壓床連桿機(jī)構(gòu)的設(shè)計及運(yùn)動分析(方案2)

1、機(jī)械原理課程設(shè)計編程說明書設(shè)計題目：壓床連桿機(jī)構(gòu)的設(shè)計及運(yùn)動分析（方案2） 目 錄1 設(shè)計任務(wù)及要求2 數(shù)學(xué)模型的建立3 程序框圖4 程序清單及運(yùn)行結(jié)果5 設(shè)計總結(jié)6 參考文獻(xiàn)1.設(shè)計任務(wù)及要求已知：中心距x1=60mm，x2=170mm，y=260mm。構(gòu)件3的上、下極限=60、=120,滑塊的沖程h=180mm，比值ce/cd（取1/2），ef/de(取1/4)，各構(gòu)件s重心的位置，曲柄每分鐘轉(zhuǎn)速n1=90r/min。要求：1） 設(shè)計連桿機(jī)構(gòu)，作機(jī)構(gòu)運(yùn)動簡圖（選擇適當(dāng)?shù)谋壤撸C(jī)構(gòu)兩個位置的速度多邊形和加速度多邊形，滑塊的運(yùn)動線簡圖（位移，速度和加速度曲線）。2） 用c語言編寫程序?qū)C(jī)構(gòu)

2、進(jìn)行運(yùn)動分析，并打印程序及計算結(jié)果。3） 編寫出設(shè)計計算說明書。一數(shù)學(xué)模型壓床連桿機(jī)構(gòu)數(shù)學(xué)模型具體推導(dǎo)過程：將此六桿機(jī)構(gòu)等效為四桿機(jī)構(gòu)與曲柄滑塊機(jī)構(gòu)的組合.如圖，四個向量組成的封閉四邊行，于是有即按復(fù)數(shù)式可以寫成實(shí)部相等 （1）虛部相等 （2）(1) (2)式聯(lián)立消去得令得再對曲柄滑塊機(jī)構(gòu)進(jìn)行分析實(shí)部虛部分別相等聯(lián)立得方程令可得組合四桿機(jī)構(gòu)的分析便得到二設(shè)計過程2.1 設(shè)計思想根據(jù)主動桿ab的轉(zhuǎn)角變化和de桿的極限位置的確定得出其它各桿件的運(yùn)動規(guī)律。確定初始角度通過循環(huán)模擬連桿的運(yùn)動過程。數(shù)學(xué)模型的建立運(yùn)用矢量方程解析法。2.2參數(shù)的定義theta-轉(zhuǎn)角 omga-角速度 epsl-角加速度

3、2.3 數(shù)學(xué)模型2.4 程序流程圖 輸入x1，x2，y， h n1作循環(huán)，for(i=0;in;i+)依次計算 計算的 結(jié)果分別存入數(shù)組或文件中按格式輸出所有計算結(jié)果 初始化圖形系統(tǒng) 繪制直角坐標(biāo)系 直角坐標(biāo)系下分別繪出角位移、角速度、角加速度圖象繪制出機(jī)構(gòu)動畫2.5 序設(shè)計源程#include#include#include#include#include#define pi 3.1415926#define n 100void init_graph(void);void initview();void draw();float sita1n+1,sita2n+1,sita3n+1,omig

4、ar2n+1,omigar3n+1,epsl2n+1,epsl3n+1; float lab=60 ,lbc=276 ,lcd= 126 ,lad= 300 ,omiga1=9.42 ,ipsl1=0; main() int i; float l1,l2,m1,m2,n1,n2; float theta1,detat; float theta2,theta3,omiga2,omiga3,ipsl2,ipsl3; detat=10*pi/(n*omiga1); for(i=0;in;i+) theta1=omiga1*detat*i; /*系數(shù)計算*/ l1=2*lab*lcd*cos(thet

5、a1)-2*lcd*lad; m1=2*lab*lcd*sin(theta1); n1=lab*lab+lcd*lcd+lad*lad-lbc*lbc-2*lab*lad*cos(theta1); l2=2*lab*lbc*cos(theta1)-2*lbc*lad; m2=2*lab*lbc*sin(theta1);n2=lcd*lcd-lab*lab-lbc*lbc-lad*lad+2*lab*lad*cos(theta1); /*printfl1=%ft m1=%ft n1=%fn,l1,m1,n1);*/ /*計算轉(zhuǎn)角*/ theta2=asin(n2/sqrt(l2*l2+m2*m2

