SIMULAREA UNUI MECANISM CU AJUTORUL SIMSCAPE

Se considera mecanismul din figura:

k

f
M

i1,2

i3,4

Lever block

Description

The Lever block represents a mechanical lever in its generic form, known as a free or summing lever, shown in the following schematic. The summing lever equations are derived with the assumption of small angle deviation from initial position:

wherevA,vB,vCLever joints velocities FA,FB,FCLever joints forces lAC,lBCArm lengths The above equations were derived with the assumption that the lever sums forces and motions at node C. The assumption was arbitrary and does not impose any limitations on how the forces or motions are applied to the lever. In other words, any of the lever nodes can be "input" or "output" nodes, depending on the value of the force. Moreover, any of the block nodes can be connected to the reference point, thus converting
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a three-node lever into a first-class lever, with the fulcrum at the end, or a second-class lever, with the fulcrum in the middle. The following illustration shows a schematic of a two-node first-class lever, with the fulcrum at node A. It is described with the following equations:

The next illustration shows a schematic of a second-class lever, with the fulcrum in the middle. It is described with the following equations:

As far as the block directionality is concerned, the joints' absolute displacements are positive if they are in line with the globally assigned positive direction. Dialog Box and Parameters AC arm lengthArm length between nodes A and C. The default value is 0.1 m.BC arm lengthArm length between nodes B and C. The default value is 0.1 m.PortsThe block has the following ports:AMechanical translational conserving port associated with the node A

of the lever.BMechanical translational conserving port associated with the node B of the lever.CMechanical translational conserving port associated with the node C of the lever.

sh_simple_mechanical_system/Force Input : Group 1

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Signal 1

-10 2 3 4 5 Time (sec) 6 7 8 9 10

R Translational Spring1

Ideal T orque Source S f(x)=0 Joint A position C

A S PS Wheel and Axle A C B S Gear Box

Signal 1

Lever

Force Input R Rotational Spring1 R C

Mass

T ranslational Damper Rotational Damper1 C R C Mechanical Translational Reference MRR2

ToLev er

JointAPos

MotionSensor

MTR2 C 1 ToLever PS-Simulink Converter2 PS S P Ideal T ranslational Motion Sensor2 R V 1 JointAPos

Simple Mechanical System

ToLev er JointAPos

This model is built of both rotational and translational mechanical blocks to illustrate their use in a system. The key component of the system is a summing lever, which drives a load consisting of a mass, viscous friction, and a spring connected to its joint C. Joint B is suspended on two rotational springs connected to reference point through a wheel and axle and a gear box. Joint A is connected to a torque source through a gear box and a wheel and axle mechanism. MotionSensor
ToLev er JointBPos

Joint A position

f(x)=0 R Gear Box MRR Wheel and Axle

MotionSensor1

Joint B position

Ideal Torque Source S C

ToLev er

JointCPos

Signal 1

S PS A C S Gear Box1 R R Rotational Spring O R C A P B Lever Wheel and Axle1 Rotational Damper C C Mass

MotionSensor2

Joint C position

Force Input

MRR3

Rotational Spring1

Rotational Damper1

MRR1

MRR2

C Mechanical Translational Reference

Translational Spring Mechanical Translational Reference1 D

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