V

a) Massive Reduced Masses

Mass Reduction Figures
Link 2

𝑖32 4800 𝑚𝑚2

mA1 =m2 * = 250 * = 41,67 kg
𝐿∗𝐿𝑖 240∗120 𝑚𝑚2

𝑙2 2402
mA2 =41,67 kg 𝑖32 = = = 4800 𝑚𝑚2
12 12

mA0 =250- 2*41,67 =166,67 kg

Link 3

𝐿 240 𝑚𝑚
mA3 =m3 * 𝑖 = 36 * = 18 kg
𝐿 480 𝑚𝑚

mB3 =18 kg
mA3 =18kg

Link 4
𝐿 240 𝑚𝑚
mB4 =m4 * 𝑖 = 36 * = 18 kg
𝐿 480 𝑚𝑚

mB4 =18 kg
mA4 =18kg

Link 6

𝐿 180 𝑚𝑚
mB6 =m6 * 𝑖 = 22 * = 11 kg
𝐿 360 𝑚𝑚

mB3 =11 kg
mA3 =11kg
Link 9

𝐿 180
mD9 =m9 * 𝑖 = 22 * = 11 kg
𝐿 360

mD9 =11 kg
mB9 =11kg

Link 11

𝐿 180
mD11 =m11 * 𝑖 = 22 * = 11 kg
𝐿 360

mD11 =11 kg
mE11 =11kg

mA0 = 166,67 kg mA0 = 166,67 kg

mA1 = mA2 + mA3 = 41,67+18= 59,67 kg mA1 = 59,67 kg
mA2 = mA4 + mA2 = 18+ 41,67= 59,67 kg mA2 = 59,67 kg
mB1 = mB6 + mB3 + m5 = 11+ 18+ 17= 46 kg mB1 = 46 kg
mB2 = mB4 + mB9 + m8 = 18+ 11+ 17= 46 kg mB2 = 46 kg
mC = mC6 + m7 = 11+40= 51 kg mC = 51 kg
mD = mD9 + mD11 + m10 = 11+ 20+ 11= 42 kg mD = 42 kg
mE = mE11 + m12 = 11+10= 21 kg mE = 21 kg
 b) Reduced Mass Moment Of Inertia
2
𝑟2 𝑑𝑥 𝑟
x= rcosQ + L(1-
2𝐿2
∗ 𝑠𝑖𝑛2 Ɵ) = −𝑟𝑠𝑖𝑛ƟƟ̇ + 0 − 2𝐿 ∗ 2 sin Ɵ cos Ɵ Ɵ̇
𝑑𝑡

𝑉𝑥 = (1 + 𝑟 ∗ 𝑐𝑜𝑠Ɵ/𝐿) − 𝑟 ∗ sin 𝑄 ∗ 𝑄̇

𝑉𝑐 = 𝑉𝐵1 = −𝑉𝐵2 = -𝑉𝐷 = − 𝑉𝐸 = 𝑉

At the same time

x=-𝑥𝑛 = -𝑥𝐵2 = -𝑥𝐷 = -𝑥𝐸 (-V)2 = V2

1 2
𝐼 Ɵ̇ = 1⁄2*𝑚𝐴1 *( 𝑉𝐴1 )2 +1⁄2*𝑚𝐴2 *( 𝑉𝐴2 )2 +1⁄2*𝑚𝐵1 *( 𝑉𝐵1 )2 +1⁄2*𝑚𝐵2 *( 𝑉𝐵2 )2 +1⁄2*𝑚𝐷 *( 𝑉𝐷 )2 +
2 𝑂𝐴
2 2
1⁄2*𝑚𝐸 *( 𝑉𝐸 )2 + 1⁄2*𝐼𝐹𝑙𝑦𝑤ℎ𝑒𝑒𝑙 * Ɵ̇ +1⁄2*𝐼𝑃𝑢𝑙𝑙𝑒𝑦 * Ɵ̇

2 2 2
𝐼𝑂𝐴 * 𝑄 2̇ = mA1 (r2 Ɵ̇ ) + mA2 (r2 Ɵ̇ ) + (𝑚𝐵1 + 𝑚𝐵2 + 𝑚𝐶 + 𝑚𝐷 + 𝑚𝐸 )∗ ((1 + 𝑟 ∗ 𝑐𝑜𝑠 Ɵ/𝐿)2 ∗ ( 𝑟 ∗ sin Ɵ)2 Ɵ̇ ) +
2 2
𝐼𝐹𝑙𝑦𝑤ℎ𝑒𝑒𝑙 * Ɵ̇ + 𝐼𝑃𝑢𝑙𝑙𝑒𝑦 ∗ Ɵ̇

