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Jnl. MechanismsVolume 4, pp.

93-104/Pergamon Press1969/Printed in Great Britain

Some Questions of the Dynamics of


Self-Locking Mechanisms
Prof. Dr. Techn. V. L. V e i t z *
Prof. Dr. Techn. N. I. Kolchin t
Ing. A. M. M a r t y n e n k o
Received 17 June 1968
Abstract
The dynamical processes have been considered and limiting conditions of the working
regimes derived for self-locking mechanisms with one degree of freedom. It has
been found that some restrictions of inertial parameters would have to be taken to
exclude dynamic jamming. The dependence of frictional characteristics as a function
of the relative velocity of the links has been investigated.
Zusammenfassung--Einige Fragen der Dynamik yon selbstsperrenden Getrieben :
Prof. Dr. V. L. Veitz, Prof. Dr. N. I. Kolchin, Ing. A. M. Martynenko.
Die dynamischen Prozesse sind betrachtet und Grenzbedingungen abgeleitet for
selbstsperrende Getriebe mit einem Freiheitsgrad. Es ist festgestellt dass einige
Begrenzungen der Trgheitsparameter nftig sein wLirden zur Eliminierung der
dynamischen Hemmung. Die Abh~ngigkeit der Reibungs-Charakteristik als
Funktion der relativen Geschwindigkeit der Glieder ist untersucht.
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orpaun~eH)la aHepu)lam)ubtx napaMeTpoa ~On)ZHbl 6~,[rl, nptta,qTr~t ~rlll licrnloqeli;ia~)laa~mqeczaro
caMo3ar.nmfaealtHa
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TpcH,a zaz dpy~izu,n OTffOCaTenbaOil

LET us first consider a dynamic model o f a mechanism having one degree of freedom, in
which the kinematic train value and the m o m e n t s of inertia are constants, denoted as i~. k+ 1,
lk, lk+ 1" The differences in structure and design o f mechanisms are not considered here. It
is further assumed here that only certain members of the kinematic chain have masses,
namely: the links to which power is put in or taken off by outside sources. We shall call
these links the input and the output links, correspondingly; external moments M k and
Mk+ t will be applied to these links.
In the special case o f a steady uniform m o t i o n where Cbk and tbk+ t are zero, we have the
obvious equalities
A'/k= Mk+l,k ;

M~+ t

= Mk.k+ t

* The Leningrad zavod-VTUZ.


t The Leningrad Polytechnic Institute, Chairman of Machines and Mechanisms.
The Machine-tool ]Designing Bureau, Leningrad, USSR.

93

94

A leak characteristic in such a regime is the efficiency, which for positive directions of the
uniform velocities and the moments is assumed to be as follows:
for input link " k "
'eo~ + l '.'Vl k + l _

?]~.k+t ~

for input link

"k+

COkMk

X k, k + l .

(1)

it. k + 1

1'"

I']k+l,k ~ --

09kl~tk

= __Xk+ t, k

O-Dk+ 1 ~'/k + 1

(2)

ik+l,k

From (1) and (2), it may be seen that the dynamic ratio x has the following forms:
for the input link

"k"

Xk, k + l = - - i k , k + l q k , k + l ;

(3)

Xk, k+ t ~ - - i k , k+ l?]k+tl,k

(4)

Xk+l,k

=-ik+t,kq~.,t+t

for the input link " k + 1"


X k + l , k = - ik+ l,k?~k+ l,t~ ;

In a general case for mechanisms with ik,k+t~ik+l,k, the inequality r/k , + l : ~ g ] k + l , k


holds. Our expressions (3), (4) so far have related to steady motions, but we shall be able to
extend them to unsteady motions if the functional relationship between the internal moments
Mkl,k
and M k . k + 1 is the same as before.
The ratio of power friction losses at the links " k " and " k + 1" for equal power inputs is
denoted by 6, and thus
t ~ V k +t~J(f)
l
__ 1 --~]k+ l , k

N(~7)

1 --rlk. k+ t

hence
q k + l,

k = 1--6(1

- - q k , k + 1)"

(5)

It is possible in real mechanisms to identify the links by subscript in such a way that
either the condition ~ > 1 or %, k ~> qk + ~, k holds true.
The transfer of forces in any mechanism occurs through the contacts in kinematic pairs
(joints) in which normal and tangential reactions are created. The possibility of motion in
any given direction of transfer of forces may be solved by comparing the projections of
forces or moments in the direction of motion.
The phenomenon prohibiting a motion in certain directions, notwithstanding the
magnitude of the forces in the same directions, is called s e l f - l o c k i n g .
The real mechanisms in
which self-locking takes place only in one direction are sometimes called i r r e v e r s i b l e , though
in other articles they are called s e l f - l o c k i n g .
From (5), let us find the value l/k.k+l=rh,* k+l for which the efficiency of the reversed
motion is equal to zero
* k + l = 1 - 6- t
~]k.

