MAK 324 MAKNA TEORS DEV 1 SNA BRECK 030110454 - 23/03/2015

c (ayarlanabilir mesafe)

x1

x3

x2

d
A

Yukarda gsterilen mekanizmada uzuv boyutlar:

a=0.016489m; b=0.015m; c=0.02m; d=0.075m; h=0.01m dir.
X1, X2, X3 ve konum deikeni deerlerini q=0 360 aralnda bulmak istiyoruz.
1) Mekanizmann istenen q konumlarnda, bilinmeyen tm konum deikenleri
iin X1=0.02m, X2=0.015m, X3=0.045m ve =30 deerlerini tahmin edelim. Tabii ki bu
deerler evrim kapama denklemlerini tam olarak salayamayacaktr. Bunun iin Excel
paket programnn "Solver" fonksiyonundan yararlandm. Bu yntem Newton Raphson
yntemini kullanmaktadr.
Solver fonksiyonunu aktif hale getirme: Excelin Options mensnden "Add-Ins
sekmesi seilir. Bu komutla birlikte ekrana Excele dahil edebileceiniz eitli ilemler
grntlenecektir. Bunlarn iinden "Solver Add-In" seilerek Excel program iine
yerletirilir. imdi Excelde "Data" sekmesinden eriilebilecek "Solver" adl bir program
bulunmaktadr.
Veri girii:
a) A2 - A6 hcrelerine uzuvlar iin kullandmz adlar, Bye birimleri ve C kolonunda
kar gelen hcrelere ise uzuvlarn deerlerini yazdm.

b) A8 hcresine bamsz deiken adn ve C8 - AM8 hcrelerine zm yapacam

deerleri derece cinsinden yazdm, alt satrda radyana dntrdm. A11-A15 hcrelerine

MAK 324 MAKNA TEORS DEV 1 SNA BRECK 030110454 - 23/03/2015

baml deiken adlarn ve kar gelen C hcrelerine her giri kolu as iin bu
deikenler iin tahminimi yazdm, tahminler her konum iin ayn girildi.

c) C18 C21 hcrelerine deerleri sfr olmas gereken devre kapallk

denklemlerinden trettiim ba denklemlerini yazdm.
evrim kapama denklemleri:

Hcrelerdeki denklemler:

f1=0 iin rnek C18 hcresi =$C$4-C14*COS(C12)

f2=0 iin rnek C19 hcresi =C13-$C$3-C14*SIN(C12)

f3=0 iin rnek C20 hcresi =$C$5+$C$2*COS(C9)-C15*COS(C12)

f4=0 iin rnek C21 hcresi =C13-$C$6+$C$2*SIN(C9)-C15*SIN(C12)

MAK 324 MAKNA TEORS DEV 1 SNA BRECK 030110454 - 23/03/2015

) Eer semi olduumuz baml parametre deerleri doru olsayd tm

f1=f2=f3=f4=0 olurdu. Tahminlerde hatalar olacandan bu deerler sfr olmayacaktr.
Solver fonksiyonunu kullanmak iin bu fonksiyonlarn karelerini, program iin tek bir hcre
seilmesi gerektiinden fonksiyon kareleri toplamlarnn (k) kareleri (ck) toplamn (ckt)
aldm:
k(C) = f12 + f22 + f32 + f42 iin rnek C22 hcresi =C18^2+C19^2+C20^2+C21^2
ck= [k(C)] 2 iin rnek C23 hcresi =C22^2
ckt= [k(C)] 2 + ... + [k(AM)] 2 iin C24 hcresi =SUM(C23:AM23)

d) Eer ckt sfr olur ise, dier fonksiyon deerleride sfr olacaktr. Solver fonksiyonu
ok deikenli bir fonksiyonu minimize, maksimize etmek veya belirli bir deer almasn
salamak iin kullanlabilir. Bu aamada Solver fonksiyonunu ardm. "Set Objective
(Hedef hcre belirle)" olarak C24 hcresini ve "By changing variable cells" yani "deerleri
deitirilecek hcreler" olarak da C11 AM15 hcrelerini iaretledim (Bu hcrelerde
tahmini deerler bulunmaktadr). kinci satrnda "To" ya karlk "Value of" iaretleyip
karsnda 0 deerini verdim. "Options"tan hassasiyeti 0.000001 olarak deitirdim.

"Solve" komutuna bastmzda bu fonksiyon C11 AM15 deerlerini deitirerek

C24 hcresini, dolaysyla C11 AM15 hcelerini sfr yapmaya alacaktr.

