{"id":863,"date":"2021-09-09T09:29:36","date_gmt":"2021-09-09T09:29:36","guid":{"rendered":"https:\/\/blog.metu.edu.tr\/eresmech\/?page_id=863"},"modified":"2022-08-04T13:20:41","modified_gmt":"2022-08-04T13:20:41","slug":"7-1","status":"publish","type":"page","link":"https:\/\/blog.metu.edu.tr\/eresmech\/mekanizma-teknigi\/ch7\/7-1\/","title":{"rendered":"7-1"},"content":{"rendered":"<div id=\"pl-gb863-69d7bfa50cc6b\"  class=\"panel-layout\" ><div id=\"pg-gb863-69d7bfa50cc6b-0\"  class=\"panel-grid panel-no-style\" ><div id=\"pgc-gb863-69d7bfa50cc6b-0-0\"  class=\"panel-grid-cell\" ><div id=\"panel-gb863-69d7bfa50cc6b-0-0-0\" class=\"so-panel widget widget_sow-editor panel-first-child panel-last-child widgetopts-SO\" data-index=\"0\" ><div\n\t\t\t\n\t\t\tclass=\"so-widget-sow-editor so-widget-sow-editor-base\"\n\t\t\t\n\t\t>\n<div class=\"siteorigin-widget-tinymce textwidget\">\n\t<h1><strong data-rich-text-format-boundary=\"true\">\u00a07.1 D\u00f6rt \u00c7ubuk Mekanizmas\u0131<\/strong><\/h1>\n<p>D\u00f6rt uzuvlu ve d\u00f6rt d\u00f6ner mafsala sahip mekanizmaya\u00a0<span style=\"color: #cc0000\"><b>d\u00f6rt-\u00e7ubuk mekanizmas\u0131<\/b><\/span>\u00a0denmektedir. Genelde hareket eden \u00fc\u00e7 uzuv g\u00f6r\u00fclse de, sabit g\u00f6vde de bir uzuv say\u0131lmaktad\u0131r.<\/p>\n<p>D\u00f6rt-\u00e7ubuk mekanizmalar\u0131n\u0131n uygulamada \u00e7e\u015fitlili\u011fi hayret edici miktarlarda olup genelde kullanan ki\u015filer onun bir mekanizma oldu\u011funun bile fark\u0131na varmayabilirler. Uygulama alan\u0131 bu kadar geni\u015f olsa bile, bu uygulamalar \u00fc\u00e7 de\u011fi\u015fik gurupta toplanabilir:<\/p>\n<p style=\"padding-left: 40px\">a) Sabit uzva ba\u011fl\u0131 uzuvlar\u0131n a\u00e7\u0131sal d\u00f6nme miktarlar\u0131 aras\u0131nda belirli bir ili\u015fkinin olmas\u0131 (bu <b><span style=\"color: #cc0000\">fonksiyon sentezi<\/span><\/b> olarak bilinir). Bu t\u00fcr uygulamalarda giri\u015f ve \u00e7\u0131k\u0131\u015f uzuvlar\u0131n\u0131n a\u00e7\u0131sal konumlar\u0131 aras\u0131nda \u03b8<sub>14<\/sub> = f(\u03b8<sub>12<\/sub>) gibi bir fonksiyonun d\u00f6rt-\u00e7ubuk mekanizmas\u0131 kullan\u0131larak sa\u011flanmas\u0131 istenmektedir. Buna basit bir \u00f6rnek, a\u015fa\u011f\u0131da g\u00f6r\u00fcld\u00fc\u011f\u00fc gibi, lineer bir \u00f6l\u00e7\u00fc ile d\u00f6nmeyi (1 &lt; x &lt;10) belirli bir aral\u0131kda logaritmik bir \u00f6l\u00e7\u00fcde d\u00f6nmeye (y = ln(x)) \u00e7evirmek olabilir. Bir pencerenin belirli bir a\u00e7\u0131 kadar a\u00e7\u0131lmas\u0131n\u0131 uzak bir noktadan sa\u011flama, bir vanan\u0131n 90\u00b0\u00a0a\u00e7\u0131lmas\u0131n\u0131, bir kolun 180\u00b0\u00a0d\u00f6nmesi ile sa\u011flama (bu \u015fekilde mekanik avantaj sa\u011flanacakt\u0131r) gibi \u00e7ok de\u011fi\u015fik alanlarda kullan\u0131labilir (\u00f6rne\u011fin ara\u00e7 gaz pedal\u0131)<\/p>\n<p style=\"text-align: center\"><div class=\"su-image-carousel  su-image-carousel-has-spacing su-image-carousel-has-lightbox su-image-carousel-has-outline su-image-carousel-adaptive su-image-carousel-slides-style-default su-image-carousel-controls-style-dark su-image-carousel-align-center\" style=\"max-width:550px\" data-flickity-options='{\"groupCells\":true,\"cellSelector\":\".su-image-carousel-item\",\"adaptiveHeight\":true,\"cellAlign\":\"left\",\"prevNextButtons\":true,\"pageDots\":false,\"autoPlay\":false,\"imagesLoaded\":true,\"contain\":false,\"selectedAttraction\":1,\"friction\":1}' id=\"su_image_carousel_69d7bfa50e9f9\"><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/LOGFUNC1.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"550\" height=\"400\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/LOGFUNC1.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/LOGFUNC2.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"550\" height=\"400\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/LOGFUNC2.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><\/div><script id=\"su_image_carousel_69d7bfa50e9f9_script\">if(window.SUImageCarousel){setTimeout(function() {window.SUImageCarousel.initGallery(document.getElementById(\"su_image_carousel_69d7bfa50e9f9\"))}, 0);}var su_image_carousel_69d7bfa50e9f9_script=document.getElementById(\"su_image_carousel_69d7bfa50e9f9_script\");if(su_image_carousel_69d7bfa50e9f9_script){su_image_carousel_69d7bfa50e9f9_script.parentNode.removeChild(su_image_carousel_69d7bfa50e9f9_script);}<\/script><\/p>\n<p style=\"padding-left: 40px\">b) Sabit uzva ba\u011fl\u0131 olmayan uzva <span style=\"color: #cc0000\"><b>biyel uzvu<\/b><\/span>\u00a0denmektedir. Bu uzuv \u00fczerinde bulunan bir nokta (<span style=\"color: #cc0000\"><b>biyel noktas\u0131<\/b><\/span>) sabit uzuv \u00fczerinde bir e\u011fri \u00e7izecektir. Genel olarak alt\u0131nc\u0131 dereceden olan bu e\u011friye biyel e\u011frisi denir. Biyel e\u011frisi, uzuv boyutlar\u0131na ve biyel noktas\u0131n\u0131n biyel \u00fczerinde konumuna g\u00f6re de\u011fi\u015fik \u015fekillerde olabilir. Uygun uzuv boyutlar\u0131 ve biyel noktas\u0131 se\u00e7imi ile biyel e\u011frisi belirli bir aral\u0131kda bir do\u011fruya, bir daireye veya ba\u015fka bir e\u011friye (\u00f6rne\u011fin film s\u00fcrme mekanizmas\u0131nda bir k\u0131sm\u0131 bir do\u011fru ile benze\u015fen D \u015feklinde bir e\u011fri) benze\u015ftirilebilir. Bu t\u00fcr problemlere\u00a0<span style=\"color: #cc0000\"><b>y\u00f6r\u00fcnge sentezi<\/b><\/span>\u00a0denmektedir.<\/p>\n<p style=\"text-align: center\"><div class=\"su-image-carousel  su-image-carousel-has-spacing su-image-carousel-has-lightbox su-image-carousel-has-outline su-image-carousel-adaptive su-image-carousel-slides-style-default su-image-carousel-controls-style-dark su-image-carousel-align-center\" style=\"max-width:208px\" data-flickity-options='{\"groupCells\":true,\"cellSelector\":\".su-image-carousel-item\",\"adaptiveHeight\":true,\"cellAlign\":\"left\",\"prevNextButtons\":true,\"pageDots\":false,\"autoPlay\":false,\"imagesLoaded\":true,\"contain\":false,\"selectedAttraction\":1,\"friction\":1}' id=\"su_image_carousel_69d7bfa50f355\"><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/imagest.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"208\" height=\"205\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/imagest.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/frbrstraightline-1.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"225\" height=\"233\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/frbrstraightline-1.