Zwenkwielconstructie t.b.v. een rolstoel

(1)

Zwenkwielconstructie t.b.v. een rolstoel

Citation for published version (APA):

Kampen, van, P. J. W. (1983). Zwenkwielconstructie t.b.v. een rolstoel. (TH Eindhoven. Afd.

Werktuigbouwkunde, Vakgroep Produktietechnologie : WPB; Vol. WPB0015). Technische Hogeschool Eindhoven.

Document status and date: Gepubliceerd: 01/01/1983

Document Version:

Uitgevers PDF, ook bekend als Version of Record

Please check the document version of this publication:

• A submitted manuscript is the version of the article upon submission and before peer-review. There can be important differences between the submitted version and the official published version of record. People interested in the research are advised to contact the author for the final version of the publication, or visit the DOI to the publisher's website.

• The final author version and the galley proof are versions of the publication after peer review.

• The final published version features the final layout of the paper including the volume, issue and page numbers.

Link to publication

General rights

Copyright and moral rights for the publications made accessible in the public portal are retained by the authors and/or other copyright owners and it is a condition of accessing publications that users recognise and abide by the legal requirements associated with these rights. • Users may download and print one copy of any publication from the public portal for the purpose of private study or research. • You may not further distribute the material or use it for any profit-making activity or commercial gain

• You may freely distribute the URL identifying the publication in the public portal.

If the publication is distributed under the terms of Article 25fa of the Dutch Copyright Act, indicated by the “Taverne” license above, please follow below link for the End User Agreement:

www.tue.nl/taverne

Take down policy

If you believe that this document breaches copyright please contact us at:

openaccess@tue.nl

providing details and we will investigate your claim.

(2)

r~ K>, &-.:.~

v~,~

t..JFS

~

4.A,~ /6--<-~ ~~~~

12-p/~'t!>...,jl" ~.

tJ

p

13

0 0 /

S'

?.l.

tJ.

~

K~r~

Op-0o-d.A"r~

=

,.,~

0 . ) (

r-:

-I'Á~

f)"r~~ ~

c/c.

P. 'h,/t~

(3)

/:.S

cg

;r~YY>7J

/~

cg

~~-~

/

.:wr~.:l

:r"'7?7'Vl/

/·cg

· o731('?

~~~~~~~~o_)

/ .,

~

W

Jl

Vç/

.._,_...,~~

(yV./

~~~-:v;rro,_.i

/ /

g

.::z:zz:

t

~

C/c,.qyJ?

P?,:/

/"b

Ç}/

·g

g·g

.Si?

'!'8

/~

/i

/-y

• /':_5

• /h-/•t

/.?

//

--r~·~6

~Jt

'""~?'~ ~~

-c:?.:/

~~~c-;o7

.,C~j,/

-:a;t~~r •

--.r-J~--rvr

f:J

~~/v

"

/~~./--r~

~a/;v'?'/

er'

d~l

.

d~C ~..."

4~ 6~~6

,--.r~~~.. ~"~

6-:--'

~..,.,~

6 ~~

-.t~~e>v-d

/?V-'~~~ ~

~

2

(4)

/,/

x.~ ~~?

~

~~~-c<;

~?'~

r~--"':)~~ ~

~,~~

,

'"

cr~~p...e...-.-

~

~cr/0~

...e--

~

~~

~.,c~ ~"~~

~~~tr<-

~~t·

;o~ ~:t:j/:)~~

/(.A.)QV?

~/r~

~

~~~...-b~r~~

~

~~er~

A.--0~~

~~.

r~aL. ~

-.k..

~

~..4"

_..e-c:.--~~JC..:C.

(AJ

Of.,oc..,;:e~ ~

~

"~

~

~~

~

...U...o-CA,..

~~

~~)

~

~A-<---

~;o.e-a

~v-c, ~~

~t--a/~_.t!_ ~r_.,~~

.

-~r~e-a...c...---~

JJ~· ~ ~~~

r~

~Oe..~

Af'

~~<..<...Jl-

.AJ-<J

~

~~

(5)

(6)

.

I

lf

(7)

"'

~

~ ~

{

~

t

·11

I '

~

·s

t

i

~

1 ~ ~

.

'

~

l

~

'

..

~-~

~

~t.

'~t

ft.l

~~

~~~1

§

'C

t'

~

'i

~

t

!i".

~

.

~

i

f

.

't"

~

.

~

J

~ -~

~

t~

~

(8)

i

~~

~~i~)

i

~

.

~

j

~

i

.s

s

'

l

~

'}1

~

t

~

.

~

i ..

~

·s

1 ~

'

11..

~

,

s

~

\:;!

~

"'

~

3 ~

.

~

t

:}

.

~

~~j~"~

~~~4~.

~

!)",

·s

'

'b

~

j

'l

~ ~

~

1 ~

~

t

l

~

(9)

(10)

,,

N ,, V) ~ \.1

'

~

1~~

~

t

J

~

J

-;.

'

·~

1 ~

1 ~ ~r

~

·'

11\..

'1

J

~

'j

~

t~i~

~~~.

~ ~

~

1

(11)

·~.~

_.;?-a-~ ..w-o~~~

/ ~n,.c

-~;;t ~ ~ ~~0

;rro;

c-;yc:vz_..

~ ~~

-;f"'::'-?

"7

~

~ ~

;/""~

./;":'"""

~· ~

~rz-)''?0~-.lé r-:;v:>~

~~~~

~i>

~

~':Y-'C'U-~~~.,..f'~ ~~~

~

/~ ~~)V?"'Y-' ~~ /..-?C""::""'j/~ ~

/

..z.z-~ ..z.z-~_.,.,-e./0///3

b' (

..zu

0

c---t!J

~

---;

y-2/

~~~

~

~7~~

X1

~

(

chCJ:>'? -/

)

y·-:--'c:..

~~

;t

~~

=

?0

d>~-/

<~

h

~

c::---7

?/~

c-

=-')c:7

~

C/ (

h

~<:>'")

-~

;r

('op "Z..

s .

~

---:.-'

c:..-.:::P

=

""'s

";:I

-z.~-=

oy

~Y~ ~

~

'Zs

· }/-:-:vc;yd

~ ~

:Jé'~~7~ ~

___,....

c..rs

:d

-=

y

?~~-?re# ?~'/"·

(12)

~roz-p

if~ ~ ~~

~ ~

~~

t~4éA:,

..t~ ~ hA"~~

,

~

~..,/

,1-..<-<--

~

p

~~~~~~~~~

~~~.

L)..e_

~t.~ ~

~

(...G..."'C~

~

?~~«---

(a

=>o).

~

~~~

~...,_ ~

~~

...-z..-..-~ ~~oLÁ:..·- ~ ~

avC:,

~

1 PJ~ x,,___,.~

~

~ ~/F

~

r~?

çr(_o..A"

~

~~~~~~

~?/

~.

»..e..

./.)~..d ~~

~

~~

~<-i,.,~ ~...."..._ ~

CY(.A,/

~~J

o/=

~

~r.e"._·

,ae4

r~

y~

· ~

~

Lo~

~

~/""

dcv-

~;~

~/

r-~~-~J

Öf'='

~

~~

~

~ ,~

.2.c-o-c.c..L

~r~~~~~~~~

(13)

---···

~

~$"~

!

~

i

1 ~~

jfJ

,OI.

.

t

~

l

~

l

~

~·

~

t

.~

~

I~

)

~

't

i .

j

lt'\~~~

...-...." ~

(14)

~

.

l

I

~

.

'

.

.,

t

~

.

~

t

'

!(

~

t

~

1 i

§

~

·s

'0

~

6,.

,

~

t

~

i

-~

i {

~

t

~

1 ~

t

'f

1

1 .~

'

t

1

~

.~ .~

!

~

1 ..

.

1 ~ ~

t

~

. t

J'

.

l

J

l

.

~

1 ; (

·~

.

t

~

.

~

{

.

~ ~

-~

'1(-{t

1

~.

1 ~~-'

~·

"'~

~

l

-~

~

·ï

r"

~

~ ~

~

J

~

{

i

~ ~

~ -~

~

i

~ ~

(15)

~Li:,~~~~ /~

~

,;~7)

/ ~--.,.-n-y~

~ ~

~~~ ~

~

. ~~· "=',~_;V"<:.-"Y}/" ~

~~

~

'"'-)07

..,-~~/

;r:g

.

~~~

~

y

~"\?'"Vh

-~~-~ ~

~

~~;yn~c--0o

!>cg

p

-~~

-~-.c;r-r~

-w-o.-c:vt..i

oh~ ~A

~

e:'

----~

~

~~,!;~=~~

~ ~ ~0;'?~~ ~ ~ ;~

~~

~ ~

~~~ ~

~~~-~c/

~

-z...Q.Q./V"

~Q..cv"v~~re/'

~~.4CYfo

7rrZ

(?.

.

~-~ ~0-j

~ ~~

lc?'"cr

~(!,-~

~

(~.??c:-Oc/-o)

~P?<::.Dc/~~ ~

--c

~

. ( 0 ~

~4,~~ :ro:r~)

re-p

-~ ~~

-"~ .,...__~~

~

0-~:--'~~ ~:>r~

."~

;'~.~ ~

~

~~~~ ~

~

:"? ~~~

;:;fb;;;J-~

~

"",-~ ct~[

~

cl';yn~ ~

~~~c:;..-~ ~-c~~

~~)V

-~~~ ~JY~O~

~~:--.'~ ~

~~

~ ;p-~

(16)

~

~~

..

~~ot:..) ~ ~~~~~

~cad~ ;)~p ~

-~

· ~~?'A'~

~~~k~

~~

ct.~ ~~....4"'~ ~f~hc...--:? ~

rr.nrCo-e.~

·.

