Modified Method of the Kinematic Analysis of Planar Linkage Mechanism for Non-stationary Motion Modes

摘要

The aim of the paper is presentation of the modified method of utilization of the contour graphs for an analysis of kinematics of the closed crane mechanisms. An introductory phase of calculations is necessary for performance of further dynamical analysis of the mechanisms because - in the considered duty cycle - the linkages of the mechanisms are subjected to a non-stationary motion. The non-stationary motion mode is characteristic for a startup and a braking as well as during an unstable motion of the system. The results of calculations: velocities and accelerations for particular linkages of the mechanism are shown in various figures mainly as a function of the rotational angle of the drive linkage.