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><\/div><script id=\"su_image_carousel_69d7bfa50f355_script\">if(window.SUImageCarousel){setTimeout(function() {window.SUImageCarousel.initGallery(document.getElementById(\"su_image_carousel_69d7bfa50f355\"))}, 0);}var su_image_carousel_69d7bfa50f355_script=document.getElementById(\"su_image_carousel_69d7bfa50f355_script\");if(su_image_carousel_69d7bfa50f355_script){su_image_carousel_69d7bfa50f355_script.parentNode.removeChild(su_image_carousel_69d7bfa50f355_script);}<\/script><\/p>\n<p style=\"text-align: center\"><span style=\"color: #cc0000\"><b>Do\u011frusal Hareket Mekanizmas\u0131<\/b><\/span><\/p>\n<p style=\"padding-left: 40px\">c) Biyel uzvunun de\u011fi\u015fik konumlar\u0131 bir d\u00f6rt-\u00e7ubuk mekanizmas\u0131ndan istenilen bir hareket olabilir. \u015eekilde bir d\u00f6rt-\u00e7ubuk mekanizmas\u0131 olan damperli kamyonda damper a\u011f\u0131rl\u0131k merkezinin y\u00fck\u00fc bo\u015faltmas\u0131 (damperin d\u00f6nmesi) ve bo\u015falt\u0131rken a\u011f\u0131rl\u0131k merkezinin e\u011fik bir do\u011fru \u00fczerinde olmas\u0131 istenmektedir. Benzer uygulama katlanabilir sandalye ve koltuklarda, yatakl\u0131 kanapelerde g\u00f6r\u00fclebilir. Bu t\u00fcr problemlere <span style=\"color: #cc0000\"><b>konum sentezi<\/b><\/span>\u00a0denmektedir.<\/p>\n<p style=\"text-align: center\"><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter wp-image-885\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/img2-8.gif\" alt=\"\" width=\"721\" height=\"481\" \/><\/p>\n<h1><strong data-rich-text-format-boundary=\"true\">Grasshof Teoremi:<\/strong><\/h1>\n<p>Bir mekanizman\u0131n tipi uzuv boyutlar\u0131 ile de\u011fi\u015fmez isede hareket \u00f6zellikleri tabiiki uzuv boyutlar\u0131na ba\u011fl\u0131d\u0131r. Bir d\u00f6rt-\u00e7ubuk mekanizmas\u0131nda hareket \u00f6zellikleri uzuv boyutlar\u0131n\u0131n birbirlerine g\u00f6re oran\u0131 ile belirlenecektir. Sabit uzva d\u00f6ner mafsal ile ba\u011fl\u0131 uzuvlar iki de\u011fi\u015fik hareket yapabilir:<\/p>\n<p style=\"padding-left: 40px\">i)\u00a0 \u00a0 Uzuv, sabit uzva g\u00f6re tam bir d\u00f6nme yapabilir. Bu tip uzva\u00a0<b><span style=\"color: #cc0000\">kol (krank)<\/span><\/b>\u00a0diyece\u011fiz.<\/p>\n<p style=\"padding-left: 40px\">ii)\u00a0 \u00a0Uzuv belirli bir a\u00e7\u0131sal aral\u0131kda sal\u0131n\u0131m yapabilir. Bu tip uzva <b><span style=\"color: #cc0000\">sarka\u00e7<\/span><\/b> diyece\u011fiz.<\/p>\n<p style=\"text-align: center\"><div class=\"su-image-carousel  su-image-carousel-has-spacing su-image-carousel-has-lightbox su-image-carousel-has-outline su-image-carousel-adaptive su-image-carousel-slides-style-default su-image-carousel-controls-style-dark su-image-carousel-align-center\" style=\"max-width:550px\" data-flickity-options='{\"groupCells\":true,\"cellSelector\":\".su-image-carousel-item\",\"adaptiveHeight\":true,\"cellAlign\":\"left\",\"prevNextButtons\":true,\"pageDots\":false,\"autoPlay\":false,\"imagesLoaded\":true,\"contain\":false,\"selectedAttraction\":1,\"friction\":1}' id=\"su_image_carousel_69d7bfa50fcf3\"><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/kol_sarkac1.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"550\" height=\"400\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/kol_sarkac1.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/kol_sarkac2.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"550\" height=\"400\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/kol_sarkac2.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><\/div><script id=\"su_image_carousel_69d7bfa50fcf3_script\">if(window.SUImageCarousel){setTimeout(function() {window.SUImageCarousel.initGallery(document.getElementById(\"su_image_carousel_69d7bfa50fcf3\"))}, 0);}var su_image_carousel_69d7bfa50fcf3_script=document.getElementById(\"su_image_carousel_69d7bfa50fcf3_script\");if(su_image_carousel_69d7bfa50fcf3_script){su_image_carousel_69d7bfa50fcf3_script.parentNode.removeChild(su_image_carousel_69d7bfa50fcf3_script);}<\/script><\/p>\n<p>Sabit uzva ba\u011fl\u0131 kollar\u0131n krank veya sarka\u00e7 olmas\u0131na g\u00f6re hareket a\u00e7\u0131s\u0131ndan \u00fc\u00e7 de\u011fi\u015fik d\u00f6rt-\u00e7ubuk mekanizmas\u0131 olu\u015facakt\u0131r:<\/p>\n<p style=\"padding-left: 40px\">i)\u00a0 \u00a0Sabit uzva ba\u011fl\u0131 iki uzuvda tam bir d\u00f6nme yapabilir. Bu tipte d\u00f6rt-\u00e7ubuk mekanizmas\u0131na &#8220;<b><span style=\"color: #cc0000\">\u00e7ift-krank<\/span><\/b>\u00a0&#8221; veya &#8220;<span style=\"color: #cc0000\"><b>\u00e7ift-kol<\/b><\/span>&#8221; diyece\u011fiz.<\/p>\n<p style=\"padding-left: 40px\">ii)\u00a0 Sabit uzva ba\u011fl\u0131 iki uzuvda sadece sal\u0131n\u0131m yapabilir. Bu tipte d\u00f6rt-\u00e7ubuk mekanizmas\u0131na &#8220;<b><span style=\"color: #cc0000\">\u00e7ift-sarka\u00e7<\/span><\/b>&#8221; diyece\u011fiz.<\/p>\n<p style=\"padding-left: 40px\">iii) Sabit uzva ba\u011fl\u0131 uzuvlardan birisi tam bir d\u00f6nme yapabilir iken, di\u011fer uzuv sal\u0131n\u0131m yapabilir. Bu tipte d\u00f6rt-\u00e7ubuk mekanizmas\u0131na &#8220;<b><span style=\"color: #cc0000\">kol-sarka\u00e7<\/span><\/b>&#8221; diyece\u011fiz.<\/p>\n<p>D\u00f6rt-\u00e7ubuk mekanizmas\u0131n\u0131n hareket a\u00e7\u0131s\u0131ndan de\u011fi\u015fik bu d\u00f6rt tipi uzuv boyutlar\u0131na ba\u011fl\u0131d\u0131r.\u00a0<span style=\"color: #cc0000\"><b>Grashof teoremi<\/b><\/span>\u00a0(veya\u00a0<b><span style=\"color: #cc0000\">Grashof kural\u0131<\/span><\/b>) uzuv boyutlar\u0131na ba\u011fl\u0131 olarak bu de\u011fi\u015fik d\u00f6rt-\u00e7ubuk mekanizmas\u0131n\u0131 \u015fu \u015fekilde belirler:<\/p>\n<p>Bir d\u00f6rt uzuvlu d\u00f6rt d\u00f6ner mafsall\u0131 zincirde:<\/p>\n<p><i>l<\/i>\u00a0= en uzun uzvun uzuv boyutu<\/p>\n<p>s = en k\u0131sa uzvun uzuv boyutu<\/p>\n<p>p, q = di\u011fer uzuvlar\u0131n uzuv boyutlar\u0131<\/p>\n<p>Uzuv boyutlar\u0131, \u00f6nceden belirtildi\u011fi gibi, mafsal eksenleri aras\u0131nda kalan mesafedir. Bu tan\u0131ma g\u00f6re:<\/p>\n<p style=\"padding-left: 40px\">1.\u00a0 \u00a0 \u00a0E\u011fer\u00a0<i>l<\/i>\u00a0+ s &lt; p + q ise (en uzun uzuv boyutu ile en k\u0131sa uzvun uzuv boyutu toplam\u0131 di\u011fer iki uzvun uzuv boyutlar\u0131n\u0131n toplam\u0131ndan k\u0131sa ise):<\/p>\n<p style=\"text-align: center\"><img loading=\"lazy\" decoding=\"async\" class=\"size-full wp-image-889 aligncenter\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/img3-6.gif\" alt=\"\" width=\"447\" height=\"288\" \/><\/p>\n<p style=\"text-align: center\">\u00a0<i>l <\/i>= 830, s = 216 , p = 485 , q = 581<\/p>\n<p style=\"text-align: center\">830 + 216 = 1046 &lt; 485 + 581 = 1066<\/p>\n<p style=\"padding-left: 40px\">a,b) E\u011fer en k\u0131sa uzva kom\u015fu uzuvlardan birisi sabit ise, en k\u0131sa uzuv krank olmak \u00fczere\u00a0<span style=\"color: #cc0000\"><b>iki de\u011fi\u015fik kol sarka\u00e7 mekanizmas\u0131<\/b><\/span> elde edilir. Yukar\u0131da g\u00f6sterilmekte olan mekanizmada en k\u0131sa uzuv = k\u0131rm\u0131z\u0131 uzuv oldu\u011funa g\u00f6re, kom\u015fu uzuvlar ye\u015fil veya mavi uzuv sabit oldu\u011funda k\u0131rm\u0131z\u0131 uzuv krank mavi uzuv ise sarka\u00e7d\u0131r.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"size-full wp-image-2850 aligncenter\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2022\/08\/fourBarA1.gif\" alt=\"\" width=\"312\" height=\"207\" \/> <img loading=\"lazy\" decoding=\"async\" class=\"size-full wp-image-2851 aligncenter\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2022\/08\/fourBarA2.gif\" alt=\"\" width=\"328\" height=\"207\" \/><\/p>\n<p style=\"padding-left: 40px\">c)\u00a0 \u00a0 \u00a0E\u011fer en k\u0131sa uzuv sabit ise,\u00a0<b><span style=\"color: #cc0000\">d\u00f6rt-\u00e7ubuk mekanizmas\u0131 \u00e7ift krankt\u0131r<\/span><\/b>.