nblib.library.kz - /elib/library.kz/jurnal/d_2007_2/

(1)

33

Z

Y

O₁ O

x_D

2

B 3

C F

7 K

N

5

4 E

D

y_D z_D z_M

X M y₆ w₆

v₆ z₅

6

u₆ w₅ x₆ 6

v₅

5 x₅ y₅

y_M

x_M z₁

y₁

x1

1

w₄

v₄ z4

y₄ x₄ 4u₄

1

u₂ w₂ z₂

v

_y

2

x₃

3

u₃ w₃ z₃ v₃

y₃

x₇ u₇

v₇ z₇ w₇ y₇

z

6

x₂

u₅

A T

O₁

. .

V

- -

. -

V -

1 -

T 3

i i ₁

t

1

, ,

, Y Y t Z Z t

t X

X _Ti _T _i _Ti _T _i _Ti _T _i

4 , 1

i . (1)

-

ABCD -

3 (BC), C

l

CD=l₄ D 4 (CD) -

-

1 1 1

,

_D

,

_D

D

Y Z

X

, -

[1]:

2 ,

4 2

4 l

l

q (2)

0

3 1

3

3Ci Ci Ci

i ax by cz

q , (3)

l

4 ^– ^C ³ ^D₁

2 1 2 1 2 1

2

4 XD XCi YD YCi ZD ZCi

l , (4)

a,b,c–

;

X

_D₁

, Y

_D₁

, Z

_D₁

, X

_Ci

, Y

_Ci

, Z

_Ci – D₁

)

OXYZ [2]. -

3,

T,

OXYZ -

:

))

(

cos(

₁ ₂ ₃

3C

C

x

X

, )) (

sin(

)) z

₃_C ₁ ₂ ₃

X

_C^'

)) (

sin(

₁ ₂ ₃

3C

C

x

Y

, )) (

cos(

₁ ₂ ₃ ^'

3C

Y

C

z

,

cos

₃ ^'

3C C

C

y Z

Z

(5)

(2)

34

2007. 2

) cos(

cos ₁ ₃_,₂ ₁ ₂

1 , 2

' a a

X_C ,

) sin(

sin ₁ ₃_,₂ ₁ ₂

1 , 2

' a a

Y_C ,

21 32

21 21

'

c b b cos

Z

_C .

(2), (3) -

( )

(7) - (6),

x₁,x₂, x₃, ..., x₃₄ -

V . (7) -

-

. 0 ,...,

₃₄

2

1

x x

x

P

_n (8)

,

P

_n

x

₁

,..., x

_n -

. , (7), (8)

.

: , -

(6) (7), (8) -

V .

, -

-

[2]. ,

-

, -

.

:

, 0 ,...,

...

, 0 ,...,

1 1 1

n m

n

x x P

(9)

m i x x

P

_i ₁

,...,

_n

, 1 ,

– .

(9) I,

, -

. ,..., ,...,

,..., ,

,...,

₂ ₁ ₁

1

x x

n

P x x

n

P

m

x x

n

P I

[3] ,

(9)

F x

₁

,..., x

_n -

,

n m

n

r x x

x x

r

₁ ₁

,... ,...,

₁

,...,

S,

m m

S

r P r P r P

F

₁ ₁ ₂ ₂

...

, . -

F = 0, -

, -

. [3],

: (9)

, 1

I, -

(9) F = 0,

m m

S

r P r P r P

F

₁ ₁ ₂ ₂

...

.

1 1 2 2 4 4 5 5 7 7

1 8 2 9 4 11 5 12 7 14

1 1 2 2 2 9 9 3 3

5 5 5 12 12 7 7 7 14 14

1 8 2 9 2 2 9 3 8

5 12 5 5 12 7 14 7 7 14

2 2 2 2

1 8 2 9

2 2 2

3 10 4

, ,

,

( )

,

1, 1,

1,

l x l x l x l x l x a l x l x l x l x l x b l x l x c x c l x

l x c x c l x c x c a l x l x c x c l x

l x c x c l x c x c b

x x x x

x x x

₁₁²

2 2 2 2

5 12 6 13

2 2

7 14

1,

1, 1,

1. x

x x x x

x x

(6)

. 1

, 1 ,

1

, 1 ,

1

, 1 ,

1

, 1 ,

1

, 1 ,

1

, , , ,

2 34 2 33

2 31 2 30 2

27 2 26

2 24 2 23 2

14 2 7

2 13 2 6 2

12 2 5

2 11 2 4 2

10 2 3

2 9 2 2 2

8 2 1

34 7 33 14 32 13 31 30 5 29 12 28

27 3 26 10 25 24 2 23 9 22 8 21

34 14 33 7 32 6 31 30 12 29 5 28

27 10 26 3 25 24 9 23 2 22 1 21

14 20 12 19 11 18 10 17 9 16 8 15

7 20 5 19 4 18 3 17 2 16 1 15

x x

x x x

x

x x x

x

x x x

x

x x x

x

x x x

x

b x x x x x x x x x x x x

x x x x x x x x x x x x

a x x x x x x x x x x x x

x x x x x x x x x x x x

b x x x x x x x x x x x x

a x x x x x x x x x x x x

- x₁, x₂,x₃,x₄,x₅,x₆, x₇,x₈,x₉,x₁₀,x₁₂,x₁₃,x₁₄ – -

.

V

(1). ,

- V (6)

(7)

(3)

35

, : 1

m m

P r P

r P

r ...

1

₁ ₁ ₂ ₂ ?

[3].

- :

1 . -

P

m

P

₁

,

₂

,..,

(9).

mc c

c

P P

P

₁

,

₂

,...,

.

2 . P_i P_j, -

, .

wq

1

P

_ic

wq

2

P

_jc , w – -

.

3 .

S P

_i

, P

_j

1 2

2

P q

q

P

_i .

4 .

S P

_i

, P

_j -

P

m

P

₁

,

₂

,...,

. , , .

(9) .

5 . 1

, -

(9). ,

.

. [3, 4],

-

. -

-

, (9) . -

- (9).

-

V .

[2] -

- -

1 4

,

3

0

2 3 1 4 3 2

1

b x c x d x e x x f x x g

x

a

_i _i _i _i _i _i _i

4 , 3 , 2 , 1

i

, (10)

i i i i i i

i

b c d e f g

a , , , , , ,

– -

; ₁, ₂, ₃, ₄ – .

1 2 3

4

x x x

x

.

(10) ₁, ₁, ₃, ₄.

1 ₂

2 1 2 2 1 1 1 2 2 1 1 2 2

1d Pd ad a d x bd b d x

P

3 1 2 2

1

d c d x

c

e₁d₂ e₂d₁ x₁x₃

5.

1 2 2 1 3 2 1 2 2

1d f d x x g d g d P

f (11)

( ₁ ₃), ( ₁

4).

.

, ₁ ₄ ₄ ₁ ₇

6 1 3 3

1d Pd P Pd Pd P

P (12)

( ₅ ₆), ( ₅

7). ₈ ₉, -

4, ₅. -

8 9 2. -

10 1.

. -

, (10) ,

[3]:

-

, I

1, ..., ₁₀, -

1, ..., _n .

4 1 3 2 2 3 4

1x , ax , bx , cx

d , -

.

1. ., ., .

. .: , 1959. 1084 .

2. . -

IV

// . , 2003.

. 2. . 28-36.

3. . -

. , 2003. 68 .

4. ., .

. .: , 1986. 544 .

V i -

i i

, .

Summary

The synthesis of a spatial guide link mechanism of V class upon preset positions of output point of connecting rod

. . .

20.01.07 .