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S “ S “ : :2t bt?v M V 3 I k k k5 “ S “ : S “ : s : s i s5 i Y sAs5 k5 (r k5 s5B k5 Bae1s/ 5 ( 40s ) 1. wc v wc(M7 $ (6s ) 2. j Vq? p +$ $ (6s ) 3. f o I $ (6s ) 4. I v 7L ? .11 p$ (8s ) 5. 5 15m UF X QT b (8s ) 1 s9Q R12vlim Z_ 2 z MdVr TimZ_b 6. 5 16 m U FB =r z dM rE rM M wLiXm W V UJ k Kv maxWb(6s ) 5 15m 5 16m =aX5=m U1 p (1)9 m U1 (7s ) (2)4 aq em (6s ) 2 5 Q 1 100703090M dM rM30MdrS “ S “ : :(3) )Y (6s ) (4) j R“ 40mm lAO“25mmO0 rr“ 10mm5j L wLaj r0j Vq h $ (7s ) a5 m M h =50mm 1=10 rad/s I HZ_b 1=30 HMmEpq 3 v3F a3 1p F 1“ O Z mF m Uim V1 Tm b(16s )aH M bX mha*,c*, kw MS MK zmin s M m“ 5mm =20, ha*=1.0z“ 10 k p? 3 MKlM“ xmin s |M“ x“s da dba dfa pa pbb s5=mRrrAOBC DEA 1 1h B C 2315 mS “ S “ : :a5m U “X z1= 15z2=25z2= 20 Z3=60 Z4=10 Z5=30n1=190r/minn3=50r/min k p n1an3_MQ H p Ovl_b s 5m Ba X lAB=30 mmlBC=“ 110 mmlCD=80 mm lAD=120 mmq ABq ADOb 1 q AB ? wc (3s ) 2TmE pq CDKv maxi p 1“ 3s ) 3TmE pKl. min (5s ) 4sY%q ABBCCDAD H V ? (4s ) a m a U “ X z1=z2=30z2=z3=60 8 J1=J2=0.02 kg.m2J2=J3=0.05 kg.m2T O1 z Md=30 N.mO3E Mr=40 N.mb(1) | 1rq H pr8 Jer Meb(10s ) (2) T 3 m1=2.5 kgm2=1.8 kgr1=140 mmr2=180 mmM m b U UC E p “ vlM! ) r=160 mmb(10s ) 5 m 1 2 34545 O11232O3O2(a) (b) m1m2r2r1
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