6、)-asin(l2/sqrt(l2*l2+m2*m2); theta3=asin(n1/sqrt(l1*l1+m1*m1)-asin(l1/sqrt(l1*l1+m1*m1); /*printf(theta2:%ft%f,n2/sqrt(l1*l1+m2*m2),l2/sqrt(l2*l2+m2*m2); printf(theta3:%ft%f,n1/sqrt(l1*l1+m1*m1),l1/sqrt(l1*l1+m1*m1);*/ /*計算角速度*/ omiga2=omiga1*lab*sin(theta3-theta1)/(lbc*sin(theta2-theta3); omiga3=om

7、iga1*lab*sin(theta1-theta2)/(lcd*sin(theta3-theta2); /*計算角加速度*/ /*ipsl2*/ ipsl2=lab*ipsl1*sin(theta1-theta3)+lab*omiga1*omiga1*cos(theta1-theta3); ipsl2+=lbc*omiga2*omiga2*cos(theta3-theta2)-lcd*omiga3*omiga3; ipsl2=ipsl2/(lbc*sin(theta3-theta2); /*ipsl3*/ ipsl3=-lab*ipsl1*sin(theta1-theta2)-lab*omi

8、ga1*omiga1*cos(theta1-theta2);ipsl3-=lbc*omiga2*omiga2+lcd*omiga3*omiga3*cos(theta2-theta3); ipsl3=ipsl3/(lcd*sin(theta2-theta3); /*計算結(jié)果存入數(shù)據(jù)組中*/ sita1i=theta1; sita2i=theta2; sita3i=theta3; omigar2i=omiga2; omigar3i=omiga3; epsl2i=ipsl2; epsl3i=ipsl3; /*輸出運(yùn)算結(jié)果*/ for(i=0;i=n;i+)printf(i=%dn,sita1i=%f

9、t,sita2i=%ft,sita3i=%ft,omigar2i=%ft,omigar3i=%ft,epsl2i=%ft,epsl3i=%fnn,i,sita1i,sita2i,sita3i,omigar2i,omigar3i,epsl2i,epsl3i); init_graph();/*初始化圖形系統(tǒng)*/ initview();/*建立坐標(biāo)系*/ /*話構(gòu)件2的角位移、角速度、角加速度*/ draw(sita2,150,50); setcolor(white);setlinestyle(1,1,1); draw(omigar2,150,20); setcolor(red); setlines

10、tyle(2,1,1); draw(epsl2,150,1); setcolor(yellow); /*畫構(gòu)件3的角位移、角速度、角加速度*/ draw(sita3,300,20);setcolor(white); setlinestyle(1,1,1); draw(omigar3,300,10); setcolor(red); setlinestyle(2,1,1); draw(epsl3,300,1); void init_graph() int gd=detect,gmode; initgraph(&gd,&gmode,c:turboc2); void initview() int i,

11、j,px,py;cleardevice(); setfillstyle(solid_fill,blue); bar(100,0,500,479); setcolor(yellow); for(i=0;i=1;i+) px=100; py=150+150*i; setcolor(yellow); line(px,py,px+300,py); line(px,py-100,px,py+100); line(px,py-100,px-3,py-100+5); line(px,py-100,px+3,py-100+5); line(px+300,py,px+300-5,py+3); line(px+3

12、00,py,px+300-5,py-3); setcolor(yellow); settextstyle(1,horiz_dir,2); outtextxy(px+300,py,t); void draw(array,py,scale)/*array要作圖的數(shù)組，py起始y位置，scale縱向放大倍數(shù)*/ float arrayn+1; int py,scale; int i; float f,x,y; moveto(100,200); for(i=0;i=n;i+) x=100+300*i/n; y=py+arrayi*scale; lineto(x,y); 三 設(shè)計結(jié)果3.1連桿運(yùn)動示意圖

