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HCM City Univ. of Technology, Mechanical Engineering Department
HCM City Univ. of Technology, Mechanical Engineering Department
Nguyen Tan Tien
Nguyen Tan Tien
Theory of Machine
Theory of Machine
13.01
13.01
13. C
13. C
Ơ C
Ơ C
Ấ
ẤẤ
Ấ
Ấ
ẤẤ
Ấ
U Đ
U Đ
Ặ
ẶẶ
Ặ
Ặ
ẶẶ
Ặ
C BI
C BI
Ệ
ỆỆ
Ệ

Ệ
ỆỆ
Ệ
T
T
HCM City Univ. of Technology, Mechanical Engineering Department
HCM City Univ. of Technology, Mechanical Engineering Department
Nguyen Tan Tien
Nguyen Tan Tien
Theory of Machine
Theory of Machine
13.02
13.02
§
§
1.
1.
Kh
Kh
ớ
ớ
p
p
C
C
á
á
c
c
-

-
đăng
đăng
(Universal Joint)
(Universal Joint)
I.
I.
Nguyên
Nguyên
lý
lý
c
c
ấ
ấ
u
u
t
t
ạ
ạ
o
o
-
-
D
D
ù
ù
ng

ng
truy
truy
ề
ề
n
n
chuy
chuy
ể
ể
n
n
đ
đ
ộ
ộ
ng
ng
gi
gi
ữ
ữ
a
a
hai
hai
tr
tr
ụ

ụ
c
c
giao
giao
nhau
nhau
m
m
ộ
ộ
t
t
g
g
ó
ó
c
c
α
α
kh
kh
ô
ô
ng
ng
l
l
ớ

ớ
n l
n l
ắ
ắ
m
m
-
-
G
G
ó
ó
c
c
α
α
c
c
ó
ó
th
th
ể
ể
thay
thay
đ
đ
ổ

ổ
i
i
ngay
ngay
trong
trong
qu
qu
á
á
tr
tr
ì
ì
nh
nh
chuy
chuy
ể
ể
n
n
đ
đ
ộ
ộ
ng
ng
α

1
ϕ
β
HCM City Univ. of Technology, Mechanical Engineering Department
HCM City Univ. of Technology, Mechanical Engineering Department
Nguyen Tan Tien
Nguyen Tan Tien
Theory of Machine
Theory of Machine
13.03
13.03
§
§
1.
1.
Kh
Kh
ớ
ớ
p
p
C
C
á
á
c
c
-
-
đăng

đăng
(Universal Joint)
(Universal Joint)
II.
II.
T
T
ỉ
ỉ
s
s
ố
ố
truy
truy
ề
ề
n
n
OA
OH
=
1
cos
ϕ
OH
OI
=− )cos(
2
α

π
OA
OI
=
β
cos
1
cossincos
ϕαβ
===⇒









OA
OH
OH
OI
OA
OI
O
A
I
H
O

A
I
H
α
π
−
2
O
A
I
H
α
1
ϕ
β
O
2
O
1
O
A
B
HCM City Univ. of Technology, Mechanical Engineering Department
HCM City Univ. of Technology, Mechanical Engineering Department
Nguyen Tan Tien
Nguyen Tan Tien
Theory of Machine
Theory of Machine
13.04
13.04

§
§
1.
1.
Kh
Kh
ớ
ớ
p
p
C
C
á
á
c
c
-
-
đăng
đăng
(Universal Joint)
(Universal Joint)
II.
II.
T
T
ỉ
ỉ
s
s

ố
ố
truy
truy
ề
ề
n
n
?||?
////?
1
1
11
ω
ωωω
r
rrr
OAOO
CC
+=
???
////?
2
22
OBOO
CC
ωωω
rrr
+=
giải được ?

α
1
ϕ
β
O
2
O
1
O
A
B
α
1
ϕ
β
O
2
O
1
O
A
B
HCM City Univ. of Technology, Mechanical Engineering Department
HCM City Univ. of Technology, Mechanical Engineering Department
Nguyen Tan Tien
Nguyen Tan Tien
Theory of Machine
Theory of Machine
13.05
13.05

§
§
1.
1.
Kh
Kh
ớ
ớ
p
p
C
C
á
á
c
c
-
-
đăng
đăng
(Universal Joint)
(Universal Joint)
II.
II.
T
T
ỉ
ỉ
s
s

ố
ố
truy
truy
ề
ề
n
n
?||?
//////
1
1
11
ω
ωωω
r
rrr
OAOOxx
CC
+=
??||
//////
2
22
C
CC
OBOOxx
ω
ωωω
r

rrr
+=
),(),(}{
11
OAOOOAOOxx I=
⇒





α
1
ϕ
β
O
2
O
1
O
A
B
HCM City Univ. of Technology, Mechanical Engineering Department
HCM City Univ. of Technology, Mechanical Engineering Department
Nguyen Tan Tien
Nguyen Tan Tien
Theory of Machine
Theory of Machine
13.06
13.06

§
§
1.
1.
Kh
Kh
ớ
ớ
p
p
C
C
á
á
c
c
-
-
đăng
đăng
(Universal Joint)
(Universal Joint)
II.
II.
T
T
ỉ
ỉ
s
s