<\/p>\n<p style=\"text-align: center\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-2852\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2022\/08\/fourBarB.gif\" alt=\"\" width=\"329\" height=\"250\" \/><\/p>\n<p style=\"padding-left: 40px\">d)\u00a0 \u00a0 \u00a0E\u011fer en k\u0131sa uzvun kar\u015f\u0131s\u0131ndaki uzuv sabit ise,\u00a0<span style=\"color: #cc0000\"><b>d\u00f6rt-\u00e7ubuk mekanizmas\u0131 \u00e7ift sarka\u00e7t\u0131r<\/b><\/span>.<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"size-full wp-image-2853 aligncenter\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2022\/08\/fourBarC.gif\" alt=\"\" width=\"344\" height=\"227\" \/><\/p>\n<p style=\"padding-left: 40px\">2.\u00a0 \u00a0 \u00a0E\u011fer <i>l\u00a0<\/i>+ s &gt; p + q (en uzun uzuv boyutu ile en k\u0131sa uzvun uzuv boyutu toplam\u0131 di\u011fer iki uzvun uzuv boyutlar\u0131n\u0131n toplam\u0131ndan fazla ise):<\/p>\n<p style=\"text-align: center\"><img loading=\"lazy\" decoding=\"async\" class=\"size-full wp-image-890 aligncenter\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/img4-6.gif\" alt=\"\" width=\"426\" height=\"201\" \/><\/p>\n<p style=\"text-align: center\">\u00a0<i>l <\/i>= 829, s = 216 , p = 485 , q = 415<\/p>\n<p style=\"text-align: center\">829 + 216 = 1045 &gt; 485 + 415 = 900<\/p>\n<p style=\"padding-left: 40px\">Bu durumda hangi uzuv sabit olursa olsun sadece de\u011fi\u015fik sal\u0131n\u0131m a\u00e7\u0131lar\u0131 olan \u00e7ift sarka\u00e7 mekanizmalar\u0131 elde edilecektir.<br \/>\n<b><i><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/mekanizma-teknigi\/ch7\/7-1\/cift-sarkac-mekanizmalari\/\" target=\"_blank\" rel=\"noopener\">Elde edilen 8 de\u011fi\u015fik mekanizman\u0131n animasyonlar\u0131 i\u00e7in t\u0131klay\u0131n\u0131z.<\/a>\u00a0<\/i><\/b><\/p>\n<p>&nbsp;<\/p>\n<p style=\"padding-left: 40px\">3.\u00a0 \u00a0 \u00a0E\u011fer <em>l<\/em> + s = p + q ise, (1) de a\u00e7\u0131klanm\u0131\u015f olan \u00fc\u00e7 de\u011fi\u015fik d\u00f6rt-\u00e7ubuk mekanizmas\u0131 tipi elde edilir. Ancak bu mekanizmalarda t\u00fcm uzuvlar\u0131n bir do\u011fru \u00fczerinde oldu\u011fu bir kritik bir konum olu\u015facakt\u0131r.<\/p>\n<p style=\"text-align: center\"><div class=\"su-image-carousel  su-image-carousel-has-spacing su-image-carousel-has-lightbox su-image-carousel-has-outline su-image-carousel-adaptive su-image-carousel-slides-style-default su-image-carousel-controls-style-dark su-image-carousel-align-center\" style=\"max-width:550px\" data-flickity-options='{\"groupCells\":true,\"cellSelector\":\".su-image-carousel-item\",\"adaptiveHeight\":true,\"cellAlign\":\"left\",\"prevNextButtons\":true,\"pageDots\":false,\"autoPlay\":false,\"imagesLoaded\":true,\"contain\":false,\"selectedAttraction\":1,\"friction\":1}' id=\"su_image_carousel_69d7bfa510826\"><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/criticalfourbar1.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"550\" height=\"400\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/criticalfourbar1.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/criticalfourbar2.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"550\" height=\"400\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/criticalfourbar2.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/criticalfourbar3.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"550\" height=\"400\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/criticalfourbar3.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/criticalfourbar4.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"550\" height=\"400\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/criticalfourbar4.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><\/div><script id=\"su_image_carousel_69d7bfa510826_script\">if(window.SUImageCarousel){setTimeout(function() {window.SUImageCarousel.initGallery(document.getElementById(\"su_image_carousel_69d7bfa510826\"))}, 0);}var su_image_carousel_69d7bfa510826_script=document.getElementById(\"su_image_carousel_69d7bfa510826_script\");if(su_image_carousel_69d7bfa510826_script){su_image_carousel_69d7bfa510826_script.parentNode.removeChild(su_image_carousel_69d7bfa510826_script);}<\/script><\/p>\n<p style=\"padding-left: 40px\">Bu konumda her krank a\u00e7\u0131s\u0131 i\u00e7in iki \u00e7\u0131k\u0131\u015f kolu a\u00e7\u0131s\u0131 olan mekanizmada \u00e7\u00f6z\u00fcm teke d\u00fc\u015fer. Bundan dolay\u0131 krank\u0131n bu konumdan hafif bir sapmas\u0131 durumunda hareketli di\u011fer iki uzvun nas\u0131l bir hareket yapaca\u011f\u0131 bilinemez. \u00d6rne\u011fin, sabit uzva ba\u011fl\u0131 di\u011fer kol saat yelkovan\u0131 y\u00f6n\u00fcnde veya ters y\u00f6n\u00fcnde d\u00f6nebilir . Bu nedenle hareket belirsizdir.<\/p>\n<p style=\"padding-left: 40px\">4. i) (3) \u00fcn \u00f6zel bir durumu \u00e7ok bilinen\u00a0<span style=\"color: #cc0000\"><b>paralelogram<\/b><\/span>\u00a0mekanizmas\u0131d\u0131r Bu durumda kar\u015f\u0131 uzuv boyutlar\u0131 birbirlerine e\u015fittir. Elde edilebilecek iki de\u011fi\u015fik \u00e7ift kol mekanizmas\u0131 vard\u0131r. Ancak her iki \u00e7ift kol mekanizmas\u0131n\u0131nda kritik konumu olacak ve bu kritik konumda mekanizma \u00e7apraz bir konuma ge\u00e7ebilecektir.<\/p>\n<p style=\"text-align: center\"><img loading=\"lazy\" decoding=\"async\" class=\"size-full wp-image-893 aligncenter\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/img5-5.gif\" alt=\"\" width=\"539\" height=\"225\" \/><\/p>\n<p style=\"text-align: center\"><div class=\"su-image-carousel  su-image-carousel-has-spacing su-image-carousel-has-lightbox su-image-carousel-has-outline su-image-carousel-adaptive su-image-carousel-slides-style-default su-image-carousel-controls-style-dark su-image-carousel-align-center\" style=\"max-width:450px\" data-flickity-options='{\"groupCells\":true,\"cellSelector\":\".su-image-carousel-item\",\"adaptiveHeight\":true,\"cellAlign\":\"left\",\"prevNextButtons\":true,\"pageDots\":false,\"autoPlay\":false,\"imagesLoaded\":true,\"contain\":false,\"selectedAttraction\":1,\"friction\":1}' id=\"su_image_carousel_69d7bfa5110f8\"><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/paralelogram1_1.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"400\" height=\"350\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/paralelogram1_1.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/paralelogram1_2.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"459\" height=\"422\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/paralelogram1_2.