FfC

=

IJF- -1'fC

I

~~·

~

F(C=~ ?~~oe

:::

~

~~~

~V'~~

~

..

d ..

e.-~.:oe-:,-r~

=Af'~~~~~

f~o<:. ~~~

:

/o-4'~ ~~~

~-'1' ~

-fyC:/.?/--e.c-<.;4-io-C.

l"~

~~

:::~~..-cL~ ~-~

r,.,__c-L<:-.

~u. ~~~.-e.

;i}3.f

,..v.,o y~r

(17)

I

\.>

~

\

~

"

~

t

J

~.

~

,J

~

(18)

.

~

~e/~ ~.cY)

~

r-z..-.~ ~

~~~

~·~ /'~.~

~~

-rg

·v-Y

~

.JV?O~

.::/

~~;

~

~-~ ~

/~

~ ~

~#~h~qo

~

~~

c-:r

-~~ ~jlyv

-rrZ :r

~

~~~

~

/.~~

~

(Yt;?T~c/) ~~J

~

;r~~

~ ~.1711/

~-:t)p ~

/'~7

·~~~ ~'YJ~~ ~~

~~

~ ~r~

~~

-v.:;:r

o4o

=

~~

"(r).T~ ...,..~~

~

~ ~~

~~

~ /-~

/"?'

~y~

?~~~ .--v'7~e/

~

~~

'7~

~.6 ~(i/Gf"r~d)

~~

-ry-~ -ry-~

7 ""?~

d?q_,t

~

~p-:y ~

·~

~_"e..--~

7~-;r:r-J ~

~

7~-Á~

.

S'

/Y

(19)

T"

~

•j

I ' '

-~

J

.

~

1 ~

~

·~

(';, I

'~

"

~

~ ~

1 {

t

'!

~

l1

~

J

~ ~

~

;

~

u

~

J

~

"

~

'

~

~ ~

~

.

(

~

'1

';'1

~

g

·~

.

t

~

J

~

o\}.' I ,

~

t

~

§

~

.;,

~

-s

d

i

-~

o'

~

.<

~~~~~~~~~~~~"'"'\~i

i~J~~

~

J

~ ·~

t

~ i~

1 ~ ~h

i

J

i~~

;

L

~ ~

t~

~

t

(20)

(21)

·~~

05

~ ;~

;r.z.:t?Or

-c:.Ar.?71 7'~

--ae

·~c-;r~

~~~o-:l--~ 7~~~o-:l--~,4.

/~

~

/

~~(!/7~ ~~

~/0

::7'/"==V?'V/

~

-;)C'~~~ ~

/~"Vf~e

·~~ OZZ/~

~~~

~

-~.:"~~ ~ C/7 ~~ ~...,~

-;rrz

. ( ..._.,_--1-0..0

î

-0-;J

7t)

~

-...!>'> ~

~

~~

-= -' V

.w

~~~~~

?<:>1,.1:,

71'(!

-~~

-~/ ~

~~

~ ~

~~~--...a

-::r4~<:Vl.-~ -::r4~<:Vl.-~-::r4~<:Vl.-~-::r4~<:Vl.-~

~

~~ ~

/~

~~

.

~ 3."'0~

~~

p?-D.t

r~e-~

~p ~~

~~

~ ~~,4

~ v:1Pfl

·~ ~o-yy:v-v

/-:?"

~ ~k.~

~

~.?/"7'cJ -6:78

~~ ~ ~(Y) ~.5"~r~~

~~~~~~~~~

~

~~

<:.?

/~de:/~A.f_"V'V? ~

(22)

,./

~

~ ~

~~"'~?- ~~~

_,_~~.

7~ ~ ~~~~?"

?.:,

~

~ ~~

~

r~,~~..&-'t r~ot:. ~

c-.~..e--cet/ ~

CrV\.f~~ ~

~~

..4

~-~

~~Ár~ ~r~~~?')

-»~ C-C>

~

~~-0

~ ~

4 _{04.~ ~}

_{~' ~}

_{~~ 1~"dCr.,?T}

o.r,

~

-.,~}'..e?'r-~Y~,le ~ ~~,~

~·

c-4:

~~

~

0

l.t y "'-"..._.,.

~D<..~ ~

o/'-~-~~

~_.vr ~

~

.A"ri

Jlvb

0 ..._ ' - ' - .

.

'-='

(23)

~

!

li

'

1

f

~

·j

0 ~

J

~

\c

I 0 -.}. rl \o ~

e

û'

'<>

...

i..

.

,,

11

~1

~ 0()

1

j

~

'

'1

1 ;

'l

~

..!.

~

() ..).

~

()'' ~

0

Ç) ~

~

1

1 ~ ·~

._,.., ~ 11

,,

t'....

~

't

q

'l

'I

!

1'

~

t

i

\

~

1

~

'.)

~

!l..

'S

'f ~

.._

·~

·t

~

6 .l

--=

=-i

ó

~

j

~~~

~~·

(24)

~

0 J

§,..

~

'~

~

6 ~

~

.

1)

~

..

~

·

· ~

g

i

~

,__,

·s

~

·1

~ ~1

~

.

~

.

1 ~\0

~

·

3 ~

·s

• "

1 ~

"

~

"

4

1 J

~i~~'

~

~~'(I~.

'-0

.

·t

'i

~

~ ~

~

s

'~.

~

.

I

·

· ~

·1

,

l

~

l

~

6 ~

l

!

~

à

-~

4"

s

i

"

~

-~

1 ~

J

1 i

~

f

~ ~

i

~

·t

i

~

~ ~

~

(25)

0

~

Q. '

i

. s

.

~

1

I

~

~~

~

~ ~

~

J

~

(26)

•

~""")-V?~ ~~~~

~

-p~l,

-;;!.~

---r,!;

~"Y? --.,o,/'d~

~~~vvr ~

---b

~~ ~_..."...~~

7 ~

I:'~

~ 't' ~~~ "/ C/??-;Y" ~ ~ I' ~

~

/7'">?

~~:r~

;v-op

~/-~ ~

-w::J.O_Q

(s

E/.;,..

b,g;

-=-l?

/0 /

=

b9/

'=

~q~%

~

(?

t'1'JL

"t/jÓ

06> •

b

~/~

4 t9

t/

=

/ l:,

t=

't~

...,/;;

:';y-.,..,/

'/ "Y,I

8

*''i/

0

7 -~

".

~ ~

ç:,

.9"

...s

&' .,.

...

t/G-=

~f:'l=

.,..,

"f)(??j6oB

./<?

-4

.,.,er

;$~

<1:

"t%

a

lf

r.1p

JL

..,.,&'

IJ(?

-7~=~

~-..s

"'__,_,1

r

/I\

r:~"Vzl

T

[r~~jr(?

-~

~~

~----o ~

~

~c:--/~

~~..._, ~

~

(r~

~ ~

~~

~~ ~

~~~

(27)

M~

"".

0

~

Q

~~

""

~

~ "") ' f'i

a

{~

ll\

~

0

~ ~t-...~ ~ <'i C'l ~t\o

'

~~

~

". -.).. CV) (b 'o \)

~~

~

'

(V) ~

Vt

'

~ ~ 0 -.)... Ct.::..

'

t"'\

'<>

~

'

~~

~ {'() ~

'

~

'

() -.)... ' 0

Co

0

~

'

0--:."{ ~

~

0

~ ~ 0 ~

"

~

,--,~1:\

'f

j~..)..·r--t

j

~~

J

~~

j

~

"

f,-.J~

~

\:

''i

~

(28)

(29)

l.t

~

~~

,,

~

"'\

1i'

~

'\. 11 11 0 0

d-J

"

i

0

11

I~

11 I

x

(30)

0 0 ~ 11

"'

:i;.

,,

---d

(31)

1!

.9 •

Jr .

.1:1.

=-7

r

7/1-V

~ ::

t

..._?

/V

O...C?

-=b

~

8

~ ~~,4;~c_..,

b

;;V~.-:;)

d

. (

~

~ ~~

-~

·s

~ ~-P?