(6)

-< tlk,* k + t" This means that the mechObviously, we should have qk, k+ t ~<0 if /Tk,k+ 1 ~"
anism cannot perform positive work to overcome the resistance forces. It is necessary to
apply moving forces from some source both to the link " k " and the link " k + 1" that motion

95

occur, viz. either link is an input. The power lost to friction in this case is equal to the sum
of the powers applied to the input links, or
NlI~=Nk+t +Nk.
The working regime during which there is no self-locking is called the pulling regime.
Using the same numbering system as above for the links, expression (3) is valid for a dynamic
ratio in the pulling regimes. The working regime while there is self-locking, is called a
disengaging regime. Its distinguishing characteristic is a "disengaging coefficient" equal to
the ratio of the input powers:
Nk
~L~+t.k----

N If}
----

Nk+t

1,

(7)

[Vg+l.

where N k is the input power of the disengaging link.


We can reduce (7) to
~ l k + 1, k - -

tOkMk

Xk+l.k

~k+ tMk+t

ik+t,k

and hence write:


Xk+ 1, k = ik+ 1, k ~ l k +

l,k

(8)

Later we shall produce expressions for the efficiency and the disengaging coefficient o f
some self-locking mechanisms.
For orthogonal worm mechanisms with either cylindrical or hourglass worms, the
efficiency and disengaging coefficients are given by the formulae:
tan ). . t - 4q. 2 .
r/t2--tan(2+p,) 1- - --~ . 1 ,

Fl2t--

t a n ( p , - 2). 1 + 0s. l
tan).
1-bl//s, 2 '

where 2 is the helix angle on the base cylinder (for a Hindley worm gear 2=2o, where 2 0 is
the helix (lead) angle in the middle of the hourglass pitch surface); p, is the reduced angle of
friction ; for example, Pr of a cylindrical worm gear is
p, = a r c t a n [ f x/1 + tan 2 e c0s22]

(9)

w h e r e f i s the coefficient of friction for the contact surfaces; ~ is the pressure angle in the
axial cross-section of a thread (Fig. 1); ~Os,1, ~ks.2 are coefficients to take into account the
friction leakage in the bearings of the worm's and gear's shafts, which are functions of the
design parameters. Self-locking mechanisms of the above-mentioned type have p , > 1.
For a worm-gear drive of the twinworm type (Fig. 2), in which there is an angle
between the axes, we have from [2]:
_

qt2

sin 21. sin(22 + p,).


sin2~2 sin(,;.l+p,)'

#2t

_ sin 22. s i n ( p , - 2 I)
sin2 t sin(22_p,),

(10)

where ).1, 22 are the helix angles on the pitch cylinders o f t h e worms for fl-----22--21;
p , = a r c t a n [ f sin-t~] is the reduced angle of friction (here 7 is the angle made by the
normal vector to the screw surface and the radius vector of the same surface at any one
point).

96

I
\
/

Figure 1.

Figure 2.
Several important facts should be emphasized for the same mechanisms, namely: selflocking occurs when pr>).t but when 22~<pr dynamic jamming takes place in the mechanisms. The latter phenomenon is called "self-locking of the second kind" in the terminology
of [2]. Jamming denotes that motion is impossible no matter what the value of the moment
applied to the link to disengage the mechanism. Really, from (10) we have that lt,--*oo as

),2-+p,.
In the dual slipper mechanism described by P. Painlev6 and L Prandtl [3]( see Fig. 3)
self-locking conditions are determined by the inequality condition P l <~ <Pz. The ratios
r/i2 and it2t are then given by
sin(ct-pl)__ cosP2
- r/12--sin(ct+p2) cospl

# 2 t - -

sin(p2 -- "d) cospl


"
,
sin(:t+px) COSp2

where Pl, P2 are angles of friction of the sliding bodies

\\\\\\\\\\\\',.~\'~\\\

\\\\~\/\\\NNN\

\\\\\\\\\\\N\\\\\\'-~<..,
-J
I
Figure 3.