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><\/div><script id=\"su_image_carousel_69d7bfa5110f8_script\">if(window.SUImageCarousel){setTimeout(function() {window.SUImageCarousel.initGallery(document.getElementById(\"su_image_carousel_69d7bfa5110f8\"))}, 0);}var su_image_carousel_69d7bfa5110f8_script=document.getElementById(\"su_image_carousel_69d7bfa5110f8_script\");if(su_image_carousel_69d7bfa5110f8_script){su_image_carousel_69d7bfa5110f8_script.parentNode.removeChild(su_image_carousel_69d7bfa5110f8_script);}<\/script> <div class=\"su-image-carousel  su-image-carousel-has-spacing su-image-carousel-has-lightbox su-image-carousel-has-outline su-image-carousel-adaptive su-image-carousel-slides-style-default su-image-carousel-controls-style-dark su-image-carousel-align-center\" style=\"max-width:450px\" data-flickity-options='{\"groupCells\":true,\"cellSelector\":\".su-image-carousel-item\",\"adaptiveHeight\":true,\"cellAlign\":\"left\",\"prevNextButtons\":true,\"pageDots\":false,\"autoPlay\":false,\"imagesLoaded\":true,\"contain\":false,\"selectedAttraction\":1,\"friction\":1}' id=\"su_image_carousel_69d7bfa5119ba\"><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/paralelogram2_1.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"400\" height=\"350\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/paralelogram2_1.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/paralelogram2_2.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"468\" height=\"434\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/paralelogram2_2.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><\/div><script id=\"su_image_carousel_69d7bfa5119ba_script\">if(window.SUImageCarousel){setTimeout(function() {window.SUImageCarousel.initGallery(document.getElementById(\"su_image_carousel_69d7bfa5119ba\"))}, 0);}var su_image_carousel_69d7bfa5119ba_script=document.getElementById(\"su_image_carousel_69d7bfa5119ba_script\");if(su_image_carousel_69d7bfa5119ba_script){su_image_carousel_69d7bfa5119ba_script.parentNode.removeChild(su_image_carousel_69d7bfa5119ba_script);}<\/script><\/p>\n<p style=\"padding-left: 40px\">Mekanizman\u0131n kritik konumlar\u0131nda sorun olmamas\u0131 i\u00e7in iki krank aras\u0131nda iki de\u011fi\u015fik paralelogram mekanizmas\u0131 olu\u015fturulabilir. Dikkat edilir ise, parallelogram mekanizmalar\u0131ndan birisi kritik konumda iken (\u00f6rne\u011fin A<sub>0<\/sub>ABB<sub>0<\/sub>\u00a0bir do\u011fru \u00fczerine olursa) di\u011feri kritik konumda olmayaca\u011f\u0131ndan mekanizma her konumda \u00e7ift kol olarak hareket iletecektir.<\/p>\n<p style=\"padding-left: 40px\">ii)\u00a0 \u00a0 (3) \u00fcn bir di\u011fer \u00f6zel durumu ise deltoid mekanizmas\u0131d\u0131r. Bu durumda iki ayn\u0131 uzunlukta uzuv, iki ayn\u0131 uzunlukta di\u011fer uzuvlarla ba\u011fl\u0131d\u0131r. Uzun uzuvlardan birisinin sabit olmas\u0131 ile bir kol-sarka\u00e7 meka-nizmas\u0131 elde edilebilir. K\u0131sa uzuvlardan birinin sabit olmas\u0131 durumunda ise, kranklardan birisinin iki turu s\u0131ras\u0131nda di\u011fer krank\u0131n bir tur att\u0131\u011f\u0131 bir \u00e7ift-kol mekanizmas\u0131 elde edilebilir (bu mekanizmaya 1844 de patentini alan ki\u015fi oldu\u011fundan, Galloway mekanizmas\u0131 da denmektedir).<\/p>\n<p style=\"text-align: center\"><img loading=\"lazy\" decoding=\"async\" class=\"size-full wp-image-894 aligncenter\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/img6-5.gif\" alt=\"\" width=\"272\" height=\"254\" \/><\/p>\n<p style=\"text-align: center\"><div class=\"su-image-carousel  su-image-carousel-has-spacing su-image-carousel-has-lightbox su-image-carousel-has-outline su-image-carousel-adaptive su-image-carousel-slides-style-default su-image-carousel-controls-style-dark su-image-carousel-align-center\" style=\"max-width:605px\" data-flickity-options='{\"groupCells\":true,\"cellSelector\":\".su-image-carousel-item\",\"adaptiveHeight\":true,\"cellAlign\":\"left\",\"prevNextButtons\":true,\"pageDots\":false,\"autoPlay\":false,\"imagesLoaded\":true,\"contain\":false,\"selectedAttraction\":1,\"friction\":1}' id=\"su_image_carousel_69d7bfa512281\"><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/galloway1.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"605\" height=\"440\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/galloway1.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/galloway2.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"605\" height=\"440\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/galloway2.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><\/div><script id=\"su_image_carousel_69d7bfa512281_script\">if(window.SUImageCarousel){setTimeout(function() {window.SUImageCarousel.initGallery(document.getElementById(\"su_image_carousel_69d7bfa512281\"))}, 0);}var su_image_carousel_69d7bfa512281_script=document.getElementById(\"su_image_carousel_69d7bfa512281_script\");if(su_image_carousel_69d7bfa512281_script){su_image_carousel_69d7bfa512281_script.parentNode.removeChild(su_image_carousel_69d7bfa512281_script);}<\/script><\/p>\n<p style=\"padding-left: 40px\">Dikkat edilir ise, uzuv boyutlar\u0131n\u0131n t\u00fcm\u00fcn\u00fc bir sabit de\u011fer ile \u00e7arpt\u0131\u011f\u0131m\u0131zda veya b\u00f6ld\u00fc\u011f\u00fcm\u00fczde uzuv boyutlar\u0131 aras\u0131nda bulunan oran sabit kald\u0131\u011f\u0131 m\u00fcddetce, mekanizman\u0131n hareket \u00f6zellikleri de\u011fi\u015fmeyece\u011fi gibi, uzuvlar\u0131n birbirlerine g\u00f6re a\u00e7\u0131sal konumlar\u0131da ayn\u0131 kalacakt\u0131r. Yani, a\u00e7\u0131sal de\u011ferler uzuv boyutlar\u0131n\u0131n birbirlerine g\u00f6re oranlar\u0131na ba\u011fl\u0131 olup, uzuv boyutlar\u0131na ba\u011fl\u0131 de\u011fildir. Bir ba\u015fka deyi\u015fle, uzuv boyutlar\u0131n\u0131n oranlar\u0131 sabit kalmak \u015fart\u0131 ile bir d\u00f6rt-\u00e7ubuk mekanizmas\u0131n\u0131 ne kadar k\u00fc\u00e7\u00fclt\u00fcrseniz k\u00fc\u00e7\u00fclt\u00fcn, veya ne kadar b\u00fcy\u00fct\u00fcrseniz b\u00fcy\u00fct\u00fcn, giri\u015f kolu a\u00e7\u0131s\u0131na kar\u015f\u0131 gelen di\u011fer kol a\u00e7\u0131lar\u0131, uzuv boyu oranlar\u0131 ayn\u0131 kald\u0131kca, daima ayn\u0131d\u0131r (mekanizmada oranlar\u0131n sabit kalarak mekanizmay\u0131 b\u00fcy\u00fctme veya k\u00fc\u00e7\u00fcltme, mekanizman\u0131n farkl\u0131 \u00f6l\u00e7eklerde \u00e7izilmesi, veya devre denkleminin bir sabit de\u011ferle \u00e7arp\u0131lmas\u0131 olarak da d\u00fc\u015f\u00fcn\u00fclebilir).<\/p>\n<p style=\"text-align: center\"><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter wp-image-895\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/img7-4.gif\" alt=\"\" width=\"746\" height=\"434\" \/><\/p>\n<p style=\"padding-left: 40px;text-align: center\"><b><span style=\"color: #cc0000\">Mekanizmay\u0131 ne kadar b\u00fcy\u00fct\u00fcrseniz b\u00fcy\u00fct\u00fcn veya ne kadar k\u00fc\u00e7\u00fclt\u00fcrseniz k\u00fc\u00e7\u00fclt\u00fcn, e\u011fer uzuv oranlar\u0131 ayn\u0131 ise, a\u00e7\u0131sal konumlar ayn\u0131d\u0131r.