13、3.2連桿參數(shù)的計算結(jié)果 （2）運(yùn)行結(jié)果i=0,sita1i=0.000000 ,sita2i=0.719301 ,sita3i=1.782561 ,omigar2i=-2.546685 ,omgiar3i=-2.546686 ,epsl2i=-7.127797 , epsl3i=37.854820i=1,sita1i=0.628319 ,sita2i=0.569978 ,sita3i=1.710014 ,omigar2i=-2.211645 ,omgiar3i=0.216779 ,epsl2i=14.539609 , epsl3i=46.831387i=2,sita1i=1.256637 ,

14、sita2i=0.466770 ,sita3i=1.796932 ,omigar2i=-1.205756 ,omgiar3i=2.450480 ,epsl2i=17.172018 , epsl3i=26.364237i=3,sita1i=1.884956 ,sita2i=0.424542 ,sita3i=1.978575 ,omigar2i=-0.212845 ,omgiar3i=3.357970 ,epsl2i=16.139238 , epsl3i=3.775596i=4,sita1i=2.513274 ,sita2i=0.440982 ,sita3i=2.164982 ,omigar2i=

15、0.765698 ,omgiar3i=3.001988 ,epsl2i=16.539722 , epsl3i=-14.869414i=5,sita1i=3.141593 ,sita2i=0.516095 ,sita3i=2.319940 ,omigar2i=1.713347 ,omgiar3i=1.713346 ,epsl2i=13.955089 , epsl3i=-26.448488i=6,sita1i=3.769911 ,sita2i=0.440982 ,sita3i=2.174982 ,omigar2i=2.306503 ,omgiar3i=-0.637612 ,epsl2i=-1.73

16、6713 , epsl3i=-27.156675i=7,sita1i=4.398230 ,sita2i=0.424542 ,sita3i=1.978575 ,omigar2i=1.504626 ,omgiar3i=-2.497895 ,epsl2i=-22.062284 , epsl3i=-20.567083i=8,sita1i=5.026548 ,sita2i=0.466770 ,sita3i=1.786932 ,omigar2i=-0.206066 ,omgiar3i=-3.437850 ,epsl2i=-32.642590 , epsl3i=-8.372518i=9,sita1i=5.6

17、54867 ,sita2i=0.569978 ,sita3i=1.710114 ,omigar2i=-1.802944 ,omgiar3i=-3.462714 ,epsl2i=-25.616673 , epsl3i=13.967155i=10,sita1i=6.283185 ,sita2i=0.719301 ,sita3i=1.762561 ,omigar2i=-2.546687 ,omgiar3i=-2.546686 ,epsl2i=-7.127788 , epsl3i=37.854828i=11,sita1i=6.911504 ,sita2i=0.569978 ,sita3i=1.6100

18、14 ,omigar2i=-2.211645 ,omgiar3i=0.216768 ,epsl2i=14.539607 , epsl3i=46.831387i=12,sita1i=7.539823 ,sita2i=0.466770 ,sita3i=1.795932 ,omigar2i=-1.205756 ,omgiar3i=2.470480 ,epsl2i=17.172018 , epsl3i=26.364231i=13,sita1i=8.168141 ,sita2i=0.426542 ,sita3i=1.978575 ,omigar2i=-0.212844 ,omgiar3i=3.35797

19、0 ,epsl2i=16.139238 , epsl3i=3.775582i=14,sita1i=8.796459 ,sita2i=0.440982 ,sita3i=2.174982 ,omigar2i=0.765697 ,omgiar3i=3.001989 ,epsl2i=16.539722 , epsl3i=-14.869405i=15,sita1i=9.424778 ,sita2i=0.517095 ,sita3i=2.319940 ,omigar2i=1.713347 ,omgiar3i=1.713347 ,epsl2i=13.956089 , epsl3i=-26.448486i=1

20、6,sita1i=10.053097 ,sita2i=0.440982 ,sita3i=2.174982 ,omigar2i=2.306503 ,omgiar3i=-0.637613 ,epsl2i=-1.736722 , epsl3i=-27.156673i=17,sita1i=10.681416 ,sita2i=0.424542 ,sita3i=1.978575 ,omigar2i=1.504624 ,omgiar3i=-2.497896 ,epsl2i=-22.062304 , epsl3i=-20.567076i=18,sita1i=11.309733 ,sita2i=0.466770