~~4 ~

&

7'~ ~~

-6~~~

(/Y-)7 ·

~C/>.::J;r:?/ ~~-..a...r>?~

-rr~rc..--7

g'

·--;r~~~ ~

~~~.~ 770~

~ --TJO~

....v:rc?-~

-~

"~

-vv;rr ,;1

_-ry-o

--:a:>;:;v

~JO ~-~

~

,.~.1-;p-~ ~"...

~~

•(?0~/<::.,r) ~~

\ .

~~rY

~-:-->4, :'rO?

--cryc

~7: ---:'~

~~~~

:

"~'7~~

JO.>(

'Z'

x

c:

=

~.2.-"7J~ ~r/

~

::T

-=

~ ~

x

-1:.:/

=

dl'~

~~~

7:

~~~

~

'1..0.0()

(32)

J

(33)

(34)

..

\

-~

j

~

\9'

I 11

6.~

"''

'#...

1 ~

i

~

(35)

(36)

(37)

h

(38)

i

j

s_

·3

~

,

F

~r-l

o

~

i

~1

~ ~~

~

i

1 ~

.

~

·~

J

~

~ ~

~

'i

~

)

~

t

~

i

~ ~

·)

~ ~

i

~

·s

\

t

1

f

i

l

~

s

~

.t

~

.