<\/span><\/b><\/p>\n<p>D\u00f6rt-\u00e7ubuk mekanizmalar\u0131 aras\u0131nda kol-sarka\u00e7 mekanizmas\u0131 makina tasar\u0131m\u0131nda \u00f6nemli bir yer al\u0131r. Bu mekanizma kullan\u0131larak bir elektrik motorunun s\u00fcrekli bir d\u00f6n\u00fc\u015f hareketini kolayca bir sal\u0131n\u0131m hareketine d\u00f6n\u00fc\u015ft\u00fcr\u00fclebilir. Bu nedenle kol-sarka\u00e7 oranlar\u0131na sahip d\u00f6rt-\u00e7ubuk mekanizmalar\u0131n\u0131n biraz daha detayl\u0131 incelenmesinde yarar bulunmaktad\u0131r.<\/p>\n<h3><u>Kol-sarka\u00e7 mekanizmalar\u0131n\u0131n \u00f6l\u00fc konumlar\u0131<\/u><\/h3>\n<p>Kol-sarka\u00e7 mekanizmas\u0131nda sarka\u00e7 iki s\u0131n\u0131r a\u00e7\u0131 de\u011feri aras\u0131nda sal\u0131n\u0131r. Genellikle krank giri\u015f uzvu olup sarka\u00e7 ise \u00e7\u0131k\u0131\u015f uzvudur. Sarkac\u0131n bir y\u00f6ne do\u011fru yapmakta oldu\u011fu sal\u0131n\u0131m yava\u015flar ve bir konumda durduktan sonra y\u00f6n de\u011fi\u015ftirerek ters y\u00f6ne do\u011fru sal\u0131n\u0131m yapar. Bu, krank\u0131n 360\u00b0\u00a0d\u00f6nmesi s\u0131ras\u0131nda iki defa tekrarlar. Sarkac\u0131n limit konumlar\u0131, veya h\u0131z\u0131n\u0131n s\u0131f\u0131r oldu\u011fu konumlar, kol-sarka\u00e7 mekanizmas\u0131n\u0131n \u00f6l\u00fc konumlar\u0131 olarak tan\u0131mlan\u0131r. K\u0131s\u0131m 2 de d\u00f6rt-\u00e7ubuk mekanizmas\u0131n\u0131n h\u0131z analizinde her hangi bir konumda, 4 uzvunun a\u00e7\u0131sal h\u0131z\u0131 i\u00e7in verilmi\u015f olan denklem:<\/p>\n<p style=\"text-align: center\"><span class=\"katex-eq\" data-katex-display=\"false\"> \\displaystyle {\\text{\u03c9}_{{14}}}=\\frac{{{\\text{a}_{2}}}}{{{\\text{a}_{4}}}}\\frac{{\\sin \\left( {{\\text{\u03b8}_{{12}}}-{\\text{\u03b8}_{{13}}}} \\right)}}{{\\sin \\left( {{\\text{\u03b8}_{{14}}}-{\\text{\u03b8}_{{13}}}} \\right)}}{\\text{\u03c9}_{{12}}} <\/span> \u00a0\u00a0 \u00a0<a href=\"\/\/blog.metu.edu.tr\/eresmech\/mekanizma-teknigi\/ch4\/4-2-2\/\">(denklemin c\u0131kar\u0131l\u0131\u015f\u0131 i\u00e7in t\u0131klay\u0131n)<\/a><\/p>\n<p>Bu denklemde:<\/p>\n<p style=\"padding-left: 40px\">sin(\u03b8<sub>12<\/sub> \u2212 \u03b8<sub>13<\/sub>) = 0 \u00a0\u00a0ise giri\u015f kolu h\u0131z\u0131 ne olursa olsun sarka\u00e7 h\u0131z\u0131 s\u0131f\u0131r olacakt\u0131r.<\/p>\n<p style=\"padding-left: 40px\">sin(\u03b8<sub>12<\/sub> \u2212 \u03b8<sub>13<\/sub>) = 0 olmas\u0131 \u03b8<sub>12<\/sub> \u2212 \u03b8<sub>13<\/sub> = 0 (\u03b8<sub>12<\/sub> = \u03b8<sub>13<\/sub>) veya (\u03b8<sub>13<\/sub>\u00a0= \u03b8<sub>12<\/sub>\u00a0\u00b1 \u03c0) oldu\u011funda ger\u00e7ekle\u015fir.<\/p>\n<p>Bu durumlarda biyel ve krank ayn\u0131 do\u011fru \u00fczerindedir. Bu konumlara\u00a0<b><span style=\"color: #cc0000\">a\u00e7\u0131k ve kapal\u0131 \u00f6l\u00fc konumlar<\/span><\/b>\u00a0denir.<\/p>\n<p style=\"text-align: center\"><img loading=\"lazy\" decoding=\"async\" class=\"size-full wp-image-899 aligncenter\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/img8-3.gif\" alt=\"\" width=\"454\" height=\"267\" \/><\/p>\n<p><b><span style=\"color: #cc0000\">Sal\u0131n\u0131m a\u00e7\u0131s\u0131<\/span><\/b>, \u03c8, sarkac\u0131n a\u00e7\u0131k \u00f6l\u00fc konumdan kapal\u0131 \u00f6l\u00fc konuma ge\u00e7erken yapm\u0131\u015f oldu\u011fu a\u00e7\u0131d\u0131r.<\/p>\n<p>A\u00e7\u0131k \u00f6l\u00fc konumdan kapal\u0131 \u00f6l\u00fc konuma hareket edilirken krank\u0131n yapm\u0131\u015f oldu\u011fu d\u00f6nme miktar\u0131 ise \u03d5 kadar, kapal\u0131 \u00f6l\u00fc konumdan a\u00e7\u0131k \u00f6l\u00fc konuma hareket s\u0131ras\u0131nda ise 360\u00b0\u00a0\u2212 \u03d5 kadard\u0131r.<\/p>\n<p>Genellikle sarkac\u0131n bir y\u00f6nde hareketi s\u0131ras\u0131nda i\u015f yap\u0131l\u0131r di\u011fer y\u00f6nde sistem ba\u015flang\u0131\u00e7 noktas\u0131na bo\u015f olarak getirilir. M\u00fchendis olarak genel hedefimiz s\u00fcrati, dolay\u0131s\u0131 ilede verimlili\u011fi art\u0131rmakd\u0131r. H\u0131z ise yap\u0131lan i\u015fin tipine ba\u011fl\u0131 olup maksimum \u00e7al\u0131\u015fma h\u0131z\u0131 i\u015fin t\u00fcr\u00fc ile belirlenir. Ancak i\u015f, sarkac\u0131n bir y\u00f6nde d\u00f6n-mesi s\u0131ras\u0131nda yap\u0131l\u0131yor ise, ters y\u00f6nde d\u00f6nme s\u0131ras\u0131nda i\u015f yap\u0131lmad\u0131\u011f\u0131ndan s\u00fcrat art\u0131r\u0131labilir. Bu \u015fekilde bir birim i\u015f i\u00e7in ge\u00e7en s\u00fcre k\u0131salt\u0131labilir. Sabit d\u00f6nen bir krank i\u00e7in bu, i\u015f yap\u0131lan sarka\u00e7 d\u00f6nme y\u00f6n\u00fcnde buna kar\u015f\u0131 gelen krank d\u00f6nme a\u00e7\u0131s\u0131n\u0131n 180\u00b0\u00a0fazla olmas\u0131, ters y\u00f6nde hareket s\u0131ras\u0131nda ise, krank d\u00f6nme a\u00e7\u0131s\u0131n\u0131n 180\u00b0\u00a0az tutulmas\u0131 ile sa\u011flan\u0131r. Bu durumda sabit krank d\u00f6nme a\u00e7\u0131s\u0131 i\u00e7in\u00a0<strong><span style=\"color: #cc0000\">Zaman Oran\u0131<\/span><\/strong>\u00a0olarak:<\/p>\n<p style=\"text-align: center\"><span class=\"katex-eq\" data-katex-display=\"false\"> \\displaystyle {\\text{ZO}=\\frac{\\text{i\u015f yap\u0131l\u0131rken ge\u00e7en s\u00fcre}}{\\text{geri d\u00f6n\u00fc\u015f i\u00e7in ge\u00e7en s\u00fcre}}=\\frac{\\text{\u03d5}}{360\u00b0-\\text{\u03d5}}}<\/span><\/p>\n<p>tan\u0131mlanabilir. \u0130\u015f yap\u0131l\u0131rken krank d\u00f6nme a\u00e7\u0131s\u0131n\u0131n fazla olmas\u0131, geri d\u00f6n\u00fc\u015fte kalan krank d\u00f6nme a\u00e7\u0131s\u0131n\u0131n azalt\u0131lmas\u0131 ile verim belirli bir miktar art\u0131r\u0131lacakt\u0131r.<\/p>\n<p style=\"text-align: center\"><img loading=\"lazy\" decoding=\"async\" class=\"aligncenter wp-image-910\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/img9-2.gif\" alt=\"\" width=\"649\" height=\"418\" \/><\/p>\n<p>Kol-sarka\u00e7 oranlar\u0131nda bir d\u00f6rt-\u00e7ubuk mekanizmas\u0131n\u0131 ele ald\u0131\u011f\u0131m\u0131zda, bu mekanizman\u0131n sabit uzva g\u00f6re ayna g\u00f6r\u00fcnt\u00fcs\u00fc al\u0131nd\u0131\u011f\u0131nda yine bir kol-sarka\u00e7 oran\u0131nda d\u00f6rt-\u00e7ubuk mekanizmas\u0131 elde edilecek ve bu mekanizman\u0131n sal\u0131n\u0131m a\u00e7\u0131s\u0131 orijinal mekanizma ile ayn\u0131 olacakt\u0131r. Ancak krank\u0131n a\u00e7\u0131k \u00f6l\u00fc konumdan kapal\u0131 \u00f6l\u00fc konuma orijinal mekanizmada \u03d5 a\u00e7\u0131s\u0131 kadar saat yelkovan\u0131na ters y\u00f6nde d\u00f6nmesi gerekirken bu ayna g\u00f6r\u00fcnt\u00fc mekanizmada 360\u00b0\u00a0\u2212 \u03d5 kadar saat yelkovan\u0131na ters y\u00f6nde d\u00f6nmesi gerekecektir.<\/p>\n<p>Bu s\u0131n\u0131r konumlara \u00f6l\u00fc konum denmesinin sebebi, bu konumlarda sarkaca etki eden kuvvet, mekanizman\u0131n hareket etmesini sa\u011flayamaz. Veya \u03c9<sub>14<\/sub> a\u00e7\u0131sal h\u0131z\u0131 ile sarka\u00e7 d\u00f6n\u00fcyor ise, 2 uzvunun a\u00e7\u0131sal h\u0131z\u0131 sonsuz olacakt\u0131r, ki bu m\u00fcmk\u00fcn de\u011fildir. Yani mekanizma, 4 uzvundan gelen herhangi bir uyar\u0131ya kar\u015f\u0131 \u00f6l\u00fcd\u00fcr.