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RESEARCHER OF IMPACTS IN THE KINEMATIC PAIR OF RRRRT TYPE SPHERICAL FIVE-BAR HINGED MECHANISM WITH TWO DEGREES OF FREEDOM WITH ONE CLEARANCE IN CONNECTION OF TWO COUPLERS

Authors: N. Keburia, N. Davitashvili


Abstract:

Researcher of impacts in the kinematic pair of RRRRT type spherical five-bar hinged mechanism with two degrees of freedom with one clearance in the connection of two couplers is stated. The research of impacts in the kinematic pair is carried out based on the equations of classical theory of impact. Are explained the momentum of links, that creates the kinematic pair with clearance and with clearance at start and finish of impact. The velocities of links prior impact are determined by systems of differential equations of the additional motions of mechanism, and the velocity after impact is found by research of impact in the kinematic pair. Is derived the value of restoration coefficient and explained its essence. Is solved the numerical example, results of that are presented by diagrams.

Keywords: impact; clearance; kinematic pair; spherical five-bar mechanism; differential equation of motion.

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