2 2
𝐼𝑂𝐴 = (mA1 + mA2 )(r2) + [(mB1 + mB2 +mC + mD + mE )] ∗ [(1 + 𝑟 ∗ 𝑐𝑜𝑠 Ɵ/𝐿) ] ∗ (𝑟 ∗ sin Ɵ) + 𝐼𝐹𝑙𝑦𝑤ℎ𝑒𝑒𝑙 + 𝐼𝑃𝑢𝑙𝑙𝑒𝑦

𝐼𝑂𝐴 = (59,67+59,67 kg ) ∗ (0,12 𝑚)2 + [(46+46+51+42+21 kg)] ∗ (1 + 0,12/0,48 cos Ɵ)2 ∗ (0,12 𝑚)2 * sin2 Ɵ +

(100 + 6,5 kgm2 )

𝐼𝑂𝐴 = 108,21 + 2,97∗ (1 + 0,25 cos Ɵ)2 * sin2 Ɵ kgm2

Pulley- Motor
1⁄2*𝐼𝑀𝑜𝑡𝑜𝑟 * 𝑤𝑀𝑜𝑡𝑜𝑟 2 =1⁄2*𝐼𝑂𝐴 * 𝑤𝐹𝑙𝑦𝑤ℎ𝑒𝑒𝑙 2

i= 2,7 𝑤𝑀𝑜𝑡𝑜𝑟 ⁄𝑤𝐹𝑙𝑦𝑤ℎ𝑒𝑒𝑙 = 2,7

𝐼𝑀𝑜𝑡𝑜𝑟 = 𝐼𝑂𝐴 ⁄(2,7)2 𝐼𝑀𝑜𝑡𝑜𝑟 = 𝐼𝑂𝐴 ⁄7,29

𝐼𝑀𝑜𝑡𝑜𝑟 = [108,21 + 2,97∗ (1 + 0,25 cos Ɵ)2 * sin2 Ɵ] / 7,29 kgm2

𝐼𝑀𝑜𝑡𝑜𝑟 = 14,84 + (0,407) ∗ (1 + 0,25 cos 𝑄)2 * sin2 Ɵ kgm2

 c) Equation of Motion
1 2
𝐼𝑂𝐴 (Ɵ)Ɵ̈ + 𝑑𝐼𝑂𝐴 (Ɵ)⁄𝑑Ɵ* Ɵ̇ = Q ( Ɵ)
2

we ignored the changing of potential energy

𝐼𝑂𝐴 = 108,21 + 2,97∗ (1 + 0,25 cos Ɵ)2 * sin2 Ɵ kgm2

𝑑𝐼𝑂𝐴 ⁄𝑑Ɵ= (2,97) ∗ [2 sinƟ cos Ɵ (1 + 0,25 cos Ɵ)2 + sin2 Ɵ (−0,25 sin Ɵ Ɵ̇ ) ∗ 2 ∗ (1 +̇ 0,25 cos Ɵ)

𝑑𝐼𝑂𝐴 ⁄𝑑Ɵ= (2,97) ∗ [(1 + 0,25 cos Ɵ) ∗ [𝑠𝑖𝑛2Ɵ ∗ (1 + 0,25𝑐𝑜𝑠Ɵ) − 2sin3 Ɵ (0,25 Ɵ̇ )]]

𝛿𝑊
𝛿𝑊 = 𝑄(Ɵ) ∗ 𝛿Ɵ 𝑄(Ɵ) = 𝛿Ɵ

𝛿𝑊 = 𝑀(Ɵ) ∗ 𝛿Ɵ + (𝐹1 + 𝐹2 + 𝐹3 )* (𝑟2 ⁄2𝐿 ∗ 𝑠𝑖𝑛2Ɵ) * 𝛿Ɵ

𝛿𝑊 = 𝑀(Ɵ) ∗ 𝛿Ɵ + (−𝐹1 ∗ 𝛿𝑥1 + 𝐹2 ∗ 𝛿𝑥2 + 𝐹3 ∗ 𝛿𝑥3 )

𝑥1 = - 𝑥2 =- 𝑥3 𝑥1 = rcos Ɵ + L(1- 𝑟 2 ⁄2𝐿2 ∗ sin2 Ɵ) 𝛿𝑥1 = (−𝑟𝑠𝑖𝑛Ɵ − 𝑟2 ⁄2𝐿 ∗ 𝑠𝑖𝑛2Ɵ) ∗ 𝛿Ɵ