<\/p>\n<h3><u>Ba\u011flama A\u00e7\u0131s\u0131<\/u><\/h3>\n<p>Kinematik analiz s\u0131ras\u0131nda, bir mekanizman\u0131n y\u00fck alt\u0131nda nas\u0131l bir davran\u0131\u015f g\u00f6sterece\u011fini bilmek \u00f6nemlidir. Y\u00fck alt\u0131nda davran\u0131\u015f olarak giri\u015f uzvunda olu\u015fan hareket ve kuvvet \u00e7\u0131k\u0131\u015f uzvuna nas\u0131l ve ne \u015fekilde iletildi\u011fidir. Bu etapta hedefimiz kinematik analizini yapt\u0131\u011f\u0131m\u0131z bir mekanizman\u0131n y\u00fck alt\u0131nda davran\u0131\u015f\u0131n\u0131 belirlemek i\u00e7in kullanabilece\u011fimiz bir kinematik parametre bulmakt\u0131r. S\u00fcrt\u00fcnme ve atalet kuvvetleri ihmal edildi\u011finde, enerji sak\u0131n\u0131m\u0131ndan dolay\u0131 giri\u015f uzvunda birim zamanda yap\u0131lan i\u015f (T<sub>12<\/sub>\u03c9<sub>12<\/sub>) \u00e7\u0131k\u0131\u015f uzvunda birim zamanda yap\u0131lan i\u015fe (T<sub>14<\/sub>\u03c9<sub>14<\/sub>) e\u015fittir. Bu de\u011ferler iki mekanizmada ayn\u0131 oldu\u011funda bile, kuvvet da\u011f\u0131l\u0131m\u0131 a\u00e7\u0131s\u0131ndan (mafsal kuvvetleri de\u011ferleri bak\u0131m\u0131ndan) iki mekanizma farkl\u0131 \u00f6zellikler g\u00f6sterebilir. \u015eu ana kadar yap\u0131lm\u0131\u015f olan kinematik analiz s\u0131ras\u0131nda, moment ve kuvvet kavramlar\u0131 konu d\u0131\u015f\u0131nda olmu\u015ftur ve kullanaca\u011f\u0131m\u0131z kinematik parametre atalet kuvvetlerini hesaba almayaca\u011f\u0131ndan sadece mekanizman\u0131n statik kuvvet \u00f6zellikleri i\u00e7in bir fikir verebilecektir. Dinamik kuvvetlerin statik kuvvetlere g\u00f6re \u00e7ok b\u00fcy\u00fck oldu\u011fu durumlarda bu parametrenin \u00f6nemi ku\u015fkulu olabilir. Ancak b\u00fct\u00fcn bu olumsuzluklara ra\u011fmen, mekanizman\u0131n y\u00fck alt\u0131nda davran\u0131\u015f\u0131n\u0131 g\u00f6sterebilen bir kinematik parametre uygulamada \u00f6nemlidir. Bu konu 1930 lu y\u0131llarda Alt taraf\u0131ndan ortaya at\u0131lm\u0131\u015f ve uygulamada \u00f6nemi kan\u0131tlanm\u0131\u015ft\u0131r. Alt ba\u011flama a\u00e7\u0131s\u0131 (\u03bc) olarak:<\/p>\n<p style=\"text-align: center\"><span class=\"katex-eq\" data-katex-display=\"false\"> \\displaystyle {\\tan \\text{\u03bc}=\\frac{\\text{\u00c7\u0131k\u0131\u015f uzvunu hareket ettiren kuvvet bile\u015fkesi}}{\\text{\u00c7\u0131k\u0131\u015f uzvu yataklar\u0131nda yatak kuvveti olu\u015fturan kuvvet bile\u015fkesi}}=\\frac{\\text{F}_\\text{t}}{\\text{F}_\\text{b}}}<\/span><\/p>\n<p>tan\u0131mlam\u0131\u015ft\u0131r. Ba\u011flama a\u00e7\u0131s\u0131 ayn\u0131 zamanda:<\/p>\n<p style=\"text-align: center\"><span class=\"katex-eq\" data-katex-display=\"false\"> \\displaystyle {\\sin \\text{\u03bc}=\\frac{\\text{\u00c7\u0131k\u0131\u015f uzvunu hareket ettiren kuvvet bile\u015fkesi}}{\\text{\u00c7\u0131k\u0131\u015f uzvuna hareketli mafsalda etkie eden toplam kuvvet}}=\\frac{\\text{F}_\\text{t}}{\\text{F}}}<\/span><\/p>\n<p>Ba\u011flama a\u00e7\u0131s\u0131 mekanizman\u0131n hareketi s\u0131ras\u0131nda de\u011fi\u015fecektir. Sabit bir diren\u00e7 kar\u015f\u0131s\u0131nda gerekli sabit bir F<sub>t<\/sub>\u00a0kuvvetine kar\u015f\u0131 \u00e7\u0131k\u0131\u015f uzvuna hareketli mafsal noktas\u0131nda etki eden toplam kuvvet de t\u00fcm hareket s\u0131ras\u0131nda artar. Mekanizman\u0131n mukavemet a\u00e7\u0131s\u0131ndan tasar\u0131m\u0131 etki edecek olan maksimum kuvvete g\u00f6re olaca\u011f\u0131ndan F kuvvetinin m\u00fcmk\u00fcn oldu\u011funca F<sub>t<\/sub>\u00a0den b\u00fcy\u00fck olmamas\u0131na \u00e7al\u0131\u015f\u0131lmal\u0131d\u0131r. Bu ba\u011flama a\u00e7\u0131s\u0131n\u0131n hareket s\u0131ras\u0131nda 90\u00b0\u00a0den en az sapmas\u0131n\u0131 gerektirir.<\/p>\n<p>\u015eekilde yukar\u0131da verilmi\u015f olan tan\u0131ma g\u00f6re bir d\u00f6rt-\u00e7ubuk ve krank-biyel mekanizmas\u0131nda ba\u011flama a\u00e7\u0131s\u0131 g\u00f6sterilmektedir. G\u00f6r\u00fcld\u00fc\u011f\u00fc gibi, ba\u011flama a\u00e7\u0131s\u0131 basit bir kinematik parametre olup \u00e7\u0131k\u0131\u015f uzvuna giri\u015f uzvundan iletilen kuvvetin ne kadar\u0131n\u0131n i\u015f yapar oldu\u011funu g\u00f6stermektedir. Bu basit parametre ile mekanizman\u0131n uygulamada do\u011fru \u00e7al\u0131\u015f\u0131p \u00e7al\u0131\u015fmayaca\u011f\u0131n\u0131 kinematik tasar\u0131m s\u0131ras\u0131nda karar verilebilir. Ayn\u0131 zamanda, ba\u011flama a\u00e7\u0131s\u0131n\u0131n mekanizmada hareketin uzuv boyutlar\u0131ndaki toleranslara kar\u015f\u0131 hassasiyetinide g\u00f6steren bir parametre oldu\u011fu bilinmektedir.<\/p>\n<p style=\"text-align: center\"><div class=\"su-image-carousel  su-image-carousel-has-spacing su-image-carousel-has-lightbox su-image-carousel-has-outline su-image-carousel-adaptive su-image-carousel-slides-style-default su-image-carousel-controls-style-dark su-image-carousel-align-center\" style=\"max-width:605px\" data-flickity-options='{\"groupCells\":true,\"cellSelector\":\".su-image-carousel-item\",\"adaptiveHeight\":true,\"cellAlign\":\"left\",\"prevNextButtons\":true,\"pageDots\":false,\"autoPlay\":false,\"imagesLoaded\":true,\"contain\":false,\"selectedAttraction\":1,\"friction\":1}' id=\"su_image_carousel_69d7bfa512bd5\"><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/transmissionangle1.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"605\" height=\"440\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/transmissionangle1.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><div class=\"su-image-carousel-item\"><div class=\"su-image-carousel-item-content\"><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/transmissionangle2.gif\" target=\"_blank\" rel=\"noopener noreferrer\" data-caption=\"\"><img loading=\"lazy\" decoding=\"async\" width=\"605\" height=\"440\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/transmissionangle2.gif\" class=\"\" alt=\"\" \/><\/a><\/div><\/div><\/div><script id=\"su_image_carousel_69d7bfa512bd5_script\">if(window.SUImageCarousel){setTimeout(function() {window.SUImageCarousel.initGallery(document.getElementById(\"su_image_carousel_69d7bfa512bd5\"))}, 0);}var su_image_carousel_69d7bfa512bd5_script=document.getElementById(\"su_image_carousel_69d7bfa512bd5_script\");if(su_image_carousel_69d7bfa512bd5_script){su_image_carousel_69d7bfa512bd5_script.parentNode.removeChild(su_image_carousel_69d7bfa512bd5_script);}<\/script><\/p>\n<p style=\"text-align: center\"><img loading=\"lazy\" decoding=\"async\" class=\"size-full wp-image-928 aligncenter\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/img10-2.gif\" alt=\"\" width=\"398\" height=\"408\" \/><\/p>\n<p>Ba\u011flama a\u00e7\u0131s\u0131 90\u00b0 oldu\u011funda biyel uzvundan \u00e7\u0131k\u0131\u015f koluna iletilen t\u00fcm kuvvet \u00e7\u0131k\u0131\u015f kolunu \u00e7evirmek i\u00e7indir. Ba\u011flama a\u00e7\u0131s\u0131n\u0131n 0\u00b0\u00a0oldu\u011fu durumda ise, giri\u015f koluna ne kadar kuvvet uygularsak uygulayal\u0131m, \u00e7\u0131k\u0131\u015f kolunu \u00e7evrilemiyece\u011fi a\u00e7\u0131kca g\u00f6r\u00fclmektedir. Ayr\u0131ca, ba\u011flama a\u00e7\u0131s\u0131n\u0131n mekanizman\u0131n sabit bir parametresi olmad\u0131\u011f\u0131, giri\u015f kol a\u00e7\u0131s\u0131na g\u00f6re de\u011fi\u015fece\u011fi a\u00e7\u0131kt\u0131r. En optimum ba\u011flama a\u00e7\u0131s\u0131 90\u00b0, bir d\u00f6rt-\u00e7ubuk mekanizmas\u0131n\u0131n sadece bir veya iki giri\u015f kolu a\u00e7\u0131s\u0131nda olacak, di\u011fer konumlarda farkl\u0131 ba\u011flama a\u00e7\u0131s\u0131 de\u011ferleri olacakt\u0131r. \u00d6yle ise, d\u00f6rt-\u00e7ubuk mekanizmas\u0131 i\u00e7in ba\u011flama a\u00e7\u0131s\u0131n\u0131 giri\u015f kolu a\u00e7\u0131s\u0131na g\u00f6re bulal\u0131m.