t

~

\

~

~~~~~~t

3 ~l~~

~~'~

~

'~

J

.

1 ~

J

~

}

1 ~

~

î

~

.

~

f

î

~

j

!

j

~ ~

~

1 ~ ·~

·J

~

s

)

~

J

t

~ ·~

'1

~ ~

~~ ~

~ ~

·~ ~

1 ~ ·~

~

(39)

SLIST ALCO

OK, SLIST ALFAK

~

c7Áe~~.c:z....e ~

.t:

<Xa-t .

.,..,.,~,...;:) ~4

.:zzz.

010 REM ARCSINUS if

r

· / -

V 015 LET P1=4*ATNC1> 020 FOR B=Pl/180 TO Pl/18 STEP Pl/180 021 LET P=Pl/180 022 LET Q=Pl/6 023 LET S=Pl/180 030 PRINT 031 PRINT

040 PRINT 'HELLINGSHOEK BETA':DEGCBl:'GRADEN'

050 PRINT 'CASTERHOEK ALFA':TABC19):'ZWENKHDEK FI' 055 "PRINT 'CGRADENJ':TABC19l:'CGRADENJ' 056 PRINT 060 FOR F=P TD Q STEP S 070 LET X=2tSINCB)*SINCF)/(1-C0S(F)) 080 LET Y=.5*X 090 IF Y>l THEN 140 100 LET Al=ASN(Y) 110 IF X>l THEN 140 122 LET !=DEG<F)+.l 130 PRINT DEGCA1>:TAB<19>:INTC!) 140 NEXT F . 150 IF F>9*P1/20 THEN 200 160 LET P=P1/6+5*S 170 LET Q=P1/2 180 LET S=5*S 190 GOTO 060 200 NEXT 8 210 END

OK,

BASIC ALFAK

BASIC F:EV17. 0

HELLINGSHOEK BETA 1 GRADEN

GASTEF:HOEK ALFA ZWENI<HOEI< FI

CGRADENJ CGRADENJ 29. (1829 4 23.56 c:: '"' 19.4511 6 16.5792 7 14.4525 8 12.8119 9 11.5066 10 10.4425 11 9.55808 12 8.81.11 13 8. 17158 14 7.61776 15 7 ₁₃₃₄₁ ₁₆ /

.

6.7061 17 6 .. :326~27 18 5.98634 19 5.68029 20 5.40324 ,..., _.:....!.' 5. 1512::. 22 4 .. 92095 23 4.70969 24 4.51515 25

(40)

...

·---' ·~ .. · 4.01386 28 3.86946 29 3.73451 30 3.17305 35 2.74839 40 2.4148 45 2.1449 50 1. 92124 55 1. 73223 60 1.5698 65 1.42822 70 1.3(>327 75 1.19178 80 1. 09132 85 1 90

CASTERHOEK ALFA ZWENKHOEK FI

CGRADENJ [GRADENJ 29.9392 26.3233 23. 5()95 21.2503 19.3929 17.8:369 16.513 15.3721 14.3783 13.5042 12.7294 12.0374 11.4156 10 .. 8536 10.:3431 9.87716 9.45014 9.05726 8.69453 8.35852 8.04636 7. '75552 7.48385 6.:35492 5. 5(1229 4.83317 4.29216 3.B4407 3.46551 'T ·-1 .. 14031 2.8569 2.60682 2.:38371. 2. 1827 2 HELLINGSHOEK

B~fA

CASTERHOEK ALFA CGRADENJ 8 9 10 11 12 1 ~ ... ·-' 14 15 16 17 18 19 20 21 ...,..., ... 23 24 25 26 27 28 29 30 35 40 45 50 55 60 65 70 75 80 85 90 ZWENKHOEK FI CGRADENJ

(41)

25.2292 14 23.4238 15 21.863 16 20.4988 17 19.2952 18 18.2249 19 17.2662 20 16.4023 21 15.6193 22 14.9063 23 14.254 24 13.6548 25 13. 1024 26 12.5913 27 12. 117 28 11.6755 29 11.2635 30 9.55466 35 8.26732 40 7.25873 45 6.44416 50 5.77006 55 5.20092 60 4.71222 65 4.28648 70 3.91093 75 3.57595 80 3. 2'742l 85 ..,. ₉₀ ...:·

HElLINGSHOEK BETA 4 GRADEN

CASTERHOEK AlFA ZWENKHOEK FI

CGRADENJ CGRADENJ 29

.

7583 27. 8236 26. t:3t 24. 6357 23ft 3039 2~~~~ 109l 21

.

0306 20 .. (î515 19. 158::: 18.3398 17.5867 16. 8913 16. 24'7 1'=" • ~J. 6481 15 .. 0899 12. 7818 11

.

0493 9.69521 8. 6(l335 7. 7008~5 6. ':'?3<?5:~ 6. 28t:,25 5 .. 717 k11:}. 5.21587 .~ . . 74~~~~~ 16 17 18 19 2() 21 22 23 24 .-,c:-..::...; ,..,. ' ...;;.o 27 28 29 3<) 35 40 45 50 55 60 65 70

(42)

HELLINGSHOEK BETA 5 GF:ADEN CASIEF:HOEK ALFA ZWENI<HOEK FI

CGF:ADENJ CGF:ADENJ 29.6226 20 28.0505 21 26.6396 22 25.3651 . ..,"":!" .._._, 24.2071 24 23.1497 ·-:;C" ..:...J 22.1797 26 21.2864 27 20.4606 28 19.6946 29 18.9819 30 16.0468 35 13.8546 40 12. 1465 45 10.7723 50 9.63811 55 8.68245 60 7.86313 65 7.15022 70 6.52193 75 5.'?161'?16 80 5.45787 85 r: ..J 90

HELL I NGSHOE!< BETA 6 GF:ADEN CASTEF:HOEI< ALFA Z~!JENI<HOEI< FI

C GRADE!\1 J CGRADENJ 29. 4~569 24 28. 1315 25 26. 921 1 26 .-,c::: L'-ool• 81():3 27 24. 7867 28 .-,"":!" ok· ... ' . 839'=? 29 __,, .. , 961 ·i :;;:o . .;:. ... ::.. .i. 19. ::612 35 16. 6898 40 14. 6169 45 12. 9536 50 1 ' j,

.

5836 55 10. 4308 60 9. t:J-436 65 8. 5853:2 70 I I • 82941 75 7

.

15605 80 6. 55<)15 6 90

HELLINGSHOEV BETA 7 GRADEN CASTEF:HOEK ALFA ZWENKHOEK FI

C GF:ADE!'-..1 J 29.2612 28.1144 2711 ()535 22 .. 73f.31 CGRADENJ 28 29

::o

"":'"1=-" ·, .. J ~/.

o/

(43)

1;:). J.;:)(.î:.:.:: ;:,u 13.5391 55 12.1859 60 11.'0285 65 10.0232 7() 9.1386 75 8.35108 80 7.64282 85 7 90

HELL I NGSHOEI< BETA 8 GRADEN

CGRAOENJ EGRAOENJ 26.1933 .,..= . ..;.,...J 22.4809 40 19.633 45 17.365 50 15.5066 55 13.9488 60 12.6185 65 11.4645 70 10.4498 75 9.5472 80 8.73593 85 8 90

CGRAOENJ CGRADENJ 29. 7i.'J.54 35 25.4549 40 22. 1892 ll·5 19.6014 50 17.4881 55 15. 72()9 60 14.2145 65 12 .. 9095 70 11.7633 75 10.7446 80 9.82958 85 9 90

CASTERHOH:: ;iLFA ZWENI<HOEK FI

CGF~ADENJ CGRf~DENJ 28. 4"7'58 40 24.7856 45 21.8631 50 19 .. 4859 55 17.5037 60 15.8174 65 1. 4. 358'=? 7(} 13. ()71_7'5 _70:::

.

...., 11. 943·<+ 80 10.9238 85 l(f ₉₀ END AT LINE ~21 ()

(44)

r.:-]

h

~;;~<!i:-<.

-

-'..S f.S /J .S-'

J..$

01 T? 11 G7 rh

bf

}'!

~r

OE

tr

~

r

n

c9/ .11 rt {; 9 t o

c

9 G

tl .J/

~

IV

~

/'(

'o

'j

I)'{ "-.:

~

tr;-\

l I h.1

~

Of

~

)

u1

,r

ol

r

(I

bC

~

&-J?/~C/4~

'

~

r~

~

J~

1

~

e?

·~

~

(45)

(46)

(47)

(48)

(49)

~

-. ...""~ it:-cc -cl:

a..

a.. t:) E IX ... "1:

a..

I -1 IJ...J

-·

:::::

1-· CL

cc

Cl

~

\.1

~

~ tt· '\ \\( 'U \:.) ~

(50)

/

{

••

I

-.

::;:;

o.:

<C 0... l:lt • C) J:Z~· Ct: o<:::t: Q.. I

iï:J

I .

....,..\

::::e: •. ·\ 1--l·l

g_:

~

0

•-r

(51)

SLIST F'Af~M2D

SYSTEM=PARM.CONSTRUCTIE M.B.V. TWEE ZWENKWIELEN PER ZWENKAS,2D

ZERO (D,~T{~)

=.

001

ZERO <F'CJSI) ::::.001

ZEF:O ( GRAV)

=

1

ZEROCEQUILIB>=.OOl

$

S TOPOLOGIE VAN GESCHEMATISEERDE MECHANISME $ TOPOLOGIE DRAAIPUNTEN

$ GS=GESTEL,WL=LINKER WIEL,WR=RECHTER WIEL

$ AL=LINKER AS~AR=RECHTER AS,PGl T/M PG9=STANG PARALELLOGRA~

S R1 T/M R12=DRAAIPUNT,S1,S2,83=SCHUIFGELEIDING,P=TEVENPUNT S ZW=ZWENKAS,FR1,2=FRAME,C1,2=CYLINDERGELEIDING

$

GF:OUND=GS

PEVO U381 i.AIU =Hl

REVO(F'GB,PG'7~=R3 REVO<AL,PG8):::::R4 REVO<PG2,PG8l=R5 1;:Evo ( F'C:lb, r:·G7) =R6 REVC C F~·c::;:; :• PG9) =R7 F~:E\hJ ( f::'\37, F'i3•+ l ::::R8 RE'··/D ( r:~~~:: ,, 1:::'84) ::-.::R9 REVO<PG4,PG2l=Ri0 REVD <Al;:, WF:) :::::F: 11 REVO<ZW,PG9)=R12 REVD<FR3,FR2l=R14 REVO<FR4,FR3l=R15 PRISM(PG9,PG6~=S3 PPISM (88, WR ;:::81 p;:::; I S~"l 88, FH4) =32 CYLINDEP<ZW,FRl>=Cl CYLINDER<FR1,FR2>=C2

S TOPDLOG E VAN TEKENPUNTEN

POINT(GS =P01,P02,P03,P04,P05,P015,P06~P015,P07,P015,P08~2_~1_{~ ~)~,$} P015,PC1 ,P015,P0ll,P015,P012,P015,P013,P015!P014,PC~6)P0~7.0_A' _$ POINT<PG4'=P4l,P42,P43 POINf(PG7l=P71,P72,P73 POlNTCPGB>=P81,F82,P83 POINT<PG9)=P91~P93,P92 P123 Pi24,P1251P126,Pl13 POINT(AL>=P12i,P122 P143,Pt44,P145,P146,P133 POINT<ARl=P141,P14~ POINT(PG6l=P61,P62

(52)

POINT<FR2l=P171,P172,P173,P171,P174 POINT<FR3)=P181,P182,P183

POINT<FR4>=P191,P192 $

$ GEOMETRIE VAN TEKENPUNTEN

$ DATA:POINT(P01,ABS0)=20,0,0 DATA:POINTCP02,ABS0>=19,0,0 DATA:POINT<P03,ABSOJ=O,O,O DATA:POINT<P04,ABS0>=-1,0,0 DATA:POINT<P05,ABS0>=-1.1S,O,O DATA:POINT(P06,ABS0>=-1.47,010 DATA:POINTCP07,ABS0)=-1.75,0,0 DATA:POINT(P08,ABSOl=-1.94,0,0 DATA:POINT<P09,ABS0>=-2.12,0,0

B2.

G'

':$$ _{PO 15-POS":::HELL} $$ PO 15-F'06=HELL $$

i=·o

15-P07"",HELL ·$$ _{P015-P08=HEL.L} $$ PO 15-P09::::!-lELL NG \.):·:':;f'-..1 ₂₀ GF:,~iDEN NG \}AI\J ₁₇ GF;(.ü')EN

l\IG vr~i'·~ 14 GPiê\DEN

NG VAN ., _...·-:· _:.. _GRADEN

!'.IG VAl\! 10 GRrmEN

DATA:POINT<P010,ABS0)=-2.3,0,0 SS P015-P010=HELLING VAN 8 GRADEN

DATA:POINT<P011,ABS0>=-2.47,0,0 $$ P015-P011=HELLING VAN 6 GRADEN

DATA:POINT(P012,ABS0>=-2.65,0,0 $$ P015-P012=HELLING VAN 4 GRADEN

DATA:POINT<P013,AB80)=-2.83,0,0 $$ P015-P013=HELLING VAN 2 GRADEN

DATA:POINT(P014,ABS0)=-3,0,0 $$ P015-P014=GEEN HELLING

DATA:POINT<P015,ABS0)=-3,5,0 DATA:FOINT<P016,ABSOl=-3,0,-8 DATA:POINT<P017,ABS0>=20,0,-8 DATA:POINTCP018,ABSOl=20,0,10 DATA:POINT<P019,ABSDJ=-3,0,10 DATA:POINTCP21,ABS0)=5,5,0 DATA:POINTC ABS0)=9.5,5,0 DATA:POINTCP23,ABB0>=14,5,0 DATA~POINT<P4l,ABS0>=14,5,0 DATA:POINTCP42,ABS0>=14,10,0 DATA:POINT P43,ABSD>=14,15,0 DATA:POINTCP61,ABS0)=9.5,13,0 DATA:POINT<P62,AB80)=9.5,15,0 DATA:POINT<P71,ABS0)=5,15,0 OATA:POINT<P72,ABS0)=9.5,15,0 DATA:POINT(P73,ABS0)=14,15,0 DATA:POINT(P81,ABSOJ=5~S,O DATA:POINT<PB2,ABS0>=5,10,0 DATA:POINTCP83,ABS0>=5,15,0 DATA:FOINT<P91,ABS0>=9.5,5,0 DATA:POINTCP92,ABSOJ=9.5,14,0 DATA:POINT<P93,ABS0)•9.5,7,0 DATA:POINT<F111,AB80l=O,O,O DATA:POINTiP112,ABS0>=0,10,0 DATA:POINT(P113,ABS0>=0,20,0 DAINTCP114,AB80)=0,18.66,5 DATA:POINT(P134,ABS0>=19.18.66,5 .,..,,,,.,., ,...,nT··;-r·-.·11~:::-.ABSO) . ·~·= r.:; ~·· L•:-; i , .. 1: r .. .;..~.~\f 1 .. F· . ._;~ =t>~ ...J' B" ~:.'j6 DATA:POINT(P135,ABS0)=19~15,8.66 DATA:POINT(Pi16,AB80)=0,10,10 DATA:POINT(P136,ABS0>=19,10,10 DATA:PDINT P117,ABS0>=0,5,8.66 DATA:POINTCP137,AB90)=19,5,8.66 DATA:PCINT 211B,A890)=0,1.34,5 DATA:POINTCP138,AB90)=19,1.34,5 DATA:POINTCP119,ABS0>=0,1.34,-5 DATA:POINT<P1~9,ABS0)=19,1.34,-5 DATA:POINT P123,ABS0>=0,5,-8.66 DATA:POINT(P143,A890)=19,5,-8.66 DATA:POIN7CP124,ABSO>=O,l0,-10 DATA:PCINT(P144,ABS0>=19,10,-10 DATA:POINT<Pl25,A880)~0,15,-8.66 DATA:POINT(P145,ABS0,=19,15,-8.66 DATA:POINTIP126,ABS0)=0,18.66,-5 DATA:PDINT(P146,ABS0>=19,18.66,-5 DATA:POINTCP121,AB80}=0,10,0 DATA:POINT(Pl22,APS0>=5.lO.O

(53)

oPt -rA: t-·v-DATA:POINT(P132,ABS0>=19,10,0 DATA=POINTCP133,ABSOJ=19,20,0 DATA:POINTCP141,ABSDl=14,10,0 DATA:POINT<P142,ABS0>=19,10,0 DATA:POINTCP151,ABS01=9.5,7,0 DATA:POINTCP152,AB80)=9.5,7,-5 DATA:POINTCP153,ABS0>=9.5,11,-5 DATA:POINT<P161,ABSOJ=9.5,9,-5 DATA:POINT(P162,ABS0)=9.5,10,-5. 1 DATA:POINT<P163,ABS0>=9.5,B,-5.1 DATA:POINTCP164,ABS0)=9.5,9,-10 DATA~POINT<P171,ABSOI=9.5,9,-8 DATA:POINTCP172,ABSOI=9.5,B.9,-9 DATA:POINT<P173,ABSQI=9.5,8.9~-7 DATA:POINTCP174,ABS0)=9.5,18,-8 DATA:POINTCP181,ABS0)=9.5,18,10 DATA:POINTCP182,AB80)=9.5,18,5 DATA:POINT(P183,ABSOI=9.5,1B,-B DATA:POINTCP191,ABS0>=9.5,0,10 DATA:POINTCP192,AB80)=9.5,18,10 $

S2.9

$ GEOMETRIE VAN DRAAIPUNTEN,SCHUIFGELEIDINGEN

$ DATA:REVO R1 =Pl11;0,0,5;P02;P112 DATA:REVOCR2>=Pl12;0,10,5;P111;P122 DATA:REVOCR3>=P83;5,15,5;P81;P72 DATA:REV0(R4>=P82;5,10,5;P121;P81 DATA:REVO(R5)=P81;5,5~5;P22;P82 DATA~REVOIR6l=P72;9.5,15,5;P61;P73 DATA:REVO R7)=P22;9.5,5,5;P23;P92 DATA:REVO~R8>=P73;14,15,5;P71;P41 DATA:REVC(R9)=P42;14,10,5;P142;P43 DATA:REVOCR10>=P23;14,5,5;P42;P22 DATA:REVOCR11l=P142;19,10,5;P141;P131 DATA:REVOCR12>=P151;15,7,0;P152;P92 DATA:REV0(R14l=P174;15,18,-8;P181;P171 DATA:REVO(R15)=P181;15,18,10;P191;P183 DATA:CYLINDER<C1>=P152;P153;9.5,7,-8 DATA:CYLINDER<C2)=P161;P164;P152 DATA:PRISM<S3)=P91;P92;P23 DATA=FRISM S1l=P03;P01;0,-5,0 DATA:PR SM 82 =P019;P018;-3,0,50 $

$ VASTZETTEN DIVERSE DRAAIPUNTEN

$ DE DRIE VERSCHILUCTIES STAAN IN APARTE FILES

$ WELKE AANGEROEPEN WORDEN NA DE ALGEMENE FILE PARM3D

DATA~MQTIQN(R12)=90

DATA:MOTTONCCll=NONE,O

'$

(54)

OK, SLIST PARM2DA

SYSTEM=PARM.CONSTRUCTIE,DRPT WIEL-PARM OP PARM~2DA

$ DATA~MOTION<R1>=90 DATA:MOTIONCR2l=90 DATA:MOTION<Rlll=90 $ RETUF:J'.J STORE (INPUT)

OK, SLIST PARM2DB

B

:./o

SYSTEM=PARM.CONSTRUCTIE,DRPT WIEL-PARM IN WIELCORIGINEEL),2DB

":$ DATA:MOTIONCR1l=90 DATA:MOTIONCR4l=90 DATA:MDTIONCR9>=90 $ RETURN STORE ( I i'iPUT)

OK, SLIST PARM2DS

SYSTEM=PARM.CONSTRUCTIE,WIEL-PARM STAR VERBONDEN,2DS

·1; I~E\NJ ( l:.JF: :~ WS) :-=F~~ 13 F~r~ I ~3~\1 ( 8~3 :~ ~\]8 J ==S 1 DATA;REVOCR13)=P131;19,0,5;P132;P03 DATA]PRISMCSll=P03;P01;0~-5,0 DATA:MOTION<R2l=90 DATA:MOTIQN(R4)=90 DATA:MOTIDN~R9)=90 DATA:MOTI0N(R11)=90

(55)

I

-.

~

1

0 c

'

I

g

~

..

-

_'

_I

-,

(56)

~y~

~ /~'1.1.JYJ

(/:;;j;-}

~-~#C/

~ ~

":!

:'~:Y" ~~