MAK 324 MAKNA TEORS DEV 1 SNA BRECK 030110454 - 23/03/2015

Hesaplanan A diki inesi ucu konum deerleri (q esas koordinatlarnn 10ar

derecelik artrmlar iin):
q [der]
0
10
20
30
40
50
60
70
80
90
100
110
120
130
140
150
160
170

x1 [m]
0.02785
0.02875
0.03067
0.03306
0.03477
0.03301
0.03237
0.03126
0.03007
0.02924
0.02854
0.02811
0.02795
0.02807
0.02849
0.02919
0.03047
0.03289

180
190
200
210
220
230
240
250
260
270
280
290
300
310
320
330
340
350
360

0.03470
0.03689
0.03697
0.03683
0.03619
0.03540
0.03603
0.03737
0.03375
0.03164
0.03005
0.02777
0.02612
0.02514
0.02446
0.02438
0.02552
0.02634
0.02785

MAK 324 MAKNA TEORS DEV 1 SNA BRECK 030110454 - 23/03/2015

Hesaplanan x1

0.04
0.038
0.036

Uzunluk [m]

0.034
0.032
0.03
0.028
0.026
0.024
0.022
0.02
0

100

200
q [derece]

300

Hcredeki kod
x1 iin
max.deer 0.037369m =MAX(C13:AM13)
min.deer 0.024381m =MIN(C13:AM13)
strok
0.012988m =ABS(AP13-AP14)

2) HIZ ANALZ

MAK 324 MAKNA TEORS DEV 1 SNA BRECK 030110454 - 23/03/2015

3) VME ANALZ

Matrisler bulunduktan sonra hazrlanan MATLAB koduna geirildi; konum bilgileri

Excelden aktarld. Kodun sonundaki tablo elde edildi.

clc; clear;
a=0.016489 %[m]
b=0.015 %[m]
c=0.02 %[m]
d=0.075 %[m]
h=0.01 %[m]
w_rpm=140 %[rpm]
w=w_rpm/2/pi/60; %[rad/s]
acc=0; %[rad/s^2]
x1_ar=[0.028572715 0.030145805 0.03164688 0.03290238
0.033801107 0.034103916 0.034061464 0.033800264 0.033302983
0.03265627 0.032091724 0.031750063 0.031664981 0.031846843
0.032302766 0.033017015 0.033830289 0.03462022 0.035370933
0.036013484 0.036374531 0.036721276 0.037236256 0.036841975
0.036560905 0.034378194 0.034874298 0.032435743 0.029546352
0.027368328 0.026020012 0.025005698 0.024581569 0.024772799
0.025653458 0.026992057 0.028572715];
x2_ar=[0.023844501 0.024553814 0.02540802 0.026317931
0.027158929 0.027886902 0.028397827 0.028769074 0.029024024

MAK 324 MAKNA TEORS DEV 1 SNA BRECK 030110454 - 23/03/2015

0.029131887 0.029168358 0.029178577 0.029191328 0.029214435

0.029239535 0.029242574 0.029159347 0.028958188 0.028664447
0.028272647 0.027727805 0.027102962 0.02647899 0.025933331
0.025260155 0.025767965 0.023782928 0.022880407 0.021751798
0.020953979 0.021000872 0.021471716 0.022007678 0.02246719
0.022880314 0.023306989 0.023844501];
x3_ar=[0.093313821 0.094122541 0.094591679 0.094634659
0.094207099 0.093122474 0.091442718 0.089366621 0.086762906
0.083801168 0.080742727 0.077712258 0.074786437 0.072046378
0.069595819 0.067553593 0.065937401 0.064606013 0.063700849
0.063208338 0.063054846 0.063237567 0.063591865 0.064756742
0.06631258 0.068562412 0.070816398 0.073887928 0.077131041
0.08016969 0.082906193 0.085366248 0.087513342 0.089353528
0.09091008 0.092229029 0.093313821];
te_ar=[0.272569619 0.322197148 0.368976517 0.409796976
0.443722684 0.468796977 0.486590529 0.498648105 0.506656848
0.511856132 0.515078687 0.516908213 0.517741172 0.517789611
0.517096312 0.515558262 0.512938781 0.508866088 0.502761075
0.493848104 0.480927841 0.462821489 0.438424581 0.406466308
0.36854114 0.324632765 0.278239582 0.230564754 0.185455339
0.147248993 0.124500544 0.114692883 0.121323177 0.142632739
0.177596832 0.222725208 0.272569619];
i=0
for q_deg=0:10:360
i=i+1;
q=q_deg*pi/360;
x1=x1_ar(i);
x2=x2_ar(i);
x3=x3_ar(i);
te=te_ar(i);
J=[0, -cos(te), 0, x2*sin(te);
%Jakobiyen matrisi
1, -sin(te), 0, -x2*cos(te);
0, 0, -cos(te), x3*sin(te);
1, 0, -sin(te), -x3*cos(te)];
df_dq=[0;0;-a*sin(q);a*cos(q)];%Bag denklemlerinin q'ya gore
turevi
hiz_kat=-J^-1*df_dq;
%[Ks] hiz hatsayilari matrisi
dB_dq=[0;0;a*cos(q);a*sin(q)];
dJ_dq=[0, sin(te)*hiz_kat(4), 0,
hiz_kat(2)*sin(te)+x2*cos(te)*hiz_kat(4);
0, -cos(te)*hiz_kat(4), 0, hiz_kat(2)*cos(te)+x2*sin(te)*hiz_kat(4);
0, 0, sin(te)*hiz_kat(4),
hiz_kat(3)*sin(te)+x3*cos(te)*hiz_kat(4);
0, 0, -cos(te)*hiz_kat(4), hiz_kat(3)*cos(te)+x3*sin(te)*hiz_kat(4)];