<\/p>\n<p>Ba\u011flama a\u00e7\u0131s\u0131n\u0131 giri\u015f kolu a\u00e7\u0131s\u0131na g\u00f6re belirlemek i\u00e7in ikinci k\u0131s\u0131mda konum analizi i\u00e7in kulland\u0131\u011f\u0131m\u0131z y\u00f6ntemi kullanmak uygun olacakt\u0131r. \u015eekilde g\u00f6sterilen d\u00f6rt-\u00e7ubuk mekanizmas\u0131 i\u00e7in A<sub>0<\/sub>AB<sub>0<\/sub>\u00a0\u00fc\u00e7geni ile ABB<sub>0<\/sub>\u00a0\u00fc\u00e7genlerini g\u00f6z \u00f6n\u00fcne alal\u0131m ve her iki \u00fc\u00e7gende kosin\u00fcs teoremini kullanarak AB<sub>0<\/sub>\u00a0uzunlu\u011funu yazal\u0131m.<\/p>\n<table border=\"0\" width=\"100%\">\n<tbody>\n<tr>\n<td style=\"text-align: center\">a<sub>3<\/sub><sup>2<\/sup> + a<sub>4<\/sub><sup>2<\/sup> + 2a<sub>3<\/sub>a<sub>4<\/sub>cos\u03bc = a<sub>1<\/sub><sup>2<\/sup> + a<sub>2<\/sub><sup>2<\/sup> + 2a<sub>1<\/sub>a<sub>2<\/sub>cos\u03b8<sub>12<\/sub><\/td>\n<td style=\"text-align: right\">(1)<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>Bu denklemden ba\u011flama a\u00e7\u0131s\u0131 \u00e7\u00f6z\u00fcld\u00fc\u011f\u00fcnde:<\/p>\n<table border=\"0\" width=\"100%\">\n<tbody>\n<tr>\n<td style=\"text-align: center\">cos\u03bc = (a<sub>1<\/sub><sup>2<\/sup> + a<sub>2<\/sub><sup>2<\/sup> \u2212 a<sub>3<\/sub><sup>2<\/sup> \u2212 a<sub>4<\/sub><sup>2<\/sup>\u00a0+ 2a<sub>1<\/sub>a<sub>2<\/sub>cos\u03b8<sub>12<\/sub>)\/(2a<sub>3<\/sub>a<sub>4<\/sub>)<\/td>\n<td style=\"text-align: right\">(2)<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>veya<\/p>\n<table border=\"0\" width=\"100%\">\n<tbody>\n<tr>\n<td style=\"text-align: center\"><span class=\"katex-eq\" data-katex-display=\"false\"> \\displaystyle {\\cos \\text{\u03bc}=\\frac{{{{\\text{a}}_{3}}^{2}+{{\\text{a}}_{4}}^{2}-{{\\text{a}}_{1}}^{2}-{{\\text{a}}_{2}}^{2}}}{{2{{\\text{a}}_{3}}{{\\text{a}}_{4}}}}+\\frac{{{{\\text{a}}_{1}}{{\\text{a}}_{2}}}}{{{{\\text{a}}_{3}}{{\\text{a}}_{4}}}}\\cos {{\\text{\u03b8}}_{{12}}}}<\/span><\/td>\n<td style=\"text-align: right\">(3)<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>olarak yaz\u0131labilir. Ba\u011flama a\u00e7\u0131s\u0131n\u0131n minimum veya maksimum de\u011ferini elde etmek i\u00e7in (3) denkleminin \u03b8<sub>12<\/sub> ba\u011f\u0131ms\u0131z de\u011fi\u015fkenine g\u00f6re t\u00fcrevini al\u0131r ve d\u03bc\/d\u03b8<sub>12<\/sub>\u00a0s\u0131f\u0131ra e\u015fitlenir ise:<\/p>\n<table border=\"0\" width=\"100%\">\n<tbody>\n<tr>\n<td style=\"text-align: center\"><span class=\"katex-eq\" data-katex-display=\"false\"> \\displaystyle {\\sin \\text{\u03bc} \\frac{\\text{d\u03bc}}{\\text{d\u03b8}_{12}}=\\frac{{{{\\text{a}}_{1}}{{\\text{a}}_{2}}}}{{{{\\text{a}}_{3}}{{\\text{a}}_{4}}}}\\sin {{\\text{\u03b8}}_{{12}}} = 0}<\/span><\/td>\n<td style=\"text-align: right\">(4)<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>Bu denklemden g\u00f6r\u00fcld\u00fc\u011f\u00fc gibi ba\u011flama a\u00e7\u0131s\u0131, \u03b8<sub>12<\/sub> = 0 veya \u03c0\u00a0iken minimum veya maksimum de\u011ferde olacakt\u0131r ve bu konumlarda ba\u011flama a\u00e7\u0131s\u0131 de\u011feri:<\/p>\n<table border=\"0\" width=\"100%\">\n<tbody>\n<tr>\n<td style=\"text-align: center\"><span class=\"katex-eq\" data-katex-display=\"false\"> \\displaystyle {\\cos \\text{\u03bc}_{\\begin{smallmatrix} \\text{min} \\\\ \\text{max} \\end{smallmatrix}}=\\frac{{{{\\text{a}}_{3}}^{2}+{{\\text{a}}_{4}}^{2}-{{\\text{a}}_{1}}^{2}-{{\\text{a}}_{2}}^{2}}}{{2{{\\text{a}}_{3}}{{\\text{a}}_{4}}}} \\pm \\frac{{{{\\text{a}}_{1}}{{\\text{a}}_{2}}}}{{{{\\text{a}}_{3}}{{\\text{a}}_{4}}}}}<\/span><\/td>\n<td style=\"text-align: right\">(5)<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p style=\"text-align: center\"><img loading=\"lazy\" decoding=\"async\" class=\"size-full wp-image-941 aligncenter\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/09\/img11-2.gif\" alt=\"\" width=\"471\" height=\"241\" \/><\/p>\n<p>dir. Bu konumlar \u015fekilde g\u00f6r\u00fclmektedir. En kritik ba\u011flama a\u00e7\u0131s\u0131 90\u00b0 dereceden en fazla sapan ba\u011flama a\u00e7\u0131s\u0131d\u0131r. Bu nedenle \u03bc<sub>min<\/sub> veya \u03bc<sub>max<\/sub> de\u011ferlerinden her hangi birisi verilen uzuv boyutlar\u0131na g\u00f6re daha kritik olabilir. Baz\u0131 yay\u0131nlarda 90\u00b0 daha b\u00fcy\u00fck ba\u011flama a\u00e7\u0131s\u0131 kullan\u0131lmay\u0131p 90\u00b0 den b\u00fcy\u00fck \u03bc a\u00e7\u0131s\u0131nda \u03bc yerine (180\u00b0 \u2212 \u03bc) kullan\u0131ld\u0131\u011f\u0131 ve bu \u015fekilde iki farkl\u0131 \u03bc<sub>min<\/sub> de\u011feri oldu\u011fu, bu de\u011ferlerden hangisi k\u00fc\u00e7\u00fck ise, onun minimum ba\u011flama a\u00e7\u0131s\u0131 oldu\u011fuda g\u00f6sterilmi\u015ftir. Ba\u011flama a\u00e7\u0131s\u0131 i\u00e7in bulunan 90\u00b0\u00a0den en fazla sapma yapan de\u011fer, uygulamada kullan\u0131m yerine ba\u011fl\u0131 olarak de\u011fi\u015fir isede, 40\u00b0\u00a0veya 50\u00b0\u00a0den fazla olmamas\u0131 \u00f6nerilmektedir (90\u00b0 \u03bc<sub>min<\/sub> &lt; 40\u00b0\u00a0veya 50\u00b0) . Bu genel bir hat\u0131rlatma olup, baz\u0131 uygulamalar i\u00e7in 70\u00b0\u00a0sapma m\u00fcsaade edilebildi\u011fi gibi (\u00f6rne\u011fin u\u00e7ak ini\u015f tak\u0131mlar\u0131) baz\u0131 durumlarda ise 20\u00b0\u00a0den az bir sapma olmamas\u0131na \u00e7al\u0131\u015f\u0131labilir (\u00f6rne\u011fin pompalar). Ancak uygulama tam olarak incelenememi\u015f ise, maksimum sapman\u0131n 40\u00b0\u00a0ile 50\u00b0\u00a0alt\u0131nda olmas\u0131na \u00f6zen g\u00f6sterilmesi gerekir.<\/p>\n<p>(5) numaral\u0131 denklem incelendi\u011finde, uzuv boyutlar\u0131:<\/p>\n<table border=\"0\" width=\"100%\">\n<tbody>\n<tr>\n<td style=\"text-align: center\">a<sub>1<\/sub><sup>2<\/sup>\u00a0+ a<sub>2<\/sub><sup>2<\/sup>\u00a0= a<sub>3<\/sub><sup>2<\/sup>\u00a0+ a<sub>4<\/sub><sup>2<\/sup><\/td>\n<td style=\"text-align: right\">(6)<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>denklemini sa\u011flad\u0131\u011f\u0131 durumda, minimum ve maksimum ba\u011flama a\u00e7\u0131lar\u0131n\u0131n 90\u00b0\u00a0den sapmas\u0131 e\u015fittir. Bu durum genel olarak optimum bir \u00e7\u00f6z\u00fcmd\u00fcr. Bu \u00f6zelli\u011fe sahip d\u00f6rt-\u00e7ubuk mekanizmalar\u0131na santrik\u00a0<i>d\u00f6rt-\u00e7ubuk mekanizmas\u0131<\/i> denir ve zaman oranlar\u0131 1 dir. Yani, sarkac\u0131n her iki y\u00f6nde sal\u0131n\u0131m\u0131 krank\u0131n 180\u00b0\u00a0d\u00f6nmesi s\u0131ras\u0131nda olur.