~~~ ~

o/

~

t?

·-v-h

~~

/?~

~eV'Vr"CV')..._., ~ ~ ~~~~ ~ ~

~~~~~~/!~

~~

~ ~

>;7>'">~~ ~

~J

/~..t:l-0~

("cf

/~r>C/)

:rrrrG/

~

~ 7'-~~

:

'?3

~'"M:>~ ~

J

3J--.d& ;

?!;.::/

~~~~~.

-:ryo

~

~~

~r /~

77 ~

?

7-..rt~ ~'\(J.P/

r.rz

~-7~6"... ~

~

c.:'

~

~~J

/

y

j-,

I

t-;; ::.

()

z

'JA

'9

x)

~

0

h '::)

)r

/::.:)~::/

E"~-:;!;p

':

-:;jcf

.J?

=-déf

~

~ ~Are

;

~::?J.

(l

7 OR

t/.::7

X.;'

o

"Q --( / / ) /lf" 0/.L

ow :

Y...L

Y(l' (~è/)

/.JOe:/

;_L

/V/

Jfcl

/ n

(j)

.=

~ (:]"/V/

::1

00 /

=-(..:r'

)~?)t'O.::I

-:y_t.V(l

::1

::

("tOe/ /

od" /

/

cJ

,1)

~?

';)(0::1

ob-o64 :

..LP?Qt'/V/: 7 7b/:?.?

y

o

7 ~/

é>? :

..Lnd'

N/ : 7 7 "'!Y"/;

y

: ...c.t?-Q../2 -:---'

~

...,...~ ~

~

."/ -''lSUJ./?

~

,

_...~ ~

'7.SUJJ,

(57)

.

~~YV'/"?t:-' ~:::'~/~

_,.."-~

c:'

;r-?f

..

~""':re' ~C,../ ~ ~ b~~

"?"':

~~

~""""" ~

~.?"'

J

:V

~~:

'?"'

~

"

70.;f"

a

/..2X

~

c-3

-=/J

oy:(?)/111'0/...LOh-=-V_LV(?

(~

;;t'3_r:J't:.;,

:t~ ~(Jz)h

:Jx}~

oob=Jy:

~~-CL 7 O"Y 1 ?.:2X

~

o

~ ~

/J

o

~

: ("::;)

/lt'

oäo;-v

=

V..L

vg

(î

6b;J-(

bb-s

"J;;

= (

'z

:tA

"J.x)

~

..

o

6 =-J)/

:

~o..cy?n

cz

7

0,4' (?.:7

.(Ei'

o

--~

=

(/?)

/Jt' 0/....t.. o,h,-:

V..t. b-'(6

('t

a

7 o

.lf'

I:;:;

::Y

x

.i7

0 ::.. (

/cf-)

/1;" 0/....t.. 0/'1/

~ ~

~(6

f

~

"V:t:l-1?

~

h

;:.r.ro-;;r~~

-;r;ro

~ __.,...~~~

r;;~ ~

~

__,

~/'1.,0.a..CV ~~~<:... ~ ~ ~/ ~

(!.,

·<f

=/)

· ~'"7~ ~7~)~

(58)

l•. __ J I \

~~

/

'\

c:w

--"'=----~

-I

\.\

~J···

-'

-~

.

-\ -I

o

---.

.

... ". ..

. l·

\

" ..

·· ...

._...

'\\

a:

I 1 ' ,

w

I \ i .• '

~

' ., •

~

.. '· OL.__

.

'

.

~·

...

(_')

...

. ..

'•

cc.

\

f--\

-:,·~

·;

~

'a::.

/g

l

=.,.

.

Cl

...

\o

0

~ ~ \Y)

Cb

r-,

,,

'1'--f

"" tij\ 4i" ~

\è

• >.) )(

VJ

...

~

\N

·-.

""

(59)

·=-· ..

-I:A-

~=::;::::=-=:==:=:~-

-·-..

·----..

-·---··---·-._.

·---·--··---·--L_

._

... _.

__

... _ ...

___

.. __

.... _

.. _____

._

----... ""-')

~-~

-~·---... ~·-··· ... --... -... ~-·.~ ... ~ ... 'f'l. ··-·--.:::i

·---..

--·-··--···---..

··--···-·----··-···=~;;.

..

,.

___

,...,.~.-· ...

---... --...-·· ...

-...

-....

·=

:::-::' ·:~::' •:...:.• ... ..J l.t..J .._ ... Cl

...

(60)

_

....

I.J.J w::-;::; 1-•J.·)

--·

C• 0::: lJ..J J-1

...

(,)

::.-::.

0:

...

(•?

z::

·===-

..

_

... _J lLI

...

