Mathematical model of kinetostatithic calculation of flat lever mechanisms

Currently widely used graphical-analytical methods of analysis largely obsolete, replaced by various analytical methods using computer technology. Therefore, of particular interest is the development of a mathematical model kinetostatical calculation mechanisms in the form of library procedures of calculation for all powered two groups Assyrians (GA) and primary level. Before resorting to the appropriate procedure that computes all the forces in the kinematic pairs, you need to compute inertial forces, moments of forces of inertia and all external forces and moments acting on this GA. To this end shows the design diagram of the power analysis for each species GA of the second class, as well as the initial link. Finding reactions in the internal and external kinematic pairs based on equilibrium conditions with the account of forces of inertia and moments of inertia forces (Dalembert principle). Thus obtained equations of kinetostatical for their versatility have been solved by the Cramer rule. Thus, for each GA of the second class were found all 6 unknowns: the forces in the kinematic pairs, the directions of these forces as well as forces the shoulders. If we study kinetostatic mechanism with parallel consolidation of two GA in the initial link, in this case, power is the geometric sum of the forces acting on the primary link from the discarded GA. Thus, the obtained mathematical model kinetostatical calculation mechanisms in the form of libraries of mathematical procedures for determining reactions of all GA of the second class. The mathematical model kinetostatical calculation makes it relatively simple to implement its software implementation.