Estudo analítico/simulação da cinemática do chebyshev

Geometria/Desenho:
r1 ≔ 30 ⋅ mm m1 ≔ 1 ⋅ kg

r2 ≔ 37.5 ⋅ mm m2 ≔ 1 ⋅ kg

r3 ≔ 15 ⋅ mm m3 ≔ 1 ⋅ kg

r4 ≔ 37.5 ⋅ mm m4 ≔ 1 ⋅ kg

h ≔ 30 ⋅ mm
⎡0 ⎤
Movimento motriz: ⎢ 0.05 ⎥
⎛h⎞ ⎢ ⎥
w1 ≔ 15 ⋅ rpm dθ1 ≔ 45 ° θ1I ≔ asin ⎜―⎟ θ1F ≔ θ1I + dθ1 ⎢ 0.1 ⎥
⎝ r2 ⎠ ⎢ 0.15 ⎥
⎢ 0.2 ⎥
dθ1 tt tt
tt ≔ ―― = 0.5 s t ≔ 0 , ―― ‥― t = ⎢ 0.25 ⎥
w1 10 s s ⎢ ⎥
0.3
⎢ ⎥
mm ⎢ 0.35 ⎥
θ1 ((t)) ≔ ⎛⎝w1⎞⎠ ⋅ t + θ1I vB ≔ w1 ⋅ r2 = 58.905 ―― ⎢ 0.4 ⎥
s ⎢ 0.45 ⎥
⎢ 0.5 ⎥
⎣ ⎦
Movimento movido:

Pela lei dos cossenos é possível calcular:

rBD ((t)) ≔ ‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾‾

r2 2 + r1 2 - 2 ⋅ r1 ⋅ r2 ⋅ cos ⎛⎝θ1 ((t))⎞⎠

⎛ 2 2 ⎞ ⎛ 2 2 ⎞
⎜ r2 - r1 2 - rBD ((t)) ⎟ ⎜ r3 - r4 2 - rBD ((t)) ⎟
θ2A ((t)) ≔ acos ―――――― θ2B ((t)) ≔ acos ――――――
⎜ -2 ⋅ r ⋅ r ((t)) ⎟ ⎜ -2 ⋅ r ⋅ r ((t)) ⎟
⎝ 1 BD ⎠ ⎝ 4 BD ⎠

d
θ2 ((t)) ≔ π - θ2A ((t)) + θ2B ((t)) w2 ((t)) ≔ ―― θ2 ((t)) vC ((t)) ≔ w2 ((t)) ⋅ r4
dt

xB ((t)) ≔ r2 ⋅ cos ⎛⎝θ1 ((t))⎞⎠ yB ((t)) ≔ r2 ⋅ sin ⎛⎝θ1 ((t))⎞⎠

xC ((t)) ≔ r4 ⋅ cos ⎛⎝θ2 ((t))⎞⎠ + r1 yC ((t)) ≔ r4 ⋅ sin ⎛⎝θ2 ((t))⎞⎠

xB ((t)) + xC ((t)) yB ((t)) + yC ((t))

xR ((t)) ≔ ――――― yR ((t)) ≔ ―――――
2 2

d d
vRx ((t)) ≔ ―― xR ((t)) vRy ((t)) ≔ ―― yR ((t))
dt dt

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Gráfico da posição de R:

35

30

25

20

15
xR ((t ⋅ s)) ((mm ))
10
yR ((t ⋅ s)) ((mm ))
5

0
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
-5

Gráfico da velocidade de R:

12
6
0
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
-6 ⎛ mm ⎞
-12 vRx ((t ⋅ s)) ⎜―― ⎟
-18 ⎝ s ⎠
-24
-30 ⎛ mm ⎞
-36
vRy ((t ⋅ s)) ⎜―― ⎟
-42
⎝ s ⎠
-48

Gráfico analítico do ângulo de saída:

2.55
1.7
0.85
0
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
-0.85 θ1 ((t ⋅ s))
-1.7
-2.55 θ2 ((t ⋅ s))
-3.4
-4.25
-5.1

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 Gráfico analítico da velocidade angular de entrada e saída:

1.75
1.5
1.25
1
⎛1⎞
0.75 w1 ⎜―⎟
0.5 ⎝s⎠
0.25
0
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5 ⎛1⎞
-0.25
w2 ((t ⋅ s)) ⎜―⎟
-0.5
⎝s⎠
-0.75
-1

