5245-7-86P

AID: 3571 | 20/06/2014

RID: 144 | 01/07/2014

Draw a kinematic diagram for aircraft nose wheel actuation mechanism.

Write the closed form position equation for four bar linkage.

BD L12 L22 2L1L2 cos 2

(1)

Here, L1 is the Length of link 1, L2 is the Length of link 2 and the angle between link 1
and link2 is 2 .
Substitute 32.89" for L1 , 12" for L2 and 30 for 2 .
BD

32.89

122 2 32.89 12 cos 30

23.28

Write the closed form position equation angle between link 3 and 4 is given by using
equation:

L3 L4 BD
2

cos

2 L3 L4

(2)

Here, L3 is the Length of link 3 and L4 is the Length of link 4.

Substitute 30" for L3 and 26" for L4 .

30 2 26 2 23.282

cos

2 30 26

48.48
Write the closed form position equation external angle between link 4 and link 1 is given
by using equation:
1

L2 sin 2 L3 sin

L2 cos 2 L4 L1 L3 cos

4 2 tan 1

.. (3)

Substitute, 32.89" for L1 , 12" for L2 , 30" for L3 and 26" for L4 .
12 sin 30 30 sin 48.48

12 cos 30 26 32.89 30 cos 48.48

4 2 tan 1
120.14

From equation (1), (2) and (3) we get following value for aircraft nose wheel actuation
mechanism angular displacement when crank rotate in counter clockwise direction
2
0
30
60
90
120
150
180
210
240
270
300
330
360

Displacement(Degree)

BD
4
0.00
20.3900
41.95
100.42
-11.22
23.280
48.48
120.14
-8.74
28.3621
60.36
91.68
1.91
34.5409
75.79
102.33
15.47
39.7712
90.21
115.89
28.58
43.2006 100.73
129.00
38.75
44.3900 104.65
139.17
44.54
43.2015 100.73
144.96
45.77
39.7728
90.22
146.19
42.57
34.5430
75.80
142.99
34.26
28.3643
60.36
134.68
19.30
22.8027
47.40
119.72
0.00
20.3900
41.95
100.42

Plot the Angular Displacement of wheel assembly in aircraft nose wheel actuation
mechanism with crank angle is as shown in Graph.
50.00

Displacement (Degree)

40.00
30.00
20.00
10.00
0.00
0

50

100

150

200

250

300

350

400

-10.00
-20.00
Time

Calculate Angular velocity of crank is given by following equation:

2 N

60
Here, N is the revolution per minute of crank.
Substitute, 16 rpm for N
2 16

60
1.67 rad/s
Calculate the Crank angle as a function of time is given by using equation:

t 2

Here, 2 is the crank angle

30
for 2 .
180
30
t 180
1.67
0.313s

Substitute

Angular displacement of sprayer with crank angle is as shown in table

2
0
30
60
90
120
150
180
210
240
270
300
330
3
60

BD
4
20.3900
41.95
100.42
23.280
48.48
120.14
28.3621
60.36
91.68
34.5409
75.79
102.33
39.7712
90.21
115.89
43.2006 100.73
129.00
44.3900 104.65
139.17
43.2015 100.73
144.96
39.7728
90.22
146.19
34.5430
75.80
142.99
28.3643
60.36
134.68
22.8027
47.40
119.72
20.3900

41.95

100.42

Time
0.0000
0.3135
0.6270
0.9406
1.2541
1.5676
1.8811
2.1947
2.5082
2.8217
3.1352
3.4488

Displacement(Degree)
0.00
-11.22
-8.74
1.91
15.47
28.58
38.75
44.54
45.77
42.57
34.26
19.30

3.7623

0.00

Plot the graph using value of table for angular displacement versus time as shown in
figure.
50.00

Displacement (Degree)

40.00
30.00
20.00
10.00
0.00
0.0000 0.5000 1.0000 1.5000 2.0000 2.5000 3.0000 3.5000 4.0000
-10.00
-20.00
Time

Calculate the Angular velocity at different point by following numerical differentiation

equation:
R Ri 1 Ri 2 2 Ri 1 2 Ri 1 Ri 2
i i 1

2 t
12 t

Here, data point index is i and Angular displacement at data point i is Ri

Angular Velocity of gear at time data point 3 is given by equation

R4 R2 R5 2 R4 2 R2 R1

12 t

2 t

11.22 1.91 15.47 2 11.22 2 1.91 0

180
12 0.3135
2 0.3135

8.74 rad/s

Same as above calculation for angular displacement we get angular displacement of

wheel assembly for each time as shown in table.
2
0
30
60
90
120
150
180
210
240
270
300
330
360

BD
20.3900
23.280
28.3621
34.5409
39.7712
43.2006
44.3900
43.2015
39.7728
34.5430
28.3643
22.8027
20.3900

41.95
48.48
60.36
75.79
90.21
100.73
104.65
100.73
90.22
75.80
60.36
47.40
41.95

4
100.42
120.14
91.68
102.33
115.89
129.00
139.17
144.96
146.19
142.99
134.68
119.72
100.42

Time
0.0000
0.3135
0.6270
0.9406
1.2541
1.5676
1.8811
2.1947
2.5082
2.8217
3.1352
3.4488
3.7623

Displacement(Degree)
0.00
-11.22
-8.74
1.91
15.47
28.58
38.75
44.54
45.77
42.57
34.26
19.30
0.00

velocity
0.00
-13.96
23.81
40.90
44.09
38.17
25.90
11.21
-3.01
-17.77
-37.32
-58.55
-53.47

Plot the graph of angular velocity versus time from data of angular velocity at various
times.
60.00

Velocity

40.00
20.00
0.00
0.0000 0.5000 1.0000 1.5000 2.0000 2.5000 3.0000 3.5000 4.0000
-20.00
-40.00
-60.00
-80.00
Time

Calculate the angular acceleration at different point by following numerical

differentiation equation:
i 1 i 2 2 i 1 2 i 1 i 2
i i 1

2 t
12 t

Here, data point index is i and angular velocity at data point i is i

Acceleration of piston at time data point 4 is given by equation:
3 6 2 5 2 3 2
4 5

12 t
2 t

44.09 23.81 38.17 2 44.09 2 2381 13.96

12 0.3135
2 0.3135
29.28 rad/s 2

Same as above calculation for Acceleration, calculate acceleration for all crank angles as
shown in table.
2
0
30
60
90
120
150
180
210
240
270
300
330
360

Time
0.0000
0.3135
0.6270
0.9406
1.2541
1.5676
1.8811
2.1947
2.5082
2.8217
3.1352
3.4488
3.7623

Displacement(Degree)
0.00
-11.22
-8.74
1.91
15.47
28.58
38.75
44.54
45.77
42.57
34.26
19.30
0.00

velocity
0.00
-13.96
23.81
40.90
44.09
38.17
25.90
11.21
-3.01
-17.77
-37.32
-58.55
-53.47

Acceleration
78.58
24.19
104.94
29.28
-6.36
-30.78
-44.82
-46.61
-44.80
-54.42
-73.32
-35.37
78.58

Accelration

Plot the graph of acceleration as a function of time as shown in figure.

120.00
100.00
80.00
60.00
40.00
20.00
0.00
-20.000.0000

0.5000

1.0000

1.5000

2.0000

-40.00
-60.00
-80.00
-100.00

Time

2.5000

3.0000

3.5000

4.0000