The kinematics and mechanical advantage of the double-toggle jaw crusher

Author(s):  
Moses F Oduori ◽  
Stephen M Mutuli ◽  
David M Munyasi

The purpose of this article is to obtain a comprehensive mathematical description of the kinematics of a double-toggle jaw crusher. The driving mechanism of the crusher is modeled as a planar six bar linkage. Two closed position vector loops that characterize the configuration of the mechanism are used to derive expressions for the angular position, velocity and acceleration of the moveable jaw. Dimensional data of a typical double-toggle jaw crusher are used in the derived mathematical expressions to demonstrate their application. Moreover, starting with the equation for the angular velocity ratio of the moveable jaw, with respect to the input crank, an expression for the ideal mechanical advantage of the crusher is derived. The expressions derived in this paper provide the foundation for further investigations into the mechanics and the design of the double-toggle jaw crusher.

1965 ◽  
Vol 87 (2) ◽  
pp. 251-257 ◽  
Author(s):  
T. C. Austin ◽  
J. Denavit ◽  
R. S. Hartenberg

A double Hooke joint consists of two properly connected single Hooke joints for the purpose of transmitting rotation with a uniform angular velocity ratio. Previous kinematic analyses [1, 2, 3] have dealt with Hooke joints of perfect or ideal configuration, viz., in which pertinent axes intersect and are perpendicular. With real Hooke joints the manufacturing errors (which include tolerances) produce axes that do not intersect and are not perpendicular. The present analysis [4] investigates the effects of such departures from the ideal for the case of the double Hooke joint. It considers their effect on the mechanism’s movability, and studies their influence on the displacement, velocity, and acceleration relations between input and output shafts. The problem is solved by matrix methods: displacement relations are derived for the ideal double Hooke joint, after which the effects of small dimensional errors are considered as perturbations from the ideal values. The analytical expressions allow the variations in velocities and accelerations to be obtained by differentiation.


2020 ◽  
Vol 164 ◽  
pp. 03004
Author(s):  
Nikolay Ivanovskiy ◽  
Ivan Gorychev ◽  
Aleksandr Yashin ◽  
Sergey Bidenko

The paper considers the task of synthesis of algorithms for identifying random parameters of a vessel, such as attached masses, moment of inertia, and estimating the current parameters of the vessel's motion from real-time measurements of onboard sensors. The task of the synthesis of algorithms for identifying random parameters of the vessel and evaluating the characteristics of the vessel’s movement is to determine (evaluate) the current parameters (attached masses, moment of inertia) and the characteristics of the vessel’s motion (position vector, speed) from the measurements of the vessel’s motion, angular position and angular velocity of the vessel rotation).


Author(s):  
P. S. Thakare ◽  
Dr. C. C. Handa

The performance of a mechanism is defined as ratio of difference between calculated angular velocity ratio and ideal angular velocity ratio to the ideal angular velocity ratio. The angular velocity ratio can be calculated from velocity diagram. The paper uses a crank – rocker mechanism, a type of simple four bar mechanism in which crank rotates 3600 and rocker oscillates. In the presence of manufacturing errors like manufacturing tolerances, thermal deformation, deflection of links, human errors, machine defects, etc., it is impossible to maintain a constant performance of the mechanism in bulk manufacturing. There will be slight variation in the performance due to variation in one or more links. Any manufacturing process is associated with dimensional tolerances that leads to variation in part dimensions and generally cost of manufacturing increases exponentially for closer tolerances to all links of the mechanism. The aim of the paper is to discuss an approach to determine maximum and minimum performance variation and identify links which causes maximum performance variation. The closer tolerances should be given to that link/s only which will permit to designer to give slightly loose tolerances on remaining links.