Gráfico analítico da velocidade linear de entrada (ponto B) e saída (ponto C):

60
50
40
30 ⎛ mm ⎞
20 vB ⎜―― ⎟
10 ⎝ s ⎠
0
-10
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5 ⎛ mm ⎞
-20
vC ((t ⋅ s)) ⎜―― ⎟
-30
⎝ s ⎠
-40

Leitura do arquivo excel do módulo da velocidade de saída (ponto C):

M ≔ READEXCEL ((“ChebyshevR.xlsx” , “Chebyshev!A2:D17”))

⎡0 15 30 45.451 ⎤
⎢ 0.033 13.485 30.005 45.451 ⎥ i ≔ 0 ‥ rows ((M))
⎢ ⎥
⎢ 0.067 12.062 30.017 42.692 ⎥
⎢ 0.1 10.709 30.032 40.598 ⎥ dt ≔ 0.0333333
⎢ 0.133 9.41 30.049 38.962 ⎥
⎢ 0.167 8.155 30.062 37.643 ⎥
⎢ ⎥
M= 0.2 6.937 30.071 36.541
⎢ ⎥
⎢ 0.233 5.752 30.073 35.576 ⎥
⎢ 0.267 4.595 30.067 34.688 ⎥
⎢ 0.3 3.468 30.054 33.817 ⎥
⎢ 0.333 2.371 30.035 32.907 ⎥
⎢ ⎥
⎢ 0.367 1.309 30.015 31.886 ⎥
⎣ ⋮ ⎦

‖ ⎛ t ⎞| ‖ ⎛ t ⎞| ‖ ⎛ t ⎞|
xRS ((t)) ≔ ‖ i ← round ⎜―⎟ | yRS ((t)) ≔ ‖ i ← round ⎜―⎟ | vRS ((t)) ≔ ‖ i ← round ⎜―⎟ |
‖ ⎝ dt ⎠ | ‖ ⎝ dt ⎠ | ‖ ⎝ dt ⎠ |
‖ return M | ‖ return M | ‖ return M |
‖‖ i,1 || Non-Commercial
‖ Use Only
i,2 || ‖ i,3 ||
‖ ‖
 ⎢ 0.3 3.468 30.054 33.817 ⎥
⎢ 0.333 2.371 30.035 32.907 ⎥
⎢ ⎥
⎢ 0.367 1.309 30.015 31.886 ⎥
⎣ ⋮ ⎦

‖ ⎛ t ⎞| ‖ ⎛ t ⎞| ‖ ⎛ t ⎞|
xRS ((t)) ≔ ‖ i ← round ⎜―⎟ | yRS ((t)) ≔ ‖ i ← round ⎜―⎟ | vRS ((t)) ≔ ‖ i ← round ⎜―⎟ |
‖ ⎝ dt ⎠ | ‖ ⎝ dt ⎠ | ‖ ⎝ dt ⎠ |
‖ return M | ‖ return M | ‖ return M |
‖‖ i,1 || ‖
‖
i,2 || ‖
‖
i,3 ||

Comparação do módulo da velocidade de saída (ponto R) da simulação e analítico:

4.85⋅10

4.55⋅10

4.25⋅10

3.95⋅10

3.65⋅10 vRS ((t))

3.35⋅10

3.05⋅10 ⎛ mm ⎞
||vRx ((t ⋅ s))|| ⎜―― ⎟
2.75⋅10 ⎝ s ⎠
2.45⋅10

2.15⋅10

1.85⋅10

0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
t

d m4 ⋅ r4 2
α2 ((t)) ≔ ―― w2 ((t)) I4 ≔ ――― = ⎛⎝4.688 ⋅ 10 -4⎞⎠ kg ⋅ m 2 T2 ((t)) ≔ I4 ⋅ α2 ((t))
dt 3

-2.5 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
-4.5
-6.5
-8.5
-10.5
-12.5 ⎛ 1 ⎞
-14.5
-16.5
-18.5
α2 ((t ⋅ s)) ⎜― 2 ⎟
-20.5
-22.5 ⎝s ⎠
-24.5

-5⋅10⁻⁴ 0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
-0.002
-0.003
-0.004
-0.005
-0.006
-0.007
-0.008
-0.009
T2 ((t ⋅ s)) ((J))
-0.01
-0.011
-0.012

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