連桿機(jī)構(gòu)設(shè)計(jì)說明書機(jī)械原理大作業(yè) 哈工大.docx

哈爾濱工業(yè)大學(xué)機(jī)械原理課程設(shè)計(jì) 連桿機(jī)構(gòu)設(shè)計(jì)說明書1、 運(yùn)動分析題目如圖1-18所示機(jī)構(gòu)，已知機(jī)構(gòu)各構(gòu)件的尺寸為 = 90，AB = 108mm，AD = 266mm，DG = 278mm，EF = FG = 114mm，BC = CE = CD = 200mm,構(gòu)件1的角速度為w1 = 10rad/s,試求構(gòu)件2上的E的軌跡及構(gòu)件5的角位移、角速度和角加速度，并對計(jì)算結(jié)果進(jìn)行分析。 圖1-182、建立坐標(biāo)系以A點(diǎn)為坐標(biāo)原點(diǎn)，桿AD所在的直線為X軸，垂直于AD的直線為Y軸，建立直角坐標(biāo)系，如下圖2所示 圖23、對機(jī)構(gòu)進(jìn)行結(jié)構(gòu)分析該機(jī)構(gòu)由1個(gè)I級桿組RR（原動件1）、II級桿組RRR（桿2、桿3）和II級桿組RRR（桿4、桿5）組成。4、各基本桿組的運(yùn)動分析數(shù)學(xué)模型（1）原動件桿1（級桿組RR）如圖3所示圖3 級桿組RR已知原動件桿1 的轉(zhuǎn)角 = 0360，角速度1 = 10rad/s，角加速度1 = 0 轉(zhuǎn)動副A 的位置坐標(biāo)XA=0，YA=0；速度XA= 0，YA= 0；加速度XA”= 0，YA”= 0 原動件桿1 的長度LAB = 100mm，可求轉(zhuǎn)動副B 的位置坐標(biāo)（XB，YB），速度（XB， YB）和角加速度（XB”， YB”）；（2）桿2 和桿3（級桿組RRR）如圖4所示圖4 級桿組RRR由于BC = CE = CD = 200mm，所以，可以根據(jù)幾何關(guān)系求出桿2與X軸之間的夾角，B 的位置坐標(biāo)（XB，YB）；速度（XB， YB）；角加速度（XB， YB） 桿2 的長度LBE = 400mm，桿3的長度為LCD = 200mm?？汕簏c(diǎn)E 的位置坐標(biāo)（XE，YE），速度（XE， YE）和角加速度（XE，YE）；（3）桿4 和桿5（級桿組RRR）如圖5所示圖5 級桿組RRR已知點(diǎn)E 的位置坐標(biāo)（XE，YE），速度（XE， YE）和角加速度（XE，YE），EF = FG = 114mm，G點(diǎn)的坐標(biāo)為（-266,278）；速度XG=0，YG=0；加速度XG=0，YG=0，可求桿5 的角位移，角速度 及角加速度。5、計(jì)算編程LAB = 108;LAD = 266;LDG = 278;LEF = 114;LFG = 114;LBC = 200;LCE = 200;LCD = 200;w1 = 10;syms t;F = w1 * t;XB = LAB * cos(w1 * t);YB = LAB * sin(w1 * t);X1B = diff(XB);Y1B = diff(YB);X2B = diff(X1B);Y2B = diff(Y1B);XD = -266;YD = 0;X1D = 0;Y1D = 0;X2D = 0;Y2D = 0;A0 = 2 * LBC * (XD - XB);B0 = 2 * LBC * (YD - YB);LBD = sqrt(XB-XD)2+(YB-YD)2);C0 = LBC 2 + LBD 2 - LCD 2;Fi = 2 * atan(B0 - sqrt(A0 2 + B0 2 - C0 2)/(A0 + C0);XC = XB + LBC * cos(Fi);YC = YB + LBC * sin(Fi);X1C = diff(XC);Y1C = diff(YC);X2C = diff(X1C);Y2C = diff(Y1C); XE = 2*XC - XB;YE = 2*YC - YB; X1E = diff(XE);Y1E = diff(YE); X2E = diff(X1E);Y2E = diff(Y1E); XG = -266;YG = 278;X1G = 0;Y1G = 0;X2G = 0;Y2G = 0;A00 = 2 * LEF * (XG - XE);B00 = 2* LEF * (YG - YE);LEG = sqrt(XE - XG)2+(YE - YG)2);C00 = LEF 2 + LEG 2 - LFG 2;Fii = 2 * atan(B00 + sqrt(A00 2 + B00 2 - C00 2)/(A00 + C00);XF = XE + LEF * cos(Fii);YF = YE + LEF * sin(Fii); X1F = diff(XF);Y1F = diff(YF);X2F = diff(X1F);Y2F = diff(Y1F); O1 = atan(YF - YG)/(XF - XG);w = diff(O1);a = diff(w); fprintf(結(jié)果集n);fprintf(tttttXEttYEttttttttn);for alpha=0:pi/500:pi/5;%角度 %fprintf(%6.5ft%6.5ft%6.5ft%6.5ft%6.5ft%6.5ftn,alpha,subs(F,alpha),subs(XE,alpha),subs(YE,alpha),subs(O1,alpha),subs(w,alpha); %fprintf(%6.5ft%6.5ft%6.5ft%6.5ft%6.5ft%6.5ft%6.5ftn,alpha,subs(F,alpha),subs(XE,alpha),subs(YE,alpha),subs(O1,alpha),subs(w,alpha),subs(a,alpha);end alpha2=0:pi/500:pi/5;%角度x = subs(XE,alpha2);y = subs(YE,alpha2);plot(x,y,r);6、計(jì)算結(jié)果t XE YE 0.000000.00000-266.00000141.859090.63989-3.008990.006280.06283-268.58047142.234730.61897-3.664650.012570.12566-271.20013143.352770.59369-4.390420.018850.18850-273.89649145.187290.56370-5.165070.025130.25133-276.70388147.697370.52872-5.971810.031420.31416-279.65225150.830080.48861-6.798950.037700.37699-282.76641154.523950.44326-7.639520.043980.43982-286.06552158.712420.39259-8.489920.050270.50265-289.56305163.326990.33655-9.347740.056550.56549-293.26689168.299770.27511-10.209010.062830.62832-297.17965173.565400.20827-11.065000.069120.69115-301.29907179.062470.13611-11.898810.075400.75398-305.61843184.734290.05885-12.682250.081680.81681-310.12694190.52946-0.02307-13.373950.087960.87965-314.81014196.40198-0.10891-13.920220.094250.94248-319.65021202.31131-0.19756-14.260310.100531