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InvertedCrankSliderModCh7P7d

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1 views

InvertedCrankSliderModCh7P7d

Uploaded by

fgtsmntw5j
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 4

%Inverted Slider Crank

%crosses on the x axis


clc; clear;

d = 8; %link 1
a = 5; %link 2
c = 3; %link 4
y = 60;%a=link2 b=link3 c=link4 (gamma)
th2 = 25;
omega2 = -50;
alpha2 = 20;

R = -c*sind(y);
P = (a*sind(th2)*sind(y))+((a*cosd(th2)-d)*cosd(y));
Q = (-a*sind(th2)*cosd(y))+((a*cosd(th2)-d)*sind(y));
S = R-Q;
T = 2*P;
U = Q+R;
M = -T + sqrt(T^2 - 4*S*U);
MM = -T - sqrt(T^2 - 4*S*U);
MMM=2*S;

th4_1 = 2*atand(M/MMM);%open
th4_2 = 2*atand(MM/MMM);%cross
th3_1 = th4_1 + y;%open
th3_2 = th4_2 + y;%cross not pi/180 because everything in terms of degrees
so pi=180 degrees

N = a*sind(th2);
NN_1 = c*sind(th4_1);
NN_2 = c*sind(th4_2);
NNN_1 = sind(th3_1);
NNN_2 = sind(th3_2);

b_1 = (N-NN_1)/NNN_1;%length of link 3 open


b_2 = (N-NN_2)/NNN_2;%length of link 3 cross pay attention to the negative
here may be subject to change
bb_2 = (N-NN_2)/NNN_2;

%Position Vectors

RB_open = abs(b_1);
RB_cross = abs(b_2);

%Velocity Analysis

O_1 = a*omega2*cosd(th2-th3_1);
OO_1 = b_1+c*cosd(y);

1
O_2 = a*omega2*cosd(th2-th3_2);
OO_2 = b_2+c*cosd(y);

omega4_1 = O_1/OO_1;%angular velocity link 4 open **omega3_1=omega4_1**


omega4_2 = (O_2/OO_2);%angular velocity link 4 crossed **omega3_2=omega4_2**
negative because cos(-y)=cos(y)

omega3_1 = omega4_1;%see above note


omega3_2 = omega4_2;

V = -a*omega2*sind(th2);
VV_1 = omega4_1*(b_1*sind(th3_1)+c*sind(th4_1));
VVV_1 = cosd(th3_1);
VV_2 = omega4_2*(b_2*sind(th3_2)+c*sind(th4_2));

VVV_2 = cosd(th3_2);

bdot_1 = (V + VV_1)/VVV_1;%open velocity of slip at point B along axis of


slip (centerline hammer) (Vslip34)
bdot_2 = (V + VV_2)/VVV_2;%crossed velocity of slip at point B

Va = a*omega2*(-sind(th2) + j*cosd(th2));%absolute velocity of point A

Vb4_1 = c*omega4_1*(-sind(th4_1) + j*cosd(th4_1));%absolute velocity of


point B on link 4 open
Vb4_2 = c*omega4_2*(-sind(th4_2) + j*cosd(th4_2));%absolute velocity of
point B on link 4 crossed

Vb3_1 = Vb4_1 + bdot_1;%absolute velocity of point B on link 3 open


Vb3_2 = Vb4_2 + bdot_2;%absolute velocity of point B on link 3 crossed

VAmag = abs(Va);%absolute linear velocity of point A


VAangle = angle(Va)*180/pi;%angle Va converted to degrees from complex

VBmagOpen = abs(Vb4_1);
VBmagCrossed = abs(Vb4_2);

VslipOpen = bdot_1;
VslipCrossed = bdot_2;

%Acceleration Analysis want alpha3 open/cross and alpha4 open/cross and


%Aslip open and crossed we know that alpha 3 = alpha 4 Aslip open and cross
%is bdubdot open/cross

W_1 = alpha2*cosd(th3_1-th2);
W_2 = alpha2*cosd(th3_2-th2);

WW_1 = omega2^2*sind(th3_1-th2);
WW_2 = omega2^2*sind(th3_2-th2);

WWW_1 = c*omega4_1^2*sind(th4_1-th3_1);

2
WWW_2 = c*omega4_2^2*sind(th4_2-th3_2);

WWWW_1 = 2*bdot_1*omega3_1;
WWWW_2 = 2*bdot_2*omega3_2;

WWWWW_1 = b_1 + c*cosd(th3_1-th4_1);


WWWWW_2 = b_2 + c*cosd(th3_2-th4_2);

%angular accelerations at link 3 and 4 are equal thus alpha4=alpha3

alpha4_1 = (a*(W_1 + WW_1) + WWW_1 - WWWW_1)/WWWWW_1%angular acceleration at


link 4 open
alpha4_2 = (a*(W_2 + WW_2) + WWW_2 - WWWW_2)/WWWWW_2%angular acceleration at
link 4 crossed

alpha3_1 = alpha4_1%angular acceleration at link 3 open


alpha3_2 = alpha4_2%angular acceleration at link 4 open

Z_1 = b_1*cosd(th3_1-th2) + c*cosd(th4_1-th2);


Z_2 = b_2*cosd(th3_2-th2) + c*cosd(th4_2-th2);

ZZ_1 = b_1*sind(th2-th3_1) - c*sind(th4_1-th2);


ZZ_2 = -b_2*sind(th2-th3_2) - c*sind(th4_2-th2);

ZZZ_1 = 2*bdot_1*c*omega4_1*sind(th4_1-th3_1);
ZZZ_2 = 2*bdot_2*c*omega4_2*sind(th4_2-th3_2);

ZZZZ_1 = b_1^2 + c^2 + 2*b_1*c*cosd(th4_1-th3_1);


ZZZZ_2 = -b_2^2 + c^2 + (2*-b_2*c*cosd(th4_2-th3_2));

ZZZZZ_1 = b_1 + c*cosd(th3_1 - th4_1);


ZZZZZ_2 = -b_2 + c*cosd(th3_2 - th4_2);

%Slip velocity at point B

bdubdot_1 = -(a*omega2^2*Z_1 + a*alpha2*ZZ_1 + ZZZ_1 - omega4_1^2*ZZZZ_1)/


ZZZZZ_1;%acceleration of slip at point B open
bdubdot_2 = (a*omega2^2*Z_2 + a*alpha2*ZZ_2 + ZZZ_2 - omega4_2^2*ZZZZ_2)/
ZZZZZ_2;%acceleration of slip at point B crossed

AslipB_1 = bdubdot_1%same as line above


AslipB_2 = bdubdot_2

%Acceleration Components

alpha4_1 =

9.5231e+03

alpha4_2 =

2.5644e+03

3
alpha3_1 =

9.5231e+03

alpha3_2 =

2.5644e+03

AslipB_1 =

5.6570e+03

AslipB_2 =

-2.5561e+03

Published with MATLAB® R2024b

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