ố
ố
truy
truy
ề
ề
n
n
α
1
ϕ
β
O
2
O
1
O
A
B
α
ϕα
ω
ω
cos
cossin1
1
22
2
1
12

−
=≡i
1
cossincos
ϕαβ
=
)(
2211
2
CC
ch
ωωωω
ω
rrrr
r
+=+
)(
2211
1
CC
C
ch
ωωωω
ω
rrrr
r
+=+
βωω
cos
21

=
C
:
211
coscos
ωβωαω
=+
C
:
m
m
ặ
ặ
t
t
kh
kh
á
á
c
c
do
do
đ
đ
ó
ó
HCM City Univ. of Technology, Mechanical Engineering Department
HCM City Univ. of Technology, Mechanical Engineering Department
Nguyen Tan Tien

Nguyen Tan Tien
Theory of Machine
Theory of Machine
13.07
13.07
§
§
1.
1.
Kh
Kh
ớ
ớ
p
p
C
C
á
á
c
c
-
-
đăng
đăng
(Universal Joint)
(Universal Joint)
III.
III.
H

H
ệ
ệ
s
s
ố
ố
dao
dao
đ
đ
ộ
ộ
ng
ng
α
ϕα
ω
ω
cos
cossin1
1
22
2
1
12
−
=≡i
1
1

22
2
cossin1
cos
ω
ϕα
α
ω
−
=⇒
α
ω
ωω
ϕ
cos
|
1
270,90
2max2
00
1
==
=
αωωω
ϕ
cos|
1
180,0
2min2
00

1
==
=
-
-
Khi
Khi
v
v
ậ
ậ
n
n
t
t
ố
ố
c
c
g
g
ó
ó
c
c
thay
thay
đ
đ
ổ

ổ
i
i
tu
tu
ầ
ầ
n
n
ho
ho
à
à
n
n
theo
theo
g
g
ó
ó
c
c
quay
quay
constconst ==
1
,
ωα
2

ω
1
ϕ
-
-
D
D
ù
ù
ng
ng
h
h
ệ
ệ
s
s
ố
ố
dao
dao
đ
đ
ộ
ộ
ng
ng
đ
đ
ể

ể
đ
đ
á
á
nh
nh
gi
gi
á
á
m
m
ứ
ứ
c
c
dao
dao
đ
đ
ộ
ộ
ng
ng
c
c
ủ
ủ
a

a
v
v
ậ
ậ
n
n
t
t
ố
ố
c
c
g
g
ó
ó
c
c
αα
ω
ωω
δ
sintan
1
min2max2
2
=
−
≡

-
-
G
G
ó
ó
c
c
c
c
à
à
ng
ng
l
l
ớ
ớ
n
n
,
,
dao
dao
đ
đ
ộ
ộ
ng
ng

xo
xo
ắ
ắ
n
n
c
c
à
à
ng
ng
l
l
ớ
ớ
n
n
α
→
→
d
d
ù
ù
ng
ng
kh
kh
ớ

ớ
p
p
c
c
á
á
c
c
-
-
đăng
đăng
k
k
é
é
p
p
HCM City Univ. of Technology, Mechanical Engineering Department
HCM City Univ. of Technology, Mechanical Engineering Department
Nguyen Tan Tien
Nguyen Tan Tien
Theory of Machine
Theory of Machine
13.08
13.08
§
§
1.

1.
Kh
Kh
ớ
ớ
p
p
C
C
á
á
c
c
-
-
đăng
đăng
(Universal Joint)
(Universal Joint)
IV.
IV.
Kh
Kh
ớ
ớ
p
p
C
C
á

á
c
c
-
-
đăng
đăng
k
k
é
é
p
p
1
1
2
1
2
1
1
cos
cossin1
α
ϕα
ω
ω
TT
T
i
−

==
2
2
2
2
2
2
2
cos
cossin1
α
ϕα
ω
ω
TT
T
i
−
==
1
2
1
2
2
2
2
2
2
1
2

1
12
cossin1
cossin1
cos
cos
T
T
i
ϕα
ϕα
α
α
ω
ω
−
−
×==



=
=
⇒=
21
21
12
TT
consti
ϕϕ

αα
444444 3444444 21 444444 3444444 21
444444 3444444 21
HCM City Univ. of Technology, Mechanical Engineering Department
HCM City Univ. of Technology, Mechanical Engineering Department
Nguyen Tan Tien
Nguyen Tan Tien
Theory of Machine
Theory of Machine
13.09
13.09
§
§
1.
1.
Kh
Kh
ớ
ớ
p
p
C
C
á
á
c
c
-
-
đăng

đăng
(Universal Joint)
(Universal Joint)
IV.
IV.
Kh
Kh
ớ
ớ
p
p
C
C
á
á
c
c
-
-
đăng
đăng
k
k
é
é
p
p
α
α
α

α
HCM City Univ. of Technology, Mechanical Engineering Department
HCM City Univ. of Technology, Mechanical Engineering Department
Nguyen Tan Tien
Nguyen Tan Tien
Theory of Machine
Theory of Machine
13.10
13.10
§
§
1.
1.
Kh
Kh
ớ
ớ
p
p
C
C
á
á
c
c
-
-
đăng
đăng
(Universal Joint)

(Universal Joint)
IV.
IV.
Kh
Kh
ớ
ớ
p
p
C
C
á
á
c
c
-
-
đăng
đăng
k
k
é
é
p
p