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Work of restriction forces at beginning of steady motion
A О   0  0.
Magnitude of work of motive forces during one cycle of
steady motion equals work of restriction forces A  A .
О
p
Р
Equivalent moment of motive forces M is constant for
зв
electric motors and is determined by the next formula
A
М  p (Nm).
р
зв
2 
Р
Equivalent moment of motive forces M which loads an
зв
input link will perform positive work. Magnitude of this work for
every mechanism’s position is determined by the next formula
p
A p   n  M    n (J).
зв 1
Angle  1   n should be used in radians in the above formula.
After that total work of restriction and motive forces with
consideration of these sign is determined
 А   n  А р   n  А O   n (J).

Determination of above mentioned parameters is performed
by MathCAD app. Next fragment should be added to the
calculation program.

Let’s represent results of calculations in view of the
diagrams (see fig. 1.7, fig. 1.8).

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