a

−

=

a

l

− ε

⋅

sin

α

( )

⋅

l

ω

( )

⋅

cos

α

( )

⋅

−

l

ε

⋅

sin

α

( )

⋅

−

l

ω

( )

⋅

cos

α

( )

⋅

−

:=

ε

=

ε

l

− ε

⋅

cos

α

( )

⋅

l

ω

( )

⋅

sin

α

( )

⋅

+





l

ω

( )

⋅

sin

α

( )

⋅

+

l

cos

α

( )

⋅

:=

:\]QDF]HQLHSU]\VSLHV]HRJQLZPHchanizmu

V

=

V

l

− ω

⋅

sin

α

( )

⋅

l

ω

⋅

sin

α

( )

⋅

−

:=

ω

=

ω

l

− ω

⋅

cos

α

( )

⋅

l

cos

α

( )

⋅

:=

:\]QDF]HQLHSUGNRFLRJQLZPHFKDQizmu 

α

 deg

=

α

angle cos

α

2

sin

α

2

,

(

)

:=

cos

α

2

s

l

cos

α

( )

⋅

−

l

:=

sin

α

2

l

−

sin

α

( )

⋅

l

:=

l

sin

α

( )

⋅

l

sin

α

( )

⋅

+

 

s

=

s

−

=

s

 l

⋅

cos

α

( )

⋅

∆

+

:=

s

31

 l

⋅

cos

α

( )

⋅

∆

−

:=

∆

−

l

⋅

cos

α

( )

⋅

(

)

l

( )

l

( )

−





⋅

−

:=

ε

−

:=

ω

−

:=

α

 deg

⋅

:=

l

:=

l

0.12

:=

.,1(0$7<.$

aS3y

=

aS3x

−

=

aS3y

:=

aS3x

a

:=

3UGNRüLSU]\VSLHV]HQLH URGNDPDV\RJQLZD

aS2y

−

=

aS2x

−

=

aS2y

l

ε

⋅

cos

α

( )

⋅

l

ω

( )

⋅

sin

α

( )

⋅

−

l

ε

cos

α

( )

⋅

ω

( )

sin

α

( )

⋅

−





⋅

+

:=

aS2x

l

− ε

⋅

sin

α

( )

⋅

l

ω

( )

⋅

cos

α

( )

⋅

−

l

ε

sin

α

( )

⋅

ω

( )

cos

α

( )

⋅

+





⋅

−

:=

VS2y

−

=

VS2x

=

VS2y

l

ω

⋅

cos

α

( )

⋅

l

ω

⋅

cos

α

( )

⋅

+

:=

VS2x

l

− ω

⋅

sin

α

( )

⋅

l

ω

⋅

sin

α

( )

⋅

−

:=

3UGNRüLSU]\VSLHV]HQLH URGNDPDV\RJQLZD

aS1y

−

=

aS1x

−

=

aS1y

l

ε

cos

α

( )

⋅

ω

( )

sin

α

( )

⋅

−





⋅

:=

aS1x

l

−

ε

sin

α

( )

⋅

ω

( )

cos

α

( )

⋅

+





⋅

:=

VS1y

−

=

VS1x

=

VS1y

l

ω

⋅

cos

α

( )

⋅

:=

VS1x

l

− ω

⋅

sin

α

( )

⋅

:=

3UGNRüLSU]\VSLHV]HQLH URGNDPDV\RJQLZD

:\]QDF]HQLHSU GNRFLLSU]\VSLHV]H URGNyZPDVRJQLZ

Pbx

2

=

Pby

2

=

Pbx

3

aS3x

−

m

⋅

:=

Pby

3

aS3y

−

m

⋅

:=

Pbx

3

=

Pby

3

=

F

−

:=

rxBS

l

cos

α

( )

⋅

:=

ryBS

l

sin

α

( )

⋅

:=

rxBS

=

ryBS

−

=

rxBC

l

cos

α

( )

⋅

:=

ryBC

l

sin

α

( )

⋅

:=

rxBC

=

ryBC

−

=

rxBS

l

cos

α

+

(

)

⋅

:=

ryBS

l

sin

α

+

(

)

⋅

:=

rxBS

−

=

ryBS

−

=

rxBA

l

cos

α

+

(

)

⋅

:=

ryBA

l

sin

α

+

(

)

⋅

:=

rxBA

−

=

ryBA

−

=

.,1(7267$7<.$

m

:=

m

:=

m

:=

g

:=

J

:=

J

:=

G

g

−

m

⋅

:=

G

g

−

m

⋅

:=

G

g

−

m

⋅

:=

G

−

=

G

−

=

G

−

=

Mb

1

ε

−

J

⋅

:=

Mb

2

ε

−

J

⋅

:=

Mb

1

=

Mb

2

−

=

Pbx

1

aS1x

−

m

⋅

:=

Pby

1

aS1y

−

m

⋅

:=

Pbx

1

=

Pby

1

=

Pbx

2

aS2x

−

m

⋅

:=

Pby

aS2y

−

m

⋅

:=

Mnap

=

Mnap

M1

M2

+

ω

:=

M2

Pbx

(

)

VS1x

⋅

Pby

G

+

(

)

VS1y

⋅

+

Pbx

(

)

VS2x

⋅

Pby

G

+

(

)

VS2y

⋅

+





+

Pbx

(

)

V

⋅

+





−

:=

M1

F V

⋅

Mb

ω

⋅

+

Mb

ω

⋅

+

(

)

−

:=

WYZNACZENIE MOMENTU NAPEDOWGO M

n

 W OPARCIU O BILANS 

MOCY MECHANIZMU

Find Rx23 Ry23

,

R43

,

Rx12

,

Ry12

,

Rx41

,

Ry41

,

Mn

,

(

)

−

−

−













































=

Mb

rxBS

Pby

G

+

(

)

⋅

+

ryBS

Pbx

(

)

⋅

−

rxBA Ry41

(

)

⋅

+

ryBA Rx41

(

)

⋅

−

Mn

+

 

Ry12

−

Ry41

+

Pby

1

+

G

+

 

Rx12

−

Rx41

+

Pbx

1

+

 

Mb

rxBS

Pby

G

+

(

)

⋅

+

ryBS

Pbx

(

)

⋅

−

rxBC

Ry23

−

(

)

⋅

+

ryBC

Rx23

−

(

)

⋅

−

 

Ry23

−

Ry12

+

Pby

+

G

+

 

Rx23

−

Rx12

+

Pbx

+

 

Ry23

G

+

R43

+

 

Rx23

Pbx

+

F

+

 

Given

Mn

:=

Ry12

:=

Ry41

:=

Rx41

:=

Rx12

:=

R43

:=

Ry23

:=

Rx23

:=