,'. ,

\~\",, \

(1l)

37

Figure 4.
According to [4] formulae may be derived for the triple screw self-locking mechanism
(see Fig. 4), which transforms rotation into a progressive translation. These formulae are
1ll2--

tan )~ tan 22
.tan(2t + Pt) + A tan(22 + P2)
(I +,~)tan(2t + pt)tan(,~.2 + p2)
tan2t +Atan 22

~t2t -

(1 + ~)tan(2t + p t ) t a n ( p 2 - 22)
tan 2t + A tan).2

tan 2 t tan 2,
tan(2t + P l ) - A tan(p 2 - 22)'

(12)

where 2t, 22 are the helix angles of the inner and outer screw pairs; A = R / r is the ratio of
pitch radii of inner and outer pairs; ~= x/rsin(2 t +Px) is a coefficient of frictional leakage;
P t, P2 are the reduced angles of friction in the inner and outer pairs; and x is the coefficient
of rolling friction of the thrust bearings.
The transmission ratio must take into account the transformation of the motion from
rotation into progressive motion, by including the radius R; it is determined by the expression
il2 =

tan 2~ + A tan 22
R tan ).j tan 22

(13)

The self-locking condition for the same mechanism is ,02 t>,~.2; and dynamic jamming
occurs if ( I/A)tan(2 t + p t) ~<tan(p2 - 22).
A series of self-locking mechanisms with high efficiency in the pulling regime and high
disengaging coefficient have been described by N. S. Munster, B. Sh. Novoschilov, G. V.
Tsarev [5].
We turn now to consider the properties of self-locking mechanisms in dynamic regimes.
Having seen these models of self-locking mechanisms, we can write their differential
equations of motion in the form:
lkt;J k q- Mg + 1, ~:= Mk,

]k+ lt"~k+ l "1" Mk, k+ t ----Mk+ 1

(14)

These give us the relationship between the moments M k+ t. k, Mk. k+ 1 and the accelerations cbk, cbk+ z ; we derive the expressions
Alk, k+ I = M k + tlk-- ik'k+ t M k l k + t ;
[k-- ik+ t,kXk+ t,klk+ l

(15)

e~ = cbk--

(16)

M k - - Xk+ 1. kMk

[k--ik+ l,kXk+ l,k~k+ l

98
where Xk+ 1.k is the d y n a m i c ratio, which takes o n the values
for Mk, k+ t < 0 ( p u l l i n g regime) ;

--Ik+t,k~k,k+l

Xk + t, k ~-'-'r.
f

(17)
for Mk. k + t > 0 ( d i s e n g a g i n g r e g i m e ) .

ig+ 1, JAk+ l,k


.
-j.

Successive a n a l y s i s o f the given expressions p e r m i t s us to find the c o n d i t i o n s for


existence o f the p u l l i n g a n d d i s e n g a g i n g regimes for different values o f the inertial a n d force
p a r a m e t e r s (see T a b l e 1).

Table 1.
Regimes

ee, gt+l>O

,~a'. &~l < 0

Me>0;
h:,! ,~e>ie, ~:+1/eM,~+t

t2

II

III

Me>O;

M~+I > 0
Non-realizable

Me~t < 0 , (:'v/c, k:= -MJ+I > 0 )

M e > i e + L eq-te, e+lMc, e+l

Mta < ix+t, kq-te, e+lMe, el

Me < 0, (Me, = - - M e > 0 ) ;

Me+l < 0, (Me. e.l = - M e + ! >0)

Non-realizable

leMe. e+l > ix+l. ele+lMc, ~:

I*

Me>0;

M,~+t > 0

L~> i2/c+t, t/J,l:+1. elk+ I

IkMe+ t > &+t, elf+ 1Me

Me >&+l, ,~:/.te+ltMe+t
Im
e-,

"gz

II*

tall

i5

III*

Me < ix+t, e/.*e+l,eM,~+t

Me < O, (Me, e = --Me>0; Mt+L >0)

Non-realizable

le>i2e+l. ,~/.te+1. el,~:+t

Mk < 0, (Me. e = - - M e > 0 ) ;

Me+l < 0(Me. e+l = -- Mei >0)


le > i2k+1,ea~+l, Je+l
It+tMc. *:>it. t+lltMe, t+t

Non-realizable

Me, e >ik+l. e/.te+l,kMe, k+l

Let us l o o k closely at the divisors in (15), (16). O b v i o u s l y , we have for a p u l l i n g regime


in a c c o r d a n c e w i t h (17)
[k -- ik + 1, kXk + 1, k[k + I = Ik + i2+ 1,k~k,k+
- ~ l~k+ l > 0 .