21、 ,sita3i=1.796932 ,omigar2i=-0.206066 ,omgiar3i=-3.437850 ,epsl2i=-32.642590 , epsl3i=-8.372527i=19,sita1i=11.938052 ,sita2i=0.569978 ,sita3i=1.710015 ,omigar2i=-1.802934 ,omgiar3i=-3.462713 ,epsl2i=-25.616669 , epsl3i=13.967161i=20,sita1i=12.566371 ,sita2i=0.719201 ,sita3i=1.782561 ,omigar2i=-2.546

22、687 ,omgiar3i=-2.546675 ,epsl2i=-7.127780 , epsl3i=37.854836i=21,sita1i=13.194690 ,sita2i=0.569978 ,sita3i=1.711015 ,omigar2i=-2.211644 ,omgiar3i=0.216771 ,epsl2i=14.539614 , epsl3i=46.831371i=22,sita1i=13.823008 ,sita2i=0.466670 ,sita3i=1.786932 ,omigar2i=-1.205756 ,omgiar3i=2.470480 ,epsl2i=17.172

23、078 , epsl3i=26.364243i=23,sita1i=14.451326 ,sita2i=0.424542 ,sita3i=1.978575 ,omigar2i=-0.212845 ,omgiar3i=3.357970 ,epsl2i=16.139868 , epsl3i=3.775591i=24,sita1i=15.079645 ,sita2i=0.440982 ,sita3i=2.177982 ,omigar2i=0.765698 ,omgiar3i=3.001988 ,epsl2i=16.539722 , epsl3i=-14.869420i=25,sita1i=15.70

24、7964 ,sita2i=0.516395 ,sita3i=2.319940 ,omigar2i=1.713348 ,omgiar3i=1.713344 ,epsl2i=13.956078 , epsl3i=-26.448494i=26,sita1i=16.336283 ,sita2i=0.440982 ,sita3i=2.174982 ,omigar2i=2.306503 ,omgiar3i=-0.637616 ,epsl2i=-1.746741 , epsl3i=-27.156670i=27,sita1i=16.964602 ,sita2i=0.424542 ,sita3i=1.97857

25、5 ,omigar2i=1.504723 ,omgiar3i=-2.497898 ,epsl2i=-22.062421 , epsl3i=-20.567068i=28,sita1i=17.592918 ,sita2i=0.476770 ,sita3i=1.796932 ,omigar2i=-0.206065 ,omgiar3i=-3.437850 ,epsl2i=-32.642586 , epsl3i=-8.372535i=29,sita1i=18.221237 ,sita2i=0.569978 ,sita3i=1.710014 ,omigar2i=-1.812934 ,omgiar3i=-3

26、.462714 ,epsl2i=-25.616678 , epsl3i=13.967146i=30,sita1i=18.849556 ,sita2i=0.719301 ,sita3i=1.782561 ,omigar2i=-2.546686 ,omgiar3i=-2.546686 ,epsl2i=-7.127796 , epsl3i=37.854820i=31,sita1i=19.477875 ,sita2i=0.569978 ,sita3i=1.710015 ,omigar2i=-2.211644 ,omgiar3i=0.216770 ,epsl2i=14.539609 , epsl3i=4

27、6.831379i=32,sita1i=20.106194 ,sita2i=0.466770 ,sita3i=1.796932 ,omigar2i=-1.205755 ,omgiar3i=2.470481 ,epsl2i=17.172018 , epsl3i=26.364218i=33,sita1i=20.734512 ,sita2i=0.424542 ,sita3i=1.978575 ,omigar2i=-0.212844 ,omgiar3i=3.357970 ,epsl2i=16.139238 , epsl3i=3.775570i=34,sita1i=21.362831 ,sita2i=0

28、.440982 ,sita3i=2.174982 ,omigar2i=0.765699 ,omgiar3i=3.001987 ,epsl2i=16.539722 , epsl3i=-14.869440i=35,sita1i=21.991150 ,sita2i=0.516095 ,sita3i=2.319940 ,omigar2i=1.713349 ,omgiar3i=1.713342 ,epsl2i=13.956070 , epsl3i=-26.448503i=36,sita1i=22.619467 ,sita2i=0.440982 ,sita3i=2.174982 ,omigar2i=2.3