(61)

Ll :J !l: i··· iJl :~: Cl u _J L!J !·-f r.:~ t-·-!;) rn !! ;-.~ :;:·~ _J Gi Ul i--en !1·.>-:c.:: fJ) Cl ""''Î ClClClCJ Ll:: fr: ü:: ü:: !J.J !J.J !.J.l l.!l :·-.Jt"·J. N , .... l f'···· ·:·•--1 j{J r.··~ --0 o::

w

·: .. .; 0:~ LJ Cr~ H H ,., ~·• Ci V:r f"·i c:r r ) I' P ii · ::. r:,( ü~ e:: :> o:: Ti ... ~ .:~.. .:.:... i~ï·:. c:: H H!! !i H u .. ~ ... ·.JJCOCOtX·r-·i ·.n c.r.: 0:: t:t:: LL o:~ _..1 en r.n Ul ü:: __ ..J o:: LL lL tL !!". u.M en ~: <L (J: ::J: 3 tn LL ::·. ='· Ir. ::~: 1 :;•. L 1] :~·. =-· 1····~ ! ... ·.. o·~ -:----: U1 if r.n ._! ·-J i:ï:: u; :;;. :~!: Lr: t.r.: 0:: ä: t:D !~ f!) 3 U) :;::: C~l r···~ !'···.i Lt .. LL U ... !.L ··-··· :;;-:: .,_, '• •• ~ •._,, ''oH.. '•·-' '•-,•' . ._,o ,,_, • . .,,o' ·~, ,o :~:: ~ f-Cl CJ CJ t--CJ !-; Cl i-··-t CJ C1 CO CJ ~~.r :> :> :::• <L :> _J :> _..J :> ::... f-i ü::: ..J !JJ lil W __ J W >-üJ >-Lll !J..! ü~ f..:'J !J.. 0:: t:r: iÏ lL 0:: LJ ü:: CJ ü: cr.: LL ., .. .; .. f; i'·') ,..., u·· ü .. C·i

..

f!... ü .. !'-.

..

LL ··.0 Q_ ü .. I}_ ü. .. ., .. ~ CD !·') u. 1'··· t··:r !.L ~:::r· !fl ·::::· i·) ü .. DJ ü .. ='· ::) ·:o-·1 ü._ ::;~-• _ _. •· Vi Ll .. t.") ü .. t:') :;::: r.--, t-···! o::::-o.. i:-!

r .. -:,

IJ_ =;·. !!1 LL ü .. .,.,f'·t ·r-..J :'. :·. 'i ... ~ f'U ':··1 ü_ ü. tL ~MO.; !.'·.f f'·~ .q-!.li f"·.f f·! LL trl ·-·0 iJ.. '=i" ··.0 ü. .. !••') ('·~ .,o !'··· .. (;__ LL :·. ::::j' t··) ;J] i}· ü .. ü ... N , .. , CoN fi S::) :::::) ü_ r-~ r~-~' (L Ü~ ,~·. f.L. (L Ü... LL Ü. .. lt', ::·. ·~!~ ::·. ::·. -·-: f) ':'"·i .,. . ., r·.~ ... -i .,,. • .; '!'"'! 't'"; 'f"•i •M•-! r.-':! .... ; i·') ., ... ; ., ... ., ··.n :.n ~ ... ' ,_-.·.·.·.· ,·: ...••.. , ,::_t·· =-.. Î". î-·- !-·-1:' r-·· :;;:~ :z~ :~:::. f'·.~ :;:::: :·". , .... !··" : ... l·-" ~· 2~ -~~:: ·~·:: :z:. "7 i•· .. f ·r"i i·-·~ 1-.. i 1-·-l ·~ .. i ;.. .. ~ ·,..--f i--': !-·~ ;.. . .; i~· i i··• i !"'"'! ;. .. ..; i -·i fJ : .. ) LJ Cl CJ t· ) c::r -r· ·~ C:1 Cl ~=~l Cl C.1 (J C1 c~; Ü... (!... !'.!.. (L (L !}_ (L LL Ü.. U.. Ü. Ü. (L ï~L CL Ü ... 1.: •. C) fD . .. .J •:J: .. 1 '-) ... J , ... 1 Ul I!: (i ... "'·j ! : .... ' -t-1 ;:L <=.• ! ü. <) ·U+ èL W· tn c:: er·· f· ~: ;·:~; f'·~ I H H i! C.J C] C] UJ "iJ U) CL~ Gj !.':!.:: <[ <C <r D._. !1 .. C.L. ' ' ;· -;"~

-··

.:::... ~~... .::::_ , .. .; i•·i i-"-! r.~ c::r :: ~J (i .. Cl .. !) .. ;.:'' ·-:·• ;,_;,_; Li.J : .. : ! ! Ll !.:~, ] .. j c.·.; ;~ ~ :-.'i:: ,.., .. .,. . .:T i'· (t: !/.' e;·· ..J _...i ... i .J U.! l.!J i!..! i~i:.1 ::.J t(:f .u ; .. ·-· .•... fl. Ü .. ;j L ... ! ! ... ~ Ü.~ :]._ LL : . .i .. ·if~ ;f~· ·l H ·t:·;· ·!j~ ·jjl Ht .;:F~

..

... •:-·.f ... ; -·· :::1 : ·' ... 1' u·: .. !J ·D :::-:· ···0 P·· T"i ~-<> :;·. ·:j· ··:- .-1 " t; I : .!' r·~ \.;"J r-·") 1:··.: .. , :l'. :···~ .: ~ 'i·· !· "., !''·. :: Î'·.j ;_"·.{ t·) 1: :: ·:~:: ... , f') r·-~ C·~ (··i r ·.~ f· ) i ~·. I!'· :;· •• '•. ·: .; 1."'·~ ·=:J.. U') ··.0 ; ··.. CU U·· ·.-.... ·-; ,-.; i·') ::::~ .. if':l :.:·. ::·. ::·. ., .. 1 ... ·:-.. ·i ~ .. -: r ·..: 1· .i ::::::.. tl":: 1,~.:· I~> :~.-~· ., ... i ':'"~ I• .. J T . ..; T ~: :::J C i LJ :::J C1 C.J Cl CJ :~J C:! C) = !~;, L :,. t'!,. ",.,. ;~: . ., ü .. Ü,.. (!, U.,. Q. Ü,.. c ... ···r G.. ::.r <L (T ·= r <L <L <.I i~ <L <.J~ <~ <r <L J:J. ,~.... : f ;--~ ~ .. -. ! ... f...-~.. i·.. .,... f.. ... ;... : ... ,.. Ï·"" f-' :::t <L ·T ~·;-: I <t < ;.. <C ([ -::r. ·::{ ::'l :::{ ([ <L <I (.). ç.! C) ;:: ) ~ ~-~ ( ·~ !: ... :; t) r::~ c::, C:::ï c:~ ,·::i ;::.~ r::; (:~ c:J

(62)

DATA:POINT<P19,ABSOl=0.1.34,-5 DATA:POINT(P110,AB80)=0,5,-8.66 DATA:POINTCP11l,ABS0>=0,10,-10 DATA;POINT<P112,ABSOl=),15,-8.66 DATA:POINTCP113,ABS0)3_0,1B~66,-5 DATA:POINT<P2l,ABSOl~0,10,0 DATA:POINT!P22,ABS0l=4.7,10,0 DATA:POINTCP23,ABSOl=9.4,10,0 DATA=POINT(P31,A880)•9.4,0,0 DATA:POINT<P32,ABS0l=9.4,10,0 DATA:POINT P33,ABS0>=9.4,20,0 DATA:POINTCP34,ABSQl=9.4,18.66,5 DATA:POINTCP35,ABSOl=9.4~!5,8.66 DATA:POINT<P36,AB80l=9.4,10,10 DATA:FOINTCP37,A880l=9.4,5,8.66 DATA~PQ[NTCF38,A8SOl=9.4,1.34,5 CP39,ABSOl=9.4,1.34,-5 DATA:POINT<P310,ABSOl=9.4,5,-8.66 DATA:POINTCP311,ABS0)=9.4, 10,-10 DATA:POINT<P312,ABS0l=9,4,15,-8.66 OATA:POINTCP313,ABS0>=9.4,18.66,-5 DATA:POINTCP41,ABSOl=4.7,10,0 DATA:POINTCP42,ABS0)•4.7,3,0 DATA:POINT(P43,ABSOl=4.7,3,-5 DATA:POINTCP51,ABSOl=4.7,3,-5 DATA:POINTCP52,ABSOl=4.7!8,-5 DATA:POINT(P61,ABS0l=4.7,6,-5 DATA:POINT<P62,ABSOl=4.7,5,-4.5 DATA:POINT<P63,A880l=4.7,5,-5.5 DATA:POINTCP64,ABS0l=4.7,7,-5.5 DATA:POINTCP65,ABSOl=4.7,7,-4.5 DATA:POINT<P7l,ABS01=4.7,6,-5 DATA:PO!NT(P72,ABSOl=4.7,6,-9 DATA:POINTlFS1,ABS0)=4.7,6,-7 DATA:POINT(P82,ABSOl=4.7,5.5,-6 DATA:POINTCP83,ABS0)=4.7l5.5,-8 DATA:POINT<P84,AB50)=4.7,6.5,-S DATA:POINT<P85,AB80)=4. ,6.5,-6 DATA:POINT(P9l,ABSOl=4.7,30₁!0

Dt:4 i' i;.;:; F'fJI 1·-.~~r < !.: .. 7:2, ABSi:J) :=.;LJ ... 7, :;:(;, -·?'

