Mathematical model of kinematic calculation of flat lever mechanisms
https://doi.org/10.20914/2310-1202-2017-2-73-79
Abstract
Kinematic calculation is a mandatory part of the design of the flat lever mechanisms. This operation is very time-consuming and always need many calculations. Therefore, it is important to develop mathematical models for calculating the kinematic characteristics of the flat lever mechanisms, containing at least one double-leash Assur group. The article is devoted to mathematical modeling of five types of the Assur groups. The initial pin joint position and the driving ring kinematic characteristics used as an input for the further calculations. For the selected Assur group created the equation of motion in plane coordinates axis for the pin joints. With double differentiating the equations of motion were derived equations for determining velocity and acceleration of the pin joints in the global axes projections. The result of several transformations in matrix forms is the equations for the kinematic characteristics of the slave units in the selected Assur group. Finally, mathematical procedures for the kinematic characteristics of each double-leash Assur group were calculated. In a structural analysis of the complex planar mechanisms with a leading link and several double-leash Assur groups it is possible to determine the kinematic characteristics of all parts by consistently addressing the appropriate procedure. All suggested algorithms implemented as a software library that will speed up the designing of the complex planar mechanisms.
About the Authors
M. A. Vasechkin
Voronezh state university of engineering technologies
candidate of technical sciences, assistant professor, technical mechanics department, Revolution Av., 19 Voronezh, 394036, Russia
candidate of technical sciences, assistant professor, technical mechanics department, Revolution Av., 19 Voronezh, 394036, Russia
E. V. Matveyeva
Voronezh state university of engineering technologies
candidate of technical sciences, assistant professor, technical mechanics department, Revolution Av., 19 Voronezh, 394036, Russia
candidate of technical sciences, assistant professor, technical mechanics department, Revolution Av., 19 Voronezh, 394036, Russia
A. S. Sidorenko
Russian Air Force Military Educational and Scientific Center “Air Force Academy named after Professor N.E. Zhukovsky and Y.A. Gagarin”
candidate of technical sciences, senior lecturer, all-professional disciplines department, Starykh Bolshevikov St., 54a, Voronezh, Russia
candidate of technical sciences, senior lecturer, all-professional disciplines department, Starykh Bolshevikov St., 54a, Voronezh, Russia
Ye. D. Chertov
Voronezh state university of engineering technologies
doctor of technical sciences, professor, technical mechanics department, Revolution Av., 19 Voronezh, 394036, Russia
doctor of technical sciences, professor, technical mechanics department, Revolution Av., 19 Voronezh, 394036, Russia
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Review
For citations:
Vasechkin M.A., Matveyeva E.V., Sidorenko A.S., Chertov Ye.D. Mathematical model of kinematic calculation of flat lever mechanisms. Proceedings of the Voronezh State University of Engineering Technologies. 2017;79(2):73-79. (In Russ.) https://doi.org/10.20914/2310-1202-2017-2-73-79
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