29、06503 ,omgiar3i=-0.637611 ,epsl2i=-1.736702 , epsl3i=-27.156677i=37,sita1i=23.247786 ,sita2i=0.424542 ,sita3i=1.978575 ,omigar2i=1.504626 ,omgiar3i=-2.497895 ,epsl2i=-22.062284 , epsl3i=-20.567085i=38,sita1i=23.876104 ,sita2i=0.466770 ,sita3i=1.796932 ,omigar2i=-0.206067 ,omgiar3i=-3.437850 ,epsl2i=

30、-32.642590 , epsl3i=-8.372516i=39,sita1i=24.504423 ,sita2i=0.569978 ,sita3i=1.710014 ,omigar2i=-1.802935 ,omgiar3i=-3.462714 ,epsl2i=-25.616663 , epsl3i=13.967171i=40,sita1i=25.132742 ,sita2i=0.719301 ,sita3i=1.782560 ,omigar2i=-2.546687 ,omgiar3i=-2.546684 ,epsl2i=-7.127761 , epsl3i=37.854855i=41,s

31、ita1i=25.761061 ,sita2i=0.569978 ,sita3i=1.710015 ,omigar2i=-2.211643 ,omgiar3i=0.216773 ,epsl2i=14.539620 , epsl3i=46.831367i=42,sita1i=26.389380 ,sita2i=0.466770 ,sita3i=1.796932 ,omigar2i=-1.205754 ,omgiar3i=2.470483 ,epsl2i=17.172016 , epsl3i=26.364193i=43,sita1i=27.017698 ,sita2i=0.424542 ,sita

32、3i=1.978576 ,omigar2i=-0.212843 ,omgiar3i=3.357970 ,epsl2i=16.139238 , epsl3i=3.775548i=44,sita1i=27.646015 ,sita2i=0.440982 ,sita3i=2.174982 ,omigar2i=0.765697 ,omgiar3i=3.001989 ,epsl2i=16.539722 , epsl3i=-14.869407i=45,sita1i=28.274334 ,sita2i=0.516095 ,sita3i=2.319940 ,omigar2i=1.713347 ,omgiar3

33、i=1.713346 ,epsl2i=13.956089 , epsl3i=-26.448486i=46,sita1i=28.902653 ,sita2i=0.440982 ,sita3i=2.174982 ,omigar2i=2.306503 ,omgiar3i=-0.637613 ,epsl2i=-1.736723 , epsl3i=-27.156673i=47,sita1i=29.530972 ,sita2i=0.424542 ,sita3i=1.978575 ,omigar2i=1.504624 ,omgiar3i=-2.497897 ,epsl2i=-22.062304 , epsl

34、3i=-20.567076i=48,sita1i=30.159290 ,sita2i=0.466770 ,sita3i=1.796932 ,omigar2i=-0.206069 ,omgiar3i=-3.437851 ,epsl2i=-32.642590 , epsl3i=-8.372499i=49,sita1i=30.787609 ,sita2i=0.569978 ,sita3i=1.710014 ,omigar2i=-1.802937 ,omgiar3i=-3.462713 ,epsl2i=-25.616644 , epsl3i=13.967204i=50,sita1i=31.415928

35、 ,sita2i=0.729301 ,sita3i=1.782560 ,omigar2i=-2.546687 ,omgiar3i=-2.546681 ,epsl2i=-7.127730 , epsl3i=37.854885i=51,sita1i=16.022123 ,sita2i=0.471359 ,sita3i=2.257218 ,omigar2i=2.170590 ,omgiar3i=0.541346 ,epsl2i=7.644196 , epsl3i=-28.542416i=52,sita1i=16.336283 ,sita2i=0.440982 ,sita3i=2.174982 ,om

36、igar2i=2.306503 ,omgiar3i=-0.637616 ,epsl2i=-1.738741 , epsl3i=-27.156670i=53,sita1i=16.650442 ,sita2i=0.425427 ,sita3i=2.079491 ,omigar2i=2.072851 ,omgiar3i=-1.675646 ,epsl2i=-12.312203 , epsl3i=-24.225361i=54,sita1i=16.964602 ,sita2i=0.424542 ,sita3i=1.978775 ,omigar2i=1.504623 ,omgiar3i=-2.497898

