KINEMATIC AND DYNAMIC ANALYSIS OF THE PLANE MECHANISM

U uvodnim poglavljima su opisane osnove gibanja krutog tijela: translacija, rotacija i ravninsko gibanje. Zadani mehanizam je rastavljen na pojedinačne dijelove i određena su gibanja štapova i klizača. Vrši se kinematička i dinamička analiza mehanizma. Za kinematičku analizu kao prva opcija proračuna je korišten koordinatni sustav. Pomoću sustava su izračunate parametarske jednadžbe, deriviranjem tih jednadžbi dobivene su formule za proračun brzina i ubrzanja karakterističnih točki. Provjera rezultata odrađena je metodom plana brzina i ubrzanja. Napravljen je vektorski zapis mehanizma, te podjela na dva štapa. Prvi štap ima rotacijsko gibanje dok drugi ravninsko gibanje. Jednadžbe za pojedine brzine i ubrzanja karakterističnih točki su izvedene pomoću mjerenja i zbroja vektora. Dinamička analiza je izvršena izračunom reakcijskih sila u ovisnosti o kutu . Za izračun je potrebno izračunati reakcije sila na klizaču D pa preko zglobova sve do kraja mehanizma s završetkom u zglobu A (slika 3.1). Usporedbom dvaju načina je omogućena veća točnost proračuna kao i fleksibilnost samog rada.The introductory chapters describe the basics of rigid body motion: translation, rotation, and plane motion. The default mechanism is disassembled into individual parts and the movements of the rods and sliders are determined. Kinematic and dynamic analysis of the mechanism is performed. For kinematic analysis, the coordinate system was used as the first calculation option. Parametric equations were calculated using the system, and by deriving these equations, formulas for calculating velocities and accelerations of characteristic points were obtained. Verification of the results was done by the use of velocity and acceleration plans. A vector notation of the mechanism was made, and the division into two rods. The first rod has a rotational motion while the second a plane motion. Equations for individual velocities and accelerations of characteristic points were made by using measurements and the sum of vectors. The dynamic analysis was performed by calculating the reaction forces depending on the angle . For the calculation, it is necessary to calculate the force reactions on the slider D and over the joints all the way to the end of the mechanism ending in the joint A (Picture 3.1). By comparing the two methods, greater accuracy of the calculation is enabled and the flexibility of the work itself