll. Snhesis of couple cues wih cobine pln c followe echniss b geneic lgoih. Poeeing of n Inenionl onfeence on opue ngineeing n Technolog heng hin. U.S. hn S.V. oshi.. Snhesis n nlsis of couple cues wih cobine pln c followe echniss Inenionl ounl of ngineeing Science n echnolog Vol. No. 6 pp. - ig. 8: igs in Woking Moel fo ngul eloci n cceleion n 8 I VOLUM V P.P. 77-8 7