DA ;REVO~R2l=P22;4.7,10,5;P42:P23 ~~'=P23;!5, o.o:P31;9.4 DATA:REVO R4' ~P51;10,3,-5;P52;P4~ 8AT0:RE~O R51=P61;10,6,-5~P72;P52 D~TA:REVO(R ~PB1;10,6,- :P92;P7 DHTA:REV~~R7l~P91;l0.3C.10= 0? P9-DATA:PRI5~(2:l=P9:;P92 DAfA:CYL rll=P51;F52 -·r ···: ·~·· ·t ,--, . ,· ~ ·--· '! .... ·~· :;f~ .7' /~;; ;_~ :~ r-.J~<

(

t.\~t .. 1 \ ' 1 ) :·.::;'::·: 1 ; F·1 :·~: :~ ~ () ~ ~~~:

D,:::~·ri:·~~ ~~ L .. :t i~·n:·_ ·~ :::~_!f::; <t <..i~? :::.F·::):~: ~~~u :L ~-·· ... 'I

(63)

(''·t {'"J ,"''r 1}:

n:.

6~ H U H ;~ ~~ ti"l ~) I 11: ü.: 0:: t.:) •,., .. !l· :::~ ~ .. : .:..:: ::r: Cl Cl 0 f-·4 i-i f-·i t·· 1-, __ !--ij') 0 CJ C} t-·.f ~:: E r: .(,.~ .~J••uuü:: Ul <I <I <I ::J 1- !-- 1- 1--r.([ <I <I W :;.::: Cl 0 !:.:l !1: CJ ()

:s

[i)

(7-!:::n u u ft·----.---. ---! ;:,;f ff) ··.0 J;:: () I t l! (:._:. ,·-·I -·i t·-... M ,::) n ·u u ,.-( J ~:-to .. n ::~ u:: i't•" i.t tn cJ !--i .... __ ] ;; #I; 'lll f(

(64)

C•Vt.-

J

c". .. ., '

r '" .. ,, . .,,, .•••• a • .~~ •• 1 .. !:1! ... ,:

Teduakal '-'elaib

A~ .111 .:x;.uuph: uï a l)'pu:.d ull..:rta,·c tu tin: I'EI thwu~h tlu;

lii'IU •<..tllY•:rh:r. hgun: :! ~huwli tbc .:umph:t..: ,·11.:uil lur a

to- .. h.mn\:1 aualultUt.: Iu .ltgilal .:unvcllt.:t·, u:.mg a Nauunal

.\I U' Ol'i I u I 'MOS Jto:\'I~C. l'h..: ttl'l U .ic..:u<ll.'r JlfUVI<ks ;1

1:\lhl:lt SI t'UNU.'\KY ,\UlJKl·SS Iu l>d.:.,;l a .:hauw.:l

wlta.:h slo~Jb .:unv.:naun lur I hal ..:hatmcl.

WhC'II tbc t::Nl> OI; CONV I:K.SION saanal Is g1n:u by thc

,\Ul' t..lbuul I llb ..:uuvcrliÎUII llmd th..: (;j•tu !.lc..:udcr rcs·

polhiJ wub TAl.Kt:K OA1'•\ STKOUI wlu..:b II!JJli uut thc

IH•al vultiiiC. Thc:: Ut\TA liUS IHIH·ïdt 111 u:o<:u uu tbili

..tC'Vl.:e tu huUcr tbc CMOS A/U uutflul.

Figurc- J shnwo; a sunt•lc ex;.unptc ol a suhruutmc: tu mput

voltil&c A îru1n .. .:haauu.:l C.lbc liE I #,INI'liTHamii'IHNT#

slo.~h:mcUili ho.we all bc.en l.hSilss.:mblt.a.l anoJ th..: I WIH llccu,h:r

budl lo proYiûe tbc sunplest ham.lshaking L.u:ilitu:s lor tlu:

p;u;&llcl intcda.:e, mäKtnl llllUtUilUIU POSliibh: UliC oî tlu:

w& twan: t,;!>l S sl&n;~ls uuplcau~nted.

Th Uil proiP iltlllo l:ilR b.:~ wmu:n in SAS I(' ..:ali.lly tu provii.lc:

lfJ&iU'ilhmK: ur llooUlRI poinl uper;&hon. un analogu..: i.luta.

Conclusions

Our cxpcncn..:c: show!> tbat th.: Pt.fJ' proYall..:s an cx...:c:llc:nt

ovc:hl..:h: for thc UK ot uau.:ropru.:~.:~rs in h~.:aUh o..:<uc. Culi&,

tune and :oi>dlcl.l Iabour are a.ll liilYCd i.n comparison with

B+./

_-

..

-._

l..tlo. 111" " l.li.il.•al mio;roproc..:~sur ali tbc stanin& point. An

• 11ppuHWUlY is ptu~ii.lc:J.i for ~mali J.i.:parlnu:ntlli WUb limaftd

~<:suuto..:.:li tu 11lay a rul.: in the ucY.:Iu&mu:n I ol automation

uwn:. ~n.:ri.illY lil lu:allh c<.~re, l'rovu.ling hcm:fihi to a wider

'""ge ol paticnb: Ocûicat..:d in!ttrumcntli for lllillill proûuc •

11un 1•.1~.:.1 un a lllit:rupru..:c:slior may h~ studielol in tbcu

dl:sl~ll stag.: U!>llll:\ fa.:ililics of 111~.: t•l:T whu:.h wuuld not be

llu.;hu.J.:û 111 th..: lmal instrumcruation.

Appendix

11 unly a :illll&h: ttl•tH !)l:riph.:r .. l 1:0 r..:~.juucl.l lo liavc huildm&

tllc IJliS protoo..:ul lojlic, mtcgiöU<=I.l ~.:ar..:mts liUCb as tbe

S•gu..:ti~ liEF 473liV P~•l.orm illl lhc ,,a.nuph:x lul&t.: hand·

:;hak.: liÎI,Inals a

nu

an exampb: of t he u101: of tb.is chip is

indica-tc:û 111 hll,un: 4, Uuc:'-.sun, IIJ7K). Tltis would operate a

parall.:l printc:r or tape puno..:b direclly. or couid bc inter·

lao..:caJ to " UA R/T (UniYcrsa! AliYnc.hronous R~iver/

Tl·;.ausmiu..:r, a llcYic.: wbicb cunvellli panûl~:! lii&nala to

lOI:ti<&l signal!i anû Yi..:c·Ycrll\a) tu driv& a ~rilÛ linc.

To uuplcuu:ul a lishm~r û.:v1ce a:; sbown, oniy a ahir&

regJ!itcr, and :oom\! inverum; uu r~SQUUI#d in ai.lûitioa 10 the

GPIH .:hip.

Also, fur interlucina& to 11 nlit.:ropro.:I:SIIOr, we are evaluatin&

a Mutorula MC&ä4l)li d"vi..:e which provi41cs a reptor

con-troJleû Gl•IH talkcr/üsteru:r cap;abüity.

Evaluation of kerb negotiation

in a prototype and

standard model wheelchair

J

9;;c~JG.

29

C. fnbl:t

1Ft~i~Ung 0!/ÏJ:t:T, l • .tylilm.l V.:itû:le:s 1.111, Leylcii/J, l.unt:liSJtiTt:, UK.

J. Mitchcdl

SlltiUT 1.,-,·nm:r, I.JttPtJrlm&'lll o} llelllth Studies. She}jieiJ City l'ui,vtttdmil:, Slu:J]it:loi, liK.