<\/p>\n<p style=\"padding-left: 40px;text-align: center\">\u0394<sub>1<\/sub> = |90\u00b0 \u2212 \u03bc<sub>min<\/sub>|\u00a0\u00a0\u00a0\u00a0\u00a0 \u0394<sub>2<\/sub> = |90\u00b0 \u2212 \u03bc<sub>max<\/sub>|<\/p>\n<p style=\"padding-left: 40px;text-align: center\">\u0394<sub>max<\/sub>\u00a0= max(\u0394<sub>1<\/sub>, \u0394<sub>2<\/sub>)<\/p>\n<p><strong>\u00d6rnek:<\/strong><\/p>\n<p>Bir d\u00f6rt-\u00e7ubuk mekanizmas\u0131nda uzuv boyutlar\u0131: a<sub>2<\/sub>\u00a0= 4, a<sub>3<\/sub>\u00a0= 8, a<sub>4<\/sub>\u00a0= 6, a<sub>1<\/sub>\u00a0= 7 dir. Grashof kural\u0131na g\u00f6re 1 uzvu sabit uzuv 2 uzvu krank olmak \u00fczere bu mekanizman\u0131n bir kol-sarka\u00e7 oldu\u011funu g\u00f6sterin, sal\u0131n\u0131m a\u00e7\u0131s\u0131n\u0131, kar\u015f\u0131 gelen kol d\u00f6nme a\u00e7\u0131s\u0131n\u0131 ve en kritik ba\u011flama a\u00e7\u0131s\u0131n\u0131 bulun.<\/p>\n<p>En uzun uzuv boyutu ile en k\u0131sa uzuv boyutu toplam\u0131 (4 + 8 = 12) di\u011fer iki uzuv boyutu toplam\u0131ndan (6 + 7 = 13) az olmas\u0131 nedeni ile 2 uzvu krank, ona kom\u015fu 1 uzvu sabit ise mekanizma kol sarka\u00e7 oran\u0131n\u0131 sa\u011flamaktad\u0131r. \u00d6l\u00fc konumlarda mekanizma \u00fc\u00e7gen \u015feklinde oldu\u011fundan bu konumlarda kosin\u00fcs teoremi uyguland\u0131\u011f\u0131nda, a\u00e7\u0131k \u00f6l\u00fc konumda:<\/p>\n<p style=\"text-align: center\"><span class=\"katex-eq\" data-katex-display=\"false\"> \\displaystyle \\cos \\text{\u03b2}=\\frac{{{{{\\left( {8+4} \\right)}}^{2}}+{{7}^{2}}-{{6}^{2}}}}{{2\\cdot 7\\cdot \\left( {8+4} \\right)}}=\\frac{{157}}{{168}}=0.934524 <\/span><\/p>\n<p>veya \u03b2 = 20.85\u00b0\u00a0ve<\/p>\n<p style=\"text-align: center\"><span class=\"katex-eq\" data-katex-display=\"false\"> \\displaystyle \\cos \\left( {\\text{\u03c0}-{{\\text{\u03c8}}_{1}}} \\right)=\\frac{{{{7}^{2}}+{{6}^{2}}-{{{\\left( {8+4} \\right)}}^{2}}}}{{2\\cdot 7\\cdot 6}}=\\frac{{-59}}{{84}}=-0.702381 <\/span><\/p>\n<p>veya \u03c8<sub>1<\/sub>\u00a0= 45.38\u00b0. Kapal\u0131 \u00f6l\u00fc konum i\u00e7in ise:<\/p>\n<p style=\"text-align: center\"><span class=\"katex-eq\" data-katex-display=\"false\"> \\displaystyle \\cos \\left( {\\text{\u03b2}+\\text{\u03d5}-\\text{\u03c0}} \\right)=\\frac{{{{{\\left( {8-4} \\right)}}^{2}}+{{7}^{2}}-{{6}^{2}}}}{{2\\cdot 7\\cdot \\left( {8-4} \\right)}}=\\frac{{29}}{{56}}=0.517857 <\/span><\/p>\n<p>veya \u03d5 = 217.96\u00b0\u00a0ve<\/p>\n<p style=\"text-align: center\"><span class=\"katex-eq\" data-katex-display=\"false\"> \\displaystyle \\cos \\left( {\\text{\u03c0}-{{\\text{\u03c8}}_{1}}-\\text{\u03c8}} \\right)=\\frac{{{{7}^{2}}+{{6}^{2}}-{{{\\left( {8-4} \\right)}}^{2}}}}{{2\\cdot 7\\cdot 6}}=\\frac{{69}}{{84}}=0.821429 <\/span><\/p>\n<p>veya \u03c8 = 99.85\u00b0. Ba\u011flama a\u00e7\u0131s\u0131n\u0131n maksimum ve minimum de\u011ferleri ise:<\/p>\n<p style=\"text-align: center\"><span class=\"katex-eq\" data-katex-display=\"false\"> \\displaystyle {\\cos \\text{\u03bc}_{\\begin{smallmatrix} \\text{min} \\\\ \\text{max} \\end{smallmatrix}}=\\frac{{{{6}^{2}}+{{8}^{2}}-{{7}^{2}}-{{4}^{2}}}}{{2\\cdot 6\\cdot 8}}\\pm \\frac{{4\\cdot 7}}{{6\\cdot 8}}=\\frac{{35}}{{96}}\\pm \\frac{{28}}{{48}}=0.364583\\pm 0.583333}<\/span><\/p>\n<p style=\"padding-left: 40px;text-align: center\">\u03bc<sub>min<\/sub>\u00a0= 18.57\u00b0\u00a0(\u03941 = 71.43\u00b0)\u00a0 ve\u00a0 \u03bc<sub>max<\/sub>\u00a0= 102.64\u00b0\u00a0(\u0394<sub>2<\/sub> = 12.64\u00b0)<\/p>\n<p>\u03bc<sub>min<\/sub>\u00a0a\u00e7\u0131s\u0131 90\u00b0 den daha fazla sapma g\u00f6sterdi\u011finden dolay\u0131 , \u03bc<sub>min<\/sub> kritik ba\u011flama a\u00e7\u0131s\u0131d\u0131r ve maksimum sapma 71.43\u00b0\u00a0dir.<\/p>\n<h3><a href=\"\/\/blog.metu.edu.tr\/eresmech\/mekanizma-teknigi\/ch7\/altBagAcisi\/\" target=\"_blank\" rel=\"noopener\">Alt Ba\u011flama A\u00e7\u0131s\u0131 Problemi<\/a><\/h3>\n<h3><a href=\"\/\/blog.metu.edu.tr\/eresmech\/mekanizma-teknigi\/ch7\/enIyiBagAcisi\/\" target=\"_blank\" rel=\"noopener\">Ba\u011flama A\u00e7\u0131s\u0131 En \u0130yi Olan \u00c7ift Kol Mekanizmas\u0131 Tasar\u0131m\u0131<\/a><\/h3>\n<\/div>\n<\/div><\/div><\/div><\/div><\/div>\n\n\n<p><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/mekanizma-teknigi\/ch7\/7-0\/\" data-type=\"page\"><img loading=\"lazy\" decoding=\"async\" width=\"38\" height=\"38\" class=\"wp-image-16\" style=\"width: 38px\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/04\/back_button.gif\" alt=\"\"><\/a><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/mekanizma-teknigi\/ch7\/\" data-type=\"page\"><img loading=\"lazy\" decoding=\"async\" width=\"38\" height=\"38\" class=\"wp-image-17\" style=\"width: 38px\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/04\/contents_button.gif\" alt=\"\"><\/a><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/mekanizma-teknigi\/\" data-type=\"page\" data-id=\"47\"><img loading=\"lazy\" decoding=\"async\" width=\"38\" height=\"38\" class=\"wp-image-18\" style=\"width: 38px\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/04\/home_button.gif\" alt=\"\"><\/a><a href=\"https:\/\/blog.metu.edu.tr\/eresmech\/mekanizma-teknigi\/ch7\/7-2\/\"><img loading=\"lazy\" decoding=\"async\" width=\"38\" height=\"38\" class=\"wp-image-20\" style=\"width: 38px\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/04\/next_button.gif\" alt=\"\"><\/a><img loading=\"lazy\" decoding=\"async\" width=\"119\" height=\"40\" class=\"wp-image-15\" style=\"width: 119px\" src=\"https:\/\/blog.metu.edu.tr\/eresmech\/files\/2021\/04\/ceres.gif\" alt=\"\"><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u00a07.1 D\u00f6rt \u00c7ubuk Mekanizmas\u0131 D\u00f6rt uzuvlu ve d\u00f6rt d\u00f6ner mafsala sahip mekanizmaya\u00a0d\u00f6rt-\u00e7ubuk mekanizmas\u0131\u00a0denmektedir. Genelde hareket eden \u00fc\u00e7 uzuv g\u00f6r\u00fclse de, sabit g\u00f6vde de bir uzuv say\u0131lmaktad\u0131r. D\u00f6rt-\u00e7ubuk mekanizmalar\u0131n\u0131n uygulamada \u00e7e\u015fitlili\u011fi hayret edici miktarlarda olup genelde kullanan ki\u015filer onun bir mekanizma &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/blog.metu.edu.tr\/eresmech\/mekanizma-teknigi\/ch7\/7-1\/\"> <span class=\"screen-reader-text\">7-1<\/span> Devam\u0131n\u0131 Oku &raquo;<\/a><\/p>\n","protected":false},"author":7747,"featured_media":0,"parent":853,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":"","_links_to":"","_links_to_target":""},"class_list":["post-863","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/blog.metu.edu.tr\/eresmech\/wp-json\/wp\/v2\/pages\/863","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/blog.metu.edu.tr\/eresmech\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/blog.metu.edu.tr\/eresmech\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/blog.metu.edu.tr\/eresmech\/wp-json\/wp\/v2\/users\/7747"}],"replies":[{"embeddable":true,"href":"https:\/\/blog.metu.edu.tr\/eresmech\/wp-json\/wp\/v2\/comments?post=863"}],"version-history":[{"count":0,"href":"https:\/\/blog.metu.edu.tr\/eresmech\/wp-json\/wp\/v2\/pages\/863\/revisions"}],"up":[{"embeddable":true,"href":"https:\/\/blog.metu.edu.tr\/eresmech\/wp-json\/wp\/v2\/pages\/853"}],"wp:attachment":[{"href":"https:\/\/blog.metu.edu.tr\/eresmech\/wp-json\/wp\/v2\/media?parent=863"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}