𝛿𝑊 = 𝑀(Ɵ) ∗ 𝛿Ɵ + (−1500 𝑁 ∗ 𝛿𝑥1 + 500 𝑁 ∗ 𝛿𝑥2 + 500 𝑁 ∗ 𝛿𝑥3 )

𝛿𝑊 = [𝑀(Ɵ) + 2500 𝑁 ∗ (𝑟𝑠𝑖𝑛Ɵ + 𝑟2 ⁄2𝐿 ∗ 𝑠𝑖𝑛2Ɵ)] ∗ 𝛿Ɵ 𝑟 = 0,12 𝑚, 𝐿 = 0,48 𝑚

𝛿𝑊 = [𝑀 + 2500 𝑁 ∗ (0,12𝑠𝑖𝑛Ɵ + 0,122⁄(2 ∗ 0,48) ∗ 𝑠𝑖𝑛2Ɵ)] ∗ 𝛿Ɵ

𝑄(Ɵ) = 𝑀 + 300𝑠𝑖𝑛Ɵ + 37,5𝑠𝑖𝑛2Ɵ

𝑻𝒐𝒕𝒂𝒍 𝑬𝒒𝒖𝒂𝒕𝒊𝒐𝒏 𝒐𝒇 𝑴𝒐𝒕𝒊𝒐𝒏

2
[108,21+ 2,97*sin2 Ɵ ∗ (1 + 0,25cosƟ)2 ] Ɵ̈ + 1,485 ∗ [(1 + 0,25 cos Ɵ) ∗ [𝑠𝑖𝑛2Ɵ ∗ (1 + 0,25𝑐𝑜𝑠Ɵ) − 2sin3 Ɵ (0,25 Ɵ̇ )]] ∗ Ɵ̇

= M +300𝑠𝑖𝑛Ɵ + 37,5𝑠𝑖𝑛2Ɵ
 d) Force Analysis
I draw it this compressor’s figure in AutoCAD program. And made the assumptions.

Point 7
Fx = 0
F1 – F67 =0 F67 = 1500 N
F67=1500N F1=1500N

Link 6
Fx = 0 7 F76=1500N
F56 – F67 =0 F56 = 1500 N F56=1500N
6

Point 5 (3 Force Member)

Fx = 0
F65– F35 *cos64 =0 F35 = 3421,76 N

Fy = 0
F15– F35 *sin64 =0 F15 =3075,46 N

F35=3421,76 N 26°

F65=1500N
B1

26° F15=3075,46 N

F35=3421,76 N
F15=3075,46 N
F23=3421,76 N

F65=1500N 3

26°

Link 3
F53 – F23 =0 F23 = 3421,76 N (F35 =⎪- F53⎪)

F53=3421,76 N
 Link 2
MA0 + F23 * 102,28 mm =0
MA0
MA0 = -348,22 Nmm
F35=3421,76 N

A0
0 2 ,28
1

12
F11-12=500N
F3=500N
E
Point 12
Fx = 0
F11-12 - F3 =0 F11-12 = 500 N
F12-11=500N F10-11=1000N
11

F2=500N
Link 11
Fx = 0
F12-11 + F3 + F10-11 =0 F10-11 = 1000 N

10
Point 10
Fx = 0
F10-11 - F9-10 =0 F9-10 = 1000
N
F11-10=1000N F9-10=1000N
F9-10 = 1000 N D

Link 9 9
Fx = 0
F10-9 + F8-9 =0 F10-9=1000N F8-9=1000N
F8-9 = 1000 N
 Point 8 (3 Force Member)
Fx = 0
F48 – F98 *cos64 =0 F35 = 2281,17 N

Fy = 0
F18– F48 *sin64 =0 F18 =2050,3 N
F18=2050,3 N

8
F9-8=1000 N

F4-8=2281,17 N

26°
F18=2050,3 N 26° F4-8=2281,17 N

F9-8=1000 N

Link 2
MA0 + F42 * 102,28 mm =0
MA0
MA0 = 232,15 Nmm

F42=2281,17 N 2 ,28 A0
1 0
Total Moment
MA0 = 232,15 Nmm (Left part)
MA0 = -348,22 Nmm (Right part) (cw, +)

∑ 𝐌 = 𝟓𝟖𝟎, 𝟑𝟕 𝐍𝐦𝐦

A2