.00531-324.62626208.22223-0.28755-14.336740.106811.06814-329.71457214.10468-0.37708-14.109300.113101.13097-334.88874219.93355-0.46420-13.568210.119381.19381-340.11986225.68846-0.54698-12.740660.125661.25664-345.37659231.35357-0.62383-11.687340.131951.31947-350.62521236.91739-0.69355-10.490010.138231.38230-355.82964242.37255-0.75553-9.235590.144511.44513-360.95143247.71573-0.80965-8.002620.150801.50796-365.94967252.94737-0.85627-6.853470.157081.57080-370.78095258.07160-0.89605-5.832250.163361.63363-375.39916263.09602-0.92989-4.966830.169651.69646-379.75538268.03146-0.95882-4.272630.175931.75929-383.79761272.89174-0.98395-3.756610.182211.82212-387.47062277.69338-1.00640-3.420670.188501.88496-390.71565282.45511-1.02731-3.264140.194781.94779-393.47015287.19736-1.04780-3.285420.201062.01062-395.66757291.94160-1.06897-3.482870.207352.07345-397.23721296.70934-1.09193-3.855180.213632.13628-398.10414301.52108-1.11778-4.401450.219912.19911-398.18938306.39477-1.14760-5.121050.226192.26195-397.41037311.34410-1.18249-6.013450.232482.32478-395.68191316.37626-1.22353-7.078260.238762.38761-392.91778321.48950-1.27180-8.315360.245042.45044-389.03317326.67024-1.32839-9.725330.251332.51327-383.94831331.89016-1.39438-11.309840.257612.57611-377.59339337.10328-1.47088-13.071740.263892.63894-369.91487342.24374-1.55902-15.013940.270182.70177-360.88327347.224581.48166-17.135380.276462.76460-350.50191351.938441.36690-19.421560.282742.82743-338.81578356.260811.23735-21.825500.289032.89027-325.91942360.056351.09261-24.235700.295312.95310-311.96193363.188380.93323-26.435080.301593.01593-297.14744365.530820.76158-28.076980.307883.07876-281.72965366.981200.58247-28.735270.314163.14159-266.00000367.472450.40326-28.073860.320443.20442-250.27035366.981200.23254-26.064660.326733.26726-234.85256365.530820.07783-23.058300.333013.33009-220.03807363.18838-0.05631-19.614940.339293.39292-206.08058360.05635-0.16884-16.250600.345583.45575-193.18422356.26081-0.26139-13.293840.351863.51858-181.49809351.93844-0.33705-10.883360.358143.58142-171.11673347.22458-0.39933-9.030330.364423.64425-162.08513342.24374-0.45158-7.681000.370713.70708-154.40661337.10328-0.49674-6.757930.376993.76991-148.05169331.89016-0.53723-6.181550.383273.83274-142.96683326.67024-0.57499-5.879650.389563.89557-139.08222321.48950-0.61156-5.790570.395843.95841-136.31809316.37626-0.64810-5.863650.402124.02124-134.58963311.34410-0.68550-6.058610.408414.08407-133.81062306.39477-0.72442-6.344550.414694.14690-133.89586301.52108-0.76537-6.698810.420974.20973-134.76279296.70934-0.80871-7.105750.427264.27257-136.33243291.94160-0.85475-7.555560.433544.33540-138.52985287.19736-0.90374-8.042920.439824.39823-141.28435282.45511-0.95590-8.565750.446114.46106-144.52938277.69338-1.01145-9.123830.452394.52389-148.20239272.89174-1.07063-9.717330.458674.58673-152.24462268.03146-1.13364-10.345070.464964.64956-156.60084263.09602-1.20069-11.002480.471244.71239-161.21905258.07160-1.27194-11.679130.477524.77522-166.05033252.94737-1.34745-12.355910.483814.83805-171.04857247.71573-1.42714-13.002290.490094.90088-176.17036242.37255-1.51069-13.574520.496374.96372-181.37479236.917391.54414-14.016330.502655.02655-186.62341231.353571.45517-14.263680.508945.08938-191.88014225.688461.36543-14.254720.515225.15221-197.11126219.933551.27668-13.943710.521505.21504-202.28543214.104681.19088-13.314730.527795.27788-207.37374208.222231.10998-12.389560.534075.34071-212.34979202.311311.03569-11.225480.540355.40354-217