MAK 324 MAKNA TEORS DEV 1 SNA BRECK 030110454 - 23/03/2015

ivm_kat=J^-1*[dB_dq-dJ_dq*hiz_kat]; %[Ls] ivme hatsayilari

matrisi
hiz=hiz_kat*w ;
ivme=ivm_kat*w^2+hiz_kat*acc;
x1_hiz_ar(i)=hiz(1);x2_hiz_ar(i)=hiz(2);x3_hiz_ar(i)=hiz(3);t
e_hiz_ar(i)=hiz(4);
x1_ivm_ar(i)=ivme(1);x2_ivm_ar(i)=ivme(2);x3_ivm_ar(i)=ivme(3
);te_ivm_ar(i)=ivme(4);
q_deg_ar(i)=q_deg;
x1_hiz_ar(i);
x1_ivm_ar(i);
end
subplot(2,2,1)
plot(q_deg_ar,x1_ar);grid on
title('Konum fonksiyonu')
subplot(2,2,2)
plot(q_deg_ar,x1_hiz_ar);grid on
title('Hiz fonksiyonu')
subplot(2,2,3);grid on
plot(q_deg_ar,x1_ivm_ar);grid on
title('Ivme fonksiyonu')
-3

Konum fonksiyonu
0.038

0.036

0.034

0.032

0.03

0.028

-1

0.026

-2

0.024

50

100

-4

150

200

250

300

350

250

300

350

-3

Hiz fonksiyonu

x 10

50

100

150

200

250

300

Ivme fonksiyonu

x 10

0
-5
-10
-15
-20

50

100

150

200

Ek olarak;

max(x1_hiz_ar)
max(x1_ivm_ar)
kodlaryla diki ucunun maksimum hz ve ivmesi srasyla 0.0039 m/s ve 2.9976e-04 m/s2
bulundu.

350

MAK 324 MAKNA TEORS DEV 1 SNA BRECK 030110454 - 23/03/2015

Q(der)
0
10
20
30
40
50
60
70
80
90
100
110
120
130
140
150
160
170
180
190
200
210
220
230
240
250
260
270
280
290
300
310
320
330
340
350
360

x1
ivmesi(m/s^2)
0.0002
0.0002
0.0003
0.0003
0.0003
0.0003
0.0003
0.0003
0.0003
0.0003
0.0003
0.0002
0.0002
0.0001
0
-0.0001
-0.0003
-0.0005
-0.0008
-0.001
-0.0013
-0.0015
-0.0016
-0.0017
-0.0017
-0.0017
-0.0014
-0.0011
-0.0009
-0.0008
-0.0006
-0.0005
-0.0005
-0.0004
-0.0003
-0.0003
-0.0002

q(der)
0
10
20
30
40
50
60
70
80
90
100
110
120
130
140
150
160
170
180
190
200
210
220
230
240
250
260
270
280
290
300
310
320
330
340
350
360

x1
hz(m/s)
0.0021
0.0022
0.0024
0.0025
0.0027
0.0029
0.0031
0.0033
0.0035
0.0036
0.0037
0.0038
0.0039
0.0039
0.0039
0.0038
0.0035
0.0032
0.0028
0.0022
0.0016
0.001
0.0004
-0.0001
-0.0006
-0.0011
-0.0013
-0.0015
-0.0016
-0.0016
-0.0017
-0.0018
-0.0018
-0.0019
-0.002
-0.002
-0.0021