2012 ◽  
Vol 706 ◽  
pp. 118-149 ◽  
Author(s):  
Dennis P. M. van Gils ◽  
Sander G. Huisman ◽  
Siegfried Grossmann ◽  
Chao Sun ◽  
Detlef Lohse

AbstractStrongly turbulent Taylor–Couette flow with independently rotating inner and outer cylinders with a radius ratio of $\eta = 0. 716$ is experimentally studied. From global torque measurements, we analyse the dimensionless angular velocity flux ${\mathit{Nu}}_{\omega } (\mathit{Ta}, a)$ as a function of the Taylor number $\mathit{Ta}$ and the angular velocity ratio $a= \ensuremath{-} {\omega }_{o} / {\omega }_{i} $ in the large-Taylor-number regime $1{0}^{11} \lesssim \mathit{Ta}\lesssim 1{0}^{13} $ and well off the inviscid stability borders (Rayleigh lines) $a= \ensuremath{-} {\eta }^{2} $ for co-rotation and $a= \infty $ for counter-rotation. We analyse the data with the common power-law ansatz for the dimensionless angular velocity transport flux ${\mathit{Nu}}_{\omega } (\mathit{Ta}, a)= f(a)\hspace{0.167em} {\mathit{Ta}}^{\gamma } $, with an amplitude $f(a)$ and an exponent $\gamma $. The data are consistent with one effective exponent $\gamma = 0. 39\pm 0. 03$ for all $a$, but we discuss a possible $a$ dependence in the co- and weakly counter-rotating regimes. The amplitude of the angular velocity flux $f(a)\equiv {\mathit{Nu}}_{\omega } (\mathit{Ta}, a)/ {\mathit{Ta}}^{0. 39} $ is measured to be maximal at slight counter-rotation, namely at an angular velocity ratio of ${a}_{\mathit{opt}} = 0. 33\pm 0. 04$, i.e. along the line ${\omega }_{o} = \ensuremath{-} 0. 33{\omega }_{i} $. This value is theoretically interpreted as the result of a competition between the destabilizing inner cylinder rotation and the stabilizing but shear-enhancing outer cylinder counter-rotation. With the help of laser Doppler anemometry, we provide angular velocity profiles and in particular identify the radial position ${r}_{n} $ of the neutral line, defined by $ \mathop{ \langle \omega ({r}_{n} )\rangle } \nolimits _{t} = 0$ for fixed height $z$. For these large $\mathit{Ta}$ values, the ratio $a\approx 0. 40$, which is close to ${a}_{\mathit{opt}} = 0. 33$, is distinguished by a zero angular velocity gradient $\partial \omega / \partial r= 0$ in the bulk. While for moderate counter-rotation $\ensuremath{-} 0. 40{\omega }_{i} \lesssim {\omega }_{o} \lt 0$, the neutral line still remains close to the outer cylinder and the probability distribution function of the bulk angular velocity is observed to be monomodal. For stronger counter-rotation the neutral line is pushed inwards towards the inner cylinder; in this regime the probability distribution function of the bulk angular velocity becomes bimodal, reflecting intermittent bursts of turbulent structures beyond the neutral line into the outer flow domain, which otherwise is stabilized by the counter-rotating outer cylinder. Finally, a hypothesis is offered allowing a unifying view and consistent interpretation for all these various results.


Author(s):  
Bin Wei

Abstract In this paper, a rotational robotic arm is designed, modelled and optimized. The 3D model design and optimization are conducted by using SolidWorks. Forward kinematics are derived so as to determine the position vector of the end effector with respect to the base, and subsequently being able to calculate the angular velocity and torque of each joint. For the goal positioning problem, the PD control law is typically used in industry. It is employed in this application by using virtual torsional springs and frictions to generate the torques and to keep the system stable.


Author(s):  
Amos G. Winter ◽  
Mario A. Bollini ◽  
Benjamin M. Judge ◽  
Natasha K. Scolnik ◽  
Harrison F. O’Hanley ◽  
...  

The Leveraged Freedom Chair (LFC) is a low-cost, all-terrain, variable mechanical advantage, lever-propelled wheelchair designed for use in developing countries. The user effectively changes gear by shifting his hands along the levers; grasping near the ends increases torque delivered to the drive-train, while grasping near the pivots enables a larger angular displacement with every stroke, which increases angular velocity in the drivetrain and makes the chair go faster. This paper chronicles the design evolution of the LFC through three user trials in East Africa, Guatemala, and India. Feedback from test subjects was used to refine the chair between trials, resulting in a device 9.1 kg (20 lbs) lighter, 8.9 cm (3.5 in) narrower, and with a center of gravity 12.7 cm (5 in) lower than the first iteration. Survey data substantiated increases in performance after successive iterations. Quantitative biomechanical performance data were also measured during the Guatemala and India trials, which showed the LFC to be 76 percent faster and 41 percent more efficient during a common daily commute and able to produce 51 percent higher peak propulsion force compared to conventional, pushrim-propelled wheelchairs.