---

···---Tlm artll·k otlllim:s "" t•valualor,l' swdy of k.t•rb tlq;olialiotl in a nmvetttumu/ wlu:~tldlair and a prulo(I'P<' dillmmzd conjïgur·

Q/ldfl, /ev.:r Uf(l(•u/ut.:J wlu·t'/dltiÎT. 1ïu: k.erh tll'.t:oliUIÜ.JII St'l/lll'll''(' ilf both mm/e/s is {m:st'lllt.'li wit/I tilt• rt'Slii/S of

lt'SIS ÎIIVI>Ii'lll.l( IISI!fS Ub/t• IV llt1folitllt' kt•f/lS (N - /f>); un·n WUibiL' ltJ m·gu/Ulll! kt•rbs {N .:: /5); Ullt/IIIJII·WIIt't'fcilair USt'I'S

(.V "' :!IJ). Rt·mlts i11Jinlll.' fiTt'/t'fL'IIn's ji1r 1/w tlfotutl'f't' t.Jmm1g~1 tllt·.fïrst grim/'. purtlclllurll• for kt•rb tkscem. /-',.,.,.rolling

lt'SIS ojlht.· lt.llhlt·J wht•t•kllairs lll't.'T vuriuus tL·nums l<'l't'Uit·J tltul wlliiL• tiiL' slamiarJ wlwdd1uir im•arwhly fllfflt•d downhili

a-l I hl! pruloty{'t· wus rdaill'dy im.;c·mitivlf 11 lossof dm'ditm o11 :;ideslo

,,./fA

sig111)ica111. munbt•r uf :mhit't'll ( P"' 0. OI. :\' "' :!OI

) }i1111ki 1lu: arllctllatt·J }rumt·wtJrk of tJw prafll(l'pt· n·t tll't'!l rite ûijjÏC"IIItit•s of st'II f'WfJ4tlsiun uvt•r rougil alld camhtn·d .~ur·

Jat·, ..

s.

n,,.

J1ffi/O(VI1<' WU$ jiJlil/U 10 fl#ll!St'S$ u smullt-r lllmlllg árdt• ( IOJ l:m ltJ 12:1 ('/11) Ullli 11 lullgL·r wlln·lbllSI: (IJ-l. 7 1'111 IV

JfJ. 7 L·mJ llfUII tilt' ~IUIICJUTJ II#IJUI:/ 1/ltmg/1 tJIIt'rUJI titiiWIHIOII:Ji IWrt' brouU(J' ('OIIlparubft•. '/7tl• llllfl/lt'UiiOIIS 0[ tJ~t• proW/ype

wht'''IINISt' jor mumwl. ullc'IIUIIIII uuJ puwc·,.n/ fl'"lllll>tml UT(' nmsic/c·n:d.

-

---- ··- •··

.

--~4?~:;--~----~./~ ...ot)

r.:o

Introduetion

Keröa aod wheek:hllin

Kerbs mark•na tbc bouml.try bet w.:un ruudway and llav''"u:nt

an: an almosl uniYI!ts;&l lo.:alur.: ui huilt ..:nvuuum.:uh '"

tln-Unitt:û Kin&Uom and cbcwh~:rc. 11 ;a wltcclds .. ar u:.c1 '' uu.,hlc

to MIOUiAt&: dw:o<: batril!u;, ll s.:vcr..: u::.t11o..:taun 1s pl.~.-. ... ; un

hal> mobduy nul ui' duurs wh.:tlt.•a he " pwp..:lhn~~ hw·~dl,

USlftl ;t puwcru~ whc:a:t~,;hair ur h.:m~ pu~l~~oal hy .su ,JII<·•:.Iulll.

Unîorlunat..:ly, it appcars lhat unly • ,, l.:w "" .-·1•11< •t.llly

a1blclic Ul&:fla art: abl.: Iu accumph!ih lhis f,·al i\.,;,·, ... J•ul! tn

thc Ra Uil n:cc:nl c:.tunilh::. lll. lh"..,..: Wl..'n: I I \. tillil "'•cd

uo

~.:hatr U:.<:l:. in f.nll,liuu.l anll Wal.:s 011 thc ..:n.J ui 197.\. l'r.:v1uUS

slltdi.:s I :!,31 ~how..:û that whih: Jo•;: ui thc Ul><'~ ~i~~ hu wen:

o;urvo.:y-.:1.1 ..:uwlû propo.:l thcm:.<:IV<.:li in.Jouu, unly .!O•:; o.:<&n do

"' out uî ,Juur:; and unly J'X. ·..:au lll:!lUiiilh: t...:rhs watlwul

. as~istau..:.:. lt lullows that any llllllrovçom..:nt in tht: kcrb

nc~:ulliltion p.:rlurman..:.:

,,f

whcddlioiirs cuulû bi:' .. d suhllotun·

li.tl h.:ndit tu a largo.: numho.:r ol ûisahlc,l fl•'ut•lc.

llnuglll b.: argu.:û lhat, "m..-~· l..crhs unp.:d..: not uuly !hnse

111 who:.·~.·lda;~irs hut ~.:onstllulc a harrier Iu thos..: pu:.hmll

IH;uns and a liataaû Iu th.: villually unpau.:û, " more:

(65)

Kerb IM.>goCia&ion

A11 a prehntinary Iu l.h::.;crihillj tho: lest llf'U\.:.:tlun:s u:..:t.i, t4u:

\.erh lll:lt'lllahun sequcth.:..::. lor buth stam.lanJ anu prntutype

'4 heel..:h.ufl> are ,,h:li4:tibe.J in tb is s..:..:tiun an..t illusl ratcû in

h~JUIC J, <t-1.

Climbilllll si.uularJ IIIUlh:l wbc.:lçhatr l

Alo a pn:linunary Iu k~:Ib .:limbing 1 he .:astors lillust bc ratS!! u

to lhc level ol' thc ,,avc:mcnt. Slllh:t.i wlu:ulchair user:s ~,;au

ao.:hu:vc tbi:s m a standani mot.icl wheclo.:bair by 'duin~ a

whcdtc:'. in whio.:h thc: wlu.:ct&.:hair is tllh:d back warûs bi nu lilt

to i ûut trad. motor o.:ydc al tbc start ui' a ra..:.: l un Iu thi

,,ropçlllng Wh\·cls and tb~:re i11 h.:lt.i in haiO&Jh;~: with its ciStors

in mid air. (Fi~Jur.: Ja). üy canymg uut a 'wh.:c:lic' h.:lorc

rc<~...:hin11 th~: k~:rh a skilied u:;c:r ··an use his mouu:ntum to

a!iSist in kc:rb. o:limbin~ Ul>drs wbo .:aunot bO&lancr: on thc1r

prupcUing wlu:els sumctimcs j~:rk thl!ir ~,;alitors ~pwanl11 JUSI

suUictcntly to ~luar lhc KClb without making us.: ol' .,. full

'wbccbc'. b LJn~·o1diug slc:p J ( ·om•t•.t lf•rruill Vuh1na.: 4 Nt•. 5 September 1980 1;,..-r A N.iu.iMIU - Ktrû ncsotiation in whcclcl

----··-

-·---

---·•

'

I

u Simplijïed hlyoul t' Oo'(UIÎt•J IU.I'Oltl

(66)

o,r~

or

-vt

7:/ 7:

V~ ~dJ/

(::. ~

c:f:.

// t

r

=

L

"r ... ..S/ .4

Oy"' :

~'/t('Y"~

:

/"t

los3 z

=

o_s,t-.S~ ~

~:

b;

0{7:

=

:: / ~ OJ' -/ 0 l'

...5

1-[

/_5

7:

,1-5} ...,

?

{! /

=

-? ,«( 'r ?'

j'l

'tl ~ -.".. 0/-..S/

~

ocp ,;.

.s-o~-~<

...s

?P

r

&t'-o~

Jr

tP

~

tJ :

~/:

6'/

"'V..Ib

~

90 //

~//-J>/.ft<C:: ~...,.c/,:

t;

7:/

~

7:

~4~y?:

:

-?/

z

-;~-a ~

..5..s

o/

=

t

?:/-?/~ .3'

Jlf

'='

-6~--vvr~ .;.

~

~~

:

'Z:/

~

~ ~.J."".

't ;

?

=-...S?-9E~

-:v4

'...5

(-:::

7.7b

OG

(f:.

v6?J

~

v6

E?:

<--v~_"ff..$

4 t:...s/!

=

lo_,..:;

=

o" _

_,-rk

l'r~,..

r.?:

-d'"'t*

r r;1

:

~vv;;-~:

/I

/b/r-'i.tt9

=

't-?:I.J/j'J*

1-9..5-r/jl :

~~:

O/ 0-<;::'1

t9

éf

:;.

0 //

-&

~

<;I

C1 :

~ ~

.6-?;:::Vc.-':

b

'7

°?: / r-7: ,)_ss

=

!7

--c /

j/{1

o-r;J

of

b

~

· ?:/,;!

:

c...--:o

:

t

é'-'~""1

oe

6>

'r

= (..}

-Jl;zf)-

{?-b-rfiJ :

r~

:

~

=

'Z' Jf

E' ""

5

#

t'?:';;.

7:

-=

~~hrc....-~ ~~hrc....-~ti~~hrc....-~;:;~~hrc....-~v

,~-.4~.~6' ~

~~~.fi>

.,t.

~Jo./l: ~

-.6...::;

?: ?: :;.

.r

~/~

ó>

0 0 (, ;11

~

..s /.

~

7:

<fo

J

g

9/ .,;.

+

/.9

o

t

-r /

&

'Ct-~

o

t

b.t

-7

&·c

/~ ~

'!'/-"(/-A

cf/;fl

-~o

Zwenkwielconstructie t.b.v. een rolstoel