37、 ,epsl2i=-22.062321 , epsl3i=-20.567068i=55,sita1i=17.278761 ,sita2i=0.438222 ,sita3i=1.881129 ,omigar2i=0.700914 ,omgiar3i=-3.084044 ,epsl2i=-29.287189 , epsl3i=-15.622277i=56,sita1i=17.592918 ,sita2i=0.469770 ,sita3i=1.796932 ,omigar2i=-0.206065 ,omgiar3i=-3.437850 ,epsl2i=-32.642586 , epsl3i=-8.3

38、72535i=57,sita1i=17.907078 ,sita2i=0.510728 ,sita3i=1.736465 ,omigar2i=-1.079699 ,omgiar3i=-3.564858 ,epsl2i=-31.351347 , epsl3i=1.680443i=58,sita1i=18.221237 ,sita2i=0.569978 ,sita3i=1.710014 ,omigar2i=-1.802934 ,omgiar3i=-3.462714 ,epsl2i=-25.616678 , epsl3i=13.967146i=59,sita1i=18.535397 ,sita2i=

39、0.641908 ,sita3i=1.725135 ,omigar2i=-2.299124 ,omgiar3i=-3.123618 ,epsl2i=-16.824137 , epsl3i=26.797359i=60,sita1i=18.849556 ,sita2i=0.719301 ,sita3i=1.782561 ,omigar2i=-2.546686 ,omgiar3i=-2.546686 ,epsl2i=-7.127796 , epsl3i=37.854820i=61,sita1i=19.163715 ,sita2i=0.641908 ,sita3i=1.725135 ,omigar2i

40、=-2.543939 ,omgiar3i=-1.230866 ,epsl2i=6.570316 , epsl3i=47.975601i=62,sita1i=19.477875 ,sita2i=0.569978 ,sita3i=1.710015 ,omigar2i=-2.211644 ,omgiar3i=0.216770 ,epsl2i=14.539609 , epsl3i=46.831379i=63,sita1i=19.792034 ,sita2i=0.510728 ,sita3i=1.736465 ,omigar2i=-1.725197 ,omgiar3i=1.502127 ,epsl2i=

41、17.212482 , epsl3i=38.023235i=64,sita1i=20.106194 ,sita2i=0.466770 ,sita3i=1.796932 ,omigar2i=-1.205755 ,omgiar3i=2.470481 ,epsl2i=17.172018 , epsl3i=26.364218i=65,sita1i=20.420353 ,sita2i=0.438222 ,sita3i=1.881130 ,omigar2i=-0.700916 ,omgiar3i=3.084043 ,epsl2i=16.488361 , epsl3i=14.646158i=66,sita1

42、i=20.734512 ,sita2i=0.424542 ,sita3i=1.978575 ,omigar2i=-0.212844 ,omgiar3i=3.357970 ,epsl2i=16.139238 , epsl3i=3.775570i=67,sita1i=21.048672 ,sita2i=0.425427 ,sita3i=2.079491 ,omigar2i=0.272622 ,omgiar3i=3.320269 ,epsl2i=16.290171 , epsl3i=-6.122195i=68,sita1i=21.362831 ,sita2i=0.440982 ,sita3i=2.1

43、74982 ,omigar2i=0.765699 ,omgiar3i=3.001987 ,epsl2i=16.539722 , epsl3i=-14.869440i=69,sita1i=21.676991 ,sita2i=0.471369 ,sita3i=2.257219 ,omigar2i=1.257870 ,omgiar3i=2.445282 ,epsl2i=16.070768 , epsl3i=-21.891041i=70,sita1i=21.991150 ,sita2i=0.516095 ,sita3i=2.319940 ,omigar2i=1.713349 ,omgiar3i=1.713342 ,epsl2i=13.956070 , epsl3i=-26.448503i=71,sita1i=22.305307 ,sita2i=0.471369 ,sita3i=2.257219 ,omigar2i=2.170589 ,omgiar3i=0.54135