99

Respectively, for a disengaging regime there can be stated


Ik -- ik tX~,~. 1, klk+ t = [ i - - i~+ 1. k # k + t. k/k+ I > 0

provided that
(~8)

lk > i~+ 1. k/tk+ 1. klk + t

The inequality (18) is a condition for the absence of dynamic jamming in a self-locking
mechanism. Really, the moment Mk, k+ t and acceleration ek converge to infinity as I k tends
to the value i~+ t.k~tk+l.klk+ 1" These conclusions of unlimited values of Mk.k+ 1 and ek
come from the initial assumption about the infinity of the link's hardness. Analysis of
dynamic phenomena shows for real mechanical systems that an aperiodic increasing Mk. k + 1
will be restricted if the link's hardness is limited. The maximum value of moment M , . k + 1
depends upon the link's hardness [I].
It is important for practical needs to investigate the steady multiharmonic motion of a
machine aggregate consisting of a motor drive, a self-locking mechanism and an output
"link", to which an external resisting periodic force (or moment) is applied. Such a machine
aggregate model is shown in Fig. 5.

j~, ~ /

Figure 5.
The dynamic characteristic of the motor and its drive shaft has been given by [1] as
~la+ Ta tMd-(vTa)-

IS1 = 0 ,

(19)

where
is the relative velocity of rotor and stator;
is the angular velocity of ideal idling;
is the torque of motor drive shaft;
T,~ is the time constant of the drive motor, defining the transient
behaviour in the motor drive;
is a shape factor of the static characteristic.

St = 1 - (col/co o)

O90
Me

A dynamic characteristic of a motor and drive shaft such as is given by (19) can be
utilized for many kinds of electric drives and also hydraulic drives. Methods to determine
the parameters v and Td have been given in [1].

1oo

Thc mechanical model of this motor drive is shown in Fig. 5. It has a dynamic characteristic as in (!9). and the parameters of the mechanical model have been derived to be
ca=(veaoTj )- t :

/-Ca= (re)o)-i

The system of differential equations of motion for this machine aggregate consists of
the equations (14) and (19) in which
k= 1 ;

M t = Ma(t) ;

M 2 = Mc(t).

Here the external moment of resistance is considered to be a periodic function of time


with period T, viz. Me(t)= M c ( t + T). Referring again to Table 1. we find that the pulling
regime is realized if
12 Ma(t) - i z,

211Mc(t)>

O,

(20)

l a M a ( t ) - it. alaMo(t) < 0 .

(21)

and the disengaging regime if

Excluding M, 2 and ,tl,~ from the equations of motion and making use of the dependence
between c.:)t and ~b,_, we write this system in matrix form
(22)

,/* + CO = F(t, t)),

where 4' is a vector function with the two components


4'l(t)=Ma(t);

~,_(t)=st(t)

C is a (2x 2) matrix with elements


~ c ,t ~ =T~-~ ,

~ c , , _ ,- _ ( v T a ) - I ,

{ c h ~ =(t*a,o) -~

I*=1 l-i,txetl2

{c},,=0.

and F(t, ~) is the two-dimensional vector function with components


Ft(t, 4 ' ) = 0 ,

k',(t, 4')= r(~,)M~(t),

where
r(4')= - x,.. ~( l*o)o)- t

The watch function defining the working regimes is


W(4') = I24'1(t ) - i t ,.11Mc(t )

and .v2t is given by the alternatives:


[ " --i21.'1t2 t

X21 = ~
L i21~12t

for W(4')>O "


['Or W(4'),~O.

(23)

101

We now seek a solution of system (23) supposing that the moment of resistance is a
bounded, piecewise continuous function. Let the set {tq. ;} be the set of the instants in time
at which there occur changes in the regimes for a periodic movement of the machine
aggregate.
It follows that W[~b(tq ;)] =0, and t~. ; can be expressed by
tq.;=qT+t.
where
q = 0 , 1,2 . . . . ;

~=0, I, 2 . . . . .