2016 ◽  
Vol 2 (1) ◽  
Author(s):  
Nimisha Dave ◽  
Abhishek Jain

Crushers are one of the real size lessening gear that is utilized as a part of metallurgical, mechanical, and other comparative businesses. They exist in different sizes and limits which extend from 0.1 ton/hr. to 50 ton/hr. They can be ordered taking into account the extent to which they can piece the beginning material and the way they apply strengths. In view of the system utilized crushers are fundamentally of three sorts to be specific Cone crusher, Jaw crusher and Impact crusher. Sway crushers include the utilization of effect instead of weight to pulverize materials. Here the material is held inside of an enclosure, with openings of the coveted size at the base, end or at sides to permit squashed material to escape through them. This sort of crusher is for the most part utilized with delicate materials such as coal, seeds or delicate metallic minerals. The instrument connected here is of Impact stacking where the season of use of power is not exactly the regular recurrence of vibration of the body. Since the sledges/blow bars are pivoting at a fast, the ideal opportunity for which the particles interact with the mallets is little, thus here effect stacking is connected. The pole is thought to be subjected to torsion and bowing. The pounding screen is additionally intended for ideal yield from the crusher An execution model is likewise considered for the level shaft sway crusher to discover the connection between the food, the crusher parameters and the yield parameters.


2021 ◽  
pp. 3-7
Author(s):  
Petr A. Pavlov ◽  
Elena M. Ivashchenko

A scanning device for a space-based environmental monitoring system has been investigated. The main attention is paid to the study of the parameters of the angular motion of the mirror of the scanning device, the uniformity of rotation of which largely determines the quality of the image of the Earth's surface. The principle and results of measuring the parameters of the mirror rotation carried out in a wide angular range are considered. The measurements were performed using a dynamic goniometer-autocollimator, which has been calibrated at the State Standard of Plane Angle Unit GET 22-2014. The repeatability of the average angular velocity of the scanning device mirror and the repeatability of the initial scanning angle are calculated. Nonstationarity in mathematical expectation and variance in random deviations of the angular motion of the mirror from the linear law of scanning is noted. The use of wavelet analysis revealed the frequency of excitation of oscillations in the low-frequency region of the spectrum. The possibility of using the a dynamic goniometer-autocollimator for measuring not only the angular position of the scanning device mirror, but also the angular velocity is shown.


1986 ◽  
Vol 114 ◽  
pp. 293-295
Author(s):  
K. B. Bhatnagar

The motion of a geosynchronous satellite has been studied under the combined gravitational effects of the oblate Earth (including its equatorial ellipticity), the Sun, the Moon and the solar-radiation pressure. It is observed that the orbital plane rotates with an angular velocity the maximum value of which is 0.058°/yr. and regresses with a period which increases both as the orbital inclination and the altitude increase. The effect of earth's equatorial ellipticity on the regression period is oscillatory whereas that of Solar-radiation pressure is to decrease it.The synchronism is achieved when the angular velocity of the satellite is equal to the difference between the spin-rate of the Earth and the regression rate of the orbital plane. With this angular velocity of the satellite, the ground trace is in the shape of figure eight, though its size and position relative to the Earth change as the time elapses. The major effect of earth's equatorial ellipticity is to produce a change in the relative angular position of the satellite as seen from the Earth. If the satellite is allowed to execute large angle oscillations the mid-point of oscillation would be at the position of the minor axis of the earth's equatorial section. The oscillatory period T has been determined in terms of the amplitude Γ and the tesseral harmonic J2(2). From this result we can determine the value of J2(2) as T and Γ can be observed accurately.


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