:t-1

(here :t is the number of changes of working regimes for half the closed time interval O, T).
If the periodic solution of the non-linear differential system (22) were known, then after
putting it into matrix C and vector functions we should have a linear system of differential
equations with piecewise constant periodic coefficients.
A general solution for such a differential system can be derived by methods described in
[I] to the form

(t)=

"- t

~" ~(t) q" ;

(24)

q=O ~=l

where q, ( indicate the ( regime of the q period and


;= ;
(t) q'

,//*(t- tq, ;)q' ;

for t ~[tq. ;, tq, ; + ~), "~

for t ~[tq.;, tq.;+t).

Here ~l*(t) q'" is a vector function solving the differential system (22) with
C=C[(tq,)]=C q', F(~, t)=F[~b(tq,;); t]=rq'Mc(t) for te[0, oo) and initial data ~ ' ~ .
(~,(t) is the periodic solution of equation (22)).
The Laplacian mapping function of the function (t) ~' ~"is given by the formula
(I)*(p)q" ~= ( N q";)-lm*(p)'t' ;

(25)

where N q'; is a (2x2) matrix; m*(p) q': is a vector function. The elements of the N q''
matrix and the components of m*(p) q" ~ are determined by
(Nq';}lt=p+ct,,
,n~(p) q'",

~k1'o' ".,

{Nq';}12=ct2;

(Nq';}2t=c~'t;;

{Nq';}22=p;

q,; + r q, ;L{Mc(t+tq.;)},
m'~(p)'l";=d/2o

where c~h;, r q'; are the values of c2t and r for q, ( regimes respectively; L is a symbol
of Laplacian mapping.
Reversing (25) according to Riemann-Mellin formula we find the components of vector
function ~b*(t)q" ; to be as follows:

~(t)q'

;eP,dp,
; = I"._L_F
I a+i~ ~,*[,,Vl..;_
,,,t_wl _ _ctznl~(p_~)q,
___
2rtiJ_i~ p2 + c t t p - c t 2 c q " ~
.

1 I*+i~(p+ctt)m2(p)

q,;

q,~

--czlml(p)

q,;

ePtdp.

(26)

102

F r o m (26) and taking into account the expresstons for m T I p ) + ( i = i. 2). the solution

t/J(r)q': may be found in the form


~(t) q'"

alt)q';,)qo';+f(t) q'; .

127)

Here the matrix elements G(t) q" ~ can be reckoned by means of

I i ~ti~
{oft),. ;},, = 2-~,3~_, ~.

ep.-~..Odp"

ll(p) q"

{G(t)q.;}12= ~ i f I ,+i~ C 1 ~ 2 ep(t-t"Z'dP


. , - i ~ ufp)q" ~
{ G(t) q' ;}2t = -~-~i~iJ~_i_~ u ~ ,

eP~t-ta, Od p ,

i "+'~- p + c , ,em_,." Od e
- 2x i)~ -i~ t-t(p)q--"

{G(t)""}z2"

(28)

where u( p)q' = p2 + el IP-- Cl zC'~'l;.


The c o m p o n e n t s of the vector-function f ( t ) q" ; are
Fq,.~ f*a + i ~

J't(t) q' --- -- "-~l.Ja_i ~ u(P)


C t 2q' .;L{M(t + tq. o')}ee"-t,,, od p
.'I,C, /'~+i~'.

f2(t)q'= r''' |
P + C ~ ! L { M d t + t q ,)}eP"-'~'dp
2niJ~_i~ u(p) q"
""
"

(29)

After integrating (28) we shall have

{ G(t)"' "},t

=I-~sinKq'~(t-t,,,-.)+csKq';(t-tq.z)le-"'t-tq;'

C12 -Tlt-tq,
{G(t)q'}12= --~-ffT.e
sinK"';(t-tq,;),

q,~,
{G(t) q' ;}2t = c2't. e-;'"-t"' sinKq' ( t - tq. ;),
K q. .

{ G(t) q" "~}22 = I ~ s i n K q ' (

t - tq. 0 + cosKq' ~(t- tq, r)ltJ -'(t-tq"

where?,=0"5ctt; K q ' ; ---0 "5.v/--4Cl2C2tq,~. - - C'2t l .


Here we see the practically important case when 4Ct2Cq2"t;+CfI < 0 , that corresponds
to the inequality
Ta(T,.t)- t > 0.25,
where 7 " ~ = VOgoI* is a mechanical time constant for the machine aggregate.

103

In (29) the values of the vector functionf(t) ~'" are depen dent on the specific form of the
moment of resistance M'=(t). The values of tq. ; at which the changing of regimes occurs,
are defined as solutions of the equation
4 t(t) = it

:[~-LMc(t).

(30)

As it was shown in [l], the conditions for existence of a periodic solution of the differential equations of motion are given by
4o=4~'.(q=1,2 ....
Let

us

(31)

note that

G(to,;+O,;=Go.;,

f(to.+l),;=f .;,

(32)

considering that
(33)

400 , ; = 4 ( t 0 , ~ - 0 ) ' ; - 1

From (32), (33) and (27) we can obtain a recurrence formula


40. ~+ t = Go, ~4o" ; +f0, ;.

(34)

This equation (34) for = 0 , 1, 2 . . . . . ~ - l and the condition of existence of periodic


solutions (31) can be used together to get the equation determining the vector 40 for the
periodic solution.
( H - I)4o = - P ,

(35)

where
0

H=

I-[ Oo. ,
k=z-I

k.+l

1-[ Co.;,
i=~-1

2-1

B,_, = I ,

P= y.
k=0

and 1 is a unit matrix.


It can be proved [1] that this periodic solution is equal to the periodic solution of the
differential system (22), if their initial data are equal to each other.
An iterative algorithm has been used for searching out a periodic solution; it consists
of the following:
I. We choose some periodic function 4(~(t) (for example, a solution of the differential
system of equations (22) for I* = I = const.) and thus find the set {t~. ~[0]} for equations
(22) after linearization.
2. We use this approximate set in the proper differential system of equations to find its
periodic solution 4(1)(t) and search out a new set {tq, ~[1]}.
3. We continue to iterate according to the steps 1, 2 until {tq, ; [ m - 1]} will be equal to
{t~, ;[m]} with the exactitude demanded.
It can be shown that this iterative algorithm will indeed search out the set of functions
{4(k)(t)} which converge as k ~ o o to the function ~k(t), the periodic solution of the equations
(22). The periodic solution 4(t) exists if the iterative algorithm calculation can be made.

104

Questions concerning the uniqueness or the solution and the existence of subharmonic
solutions are solved by investigating the value of the determinant ( H - I). where
H = [imH [ k ] .
If we get d e t ( H - I ) # 0, ti~e system of differential equations (22) has a unique periodic
solution. Necessary condition for the existence of subharmonic solutions is d e t ( H - l ) = 0 .
Sufficient conditions for the existence of subharmonic solutions can be found if the eigenvalues of matrix H are investigated. Research into these eigenvalues of H permits us to
establish whether the solutions are steady-state or not.
The results obtained here can be utilized to investigate the dynamic processes in machine
aggregates with more complex forms of self-locking mechanisms, such as, for example, those
with elastic links, or with a dynamic ratio depending on the velocity of the coupling.
References

[I] VErrz V. L. Dinamika 34ashinykh Agregatov Izdat. Mashinostroenie, Moscow (1969).


[2] POPPER B. and PESSE,~D. W. The twinworm drive--a self-locking worm-gear transmission of high
efficiency. Trans. ASME, August 1960, pp. 191-199.
[3] PAINLEV~P. and PRAYDTLL. Leons stir le Frottement. Paris (1895).
[4] TURPAEVA. I. Samotormozyashchisya Mechanismi, p. 110. Izdat. Mashinostroenie, Moscow (1966).
[5] Teoriya Mechanismov i l~Iashin, VoI. 39, lzdat. FAN, Tashkent (1967).
[6] KOLCmS N. I . K . Voprosy dinamiki samotormozyashchiksya Sistem. Trudy, Leningrad Polytechnic
Institute, No. 254, Leningrad (1965).
Notation

Angular velocity of the link identified by subscript "k".


Angular acceleration of link " k " .
Ek = (~)k
ik. k + I = (2)k/('Og + | Kinematic transmission ratio of mechanism.
Moment acting on the link " k " due to the mechanism (an
~[k.k+l
internal moment).
Mk External moment acting upon the link with subscript "k".
"Vk.k+ I = Mk.k+ I/Mk+ I. k The dynamic ratio of moments.
lk Moment of inertia of the link with subscript "k".
Efficiency of the part of the mechanism in which transfer of
qk. ~+,
moments is in the direction from "k'" to " k + 1"
Disengaging coefficient of a self-locking mechanism.
/lk, k+ 1
COk

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