機(jī)械原理課程設(shè)計(jì)鉸鏈?zhǔn)筋€式破碎機(jī)說明書

1、東北大學(xué)機(jī)械原理課程設(shè)計(jì)鉸鏈?zhǔn)筋€式破碎機(jī)方案分析機(jī)械原理課程設(shè)計(jì)說明書題目： 鉸鏈?zhǔn)筋€式破碎機(jī)方案分析 班 級 ：姓 名 ： 學(xué) 號 ：指導(dǎo)教師 ： 成 績 ：2015年 10月 28 日21目 錄 一 設(shè)計(jì)題目1二 已知條件及設(shè)計(jì)要求12.1已知條件12.2設(shè)計(jì)要求2三. 機(jī)構(gòu)的結(jié)構(gòu)分析23.1六桿鉸鏈?zhǔn)狡扑闄C(jī)23.2四桿鉸鏈?zhǔn)狡扑闄C(jī)3四. 機(jī)構(gòu)的運(yùn)動分析34.1六桿鉸鏈?zhǔn)筋€式破碎機(jī)的運(yùn)動分析34.2四桿鉸鏈?zhǔn)筋€式破碎機(jī)的運(yùn)動分析6五.機(jī)構(gòu)的動態(tài)靜力分析95.1六桿鉸鏈?zhǔn)筋€式破碎機(jī)的靜力分析95.2四桿鉸鏈?zhǔn)筋€式破碎機(jī)的靜力分析14六. 工藝阻力函數(shù)及飛輪的轉(zhuǎn)動慣量函數(shù) 126.1工藝阻力函

2、數(shù)程序 196.2飛輪的轉(zhuǎn)動慣量函數(shù)程序20七 .對兩種機(jī)構(gòu)的綜合評價(jià)20八 . 主要的收獲和建議20九 . 參考文獻(xiàn)21一 設(shè)計(jì)題目 鉸鏈?zhǔn)筋€式破碎機(jī)方案分析二 已知條件及設(shè)計(jì)要求2.1 已知條件圖 1六桿鉸鏈?zhǔn)狡扑闄C(jī)圖 2工藝阻力圖 3四桿鉸鏈?zhǔn)狡扑闄C(jī)圖(a)所示為六桿鉸鏈?zhǔn)狡扑闄C(jī)方案簡圖。主軸1的轉(zhuǎn)速為n1 = 170r/min，各部尺寸為：lO1A = 0.1m, lAB = 1.250m, lO3B = 1m, lBC = 1.15m, lO5C = 1.96m, l1=1m, l2=0.94m, h1=0.85m, h2=1m。各構(gòu)件質(zhì)量和轉(zhuǎn)動慣量分別為：m2 = 500kg, J

3、s2 = 25.5kgm2, m3 = 200kg, Js3 = 9kgm2, m4 = 200kg, Js4 = 9kgm2, m5=900kg, Js5=50kgm2, 構(gòu)件1的質(zhì)心位于O1上，其他構(gòu)件的質(zhì)心均在各桿的中心處。D為礦石破碎阻力作用點(diǎn)，設(shè)LO5D = 0.6m，破碎阻力Q在顎板5的右極限位置到左極限位置間變化，如圖(b)所示，Q力垂直于顎板。圖(c)是四桿鉸鏈?zhǔn)筋€式破碎機(jī)方案簡圖。主軸1 的轉(zhuǎn)速n1=170r/min。lO1A = 0.04m, lAB = 1.11m, l1=0.95m, h1=2m, lO3B=1.96m，破碎阻力Q的變化規(guī)律與六桿鉸鏈?zhǔn)狡扑闄C(jī)相同，Q力垂

4、直于顎板O3B，Q力作用點(diǎn)為D，且lO3D = 0.6m。各桿的質(zhì)量、轉(zhuǎn)動慣量為m2 = 200kg, Js2=9kgm2，m3 = 900kg, Js3=50kgm2。曲柄1的質(zhì)心在O1 點(diǎn)處，2、3構(gòu)件的質(zhì)心在各構(gòu)件的中心。2.2 設(shè)計(jì)要求試比較兩個方案進(jìn)行綜合評價(jià)。主要比較以下幾方面：1. 進(jìn)行運(yùn)動分析，畫出顎板的角位移、角速度、角加速度隨曲柄轉(zhuǎn)角的變化曲線。2. 進(jìn)行動態(tài)靜力分析，比較顎板擺動中心運(yùn)動副反力的大小及方向變化規(guī)律，曲柄上的平衡力矩大小及方向變化規(guī)律。3. 飛輪轉(zhuǎn)動慣量的大小。三 機(jī)構(gòu)的結(jié)構(gòu)分析3.1六桿鉸鏈?zhǔn)狡扑闄C(jī)六桿鉸鏈?zhǔn)椒鬯闄C(jī)拆分為機(jī)架和主動件，構(gòu)件組成的RRR桿組，

5、構(gòu)件組成的RRR桿組。3.2四桿鉸鏈?zhǔn)狡扑闄C(jī)四桿鉸鏈?zhǔn)狡扑闄C(jī)拆分為機(jī)架和主動件，構(gòu)件組成的RRR桿組。四 機(jī)構(gòu)的運(yùn)動分析4.1六桿鉸鏈?zhǔn)筋€式破碎機(jī)的運(yùn)動分析（1）分析調(diào)用bark函數(shù)對主動件進(jìn)行運(yùn)動分析。見表4.1。調(diào)用rrrk函數(shù)對由構(gòu)件組成的RRR桿組進(jìn)行運(yùn)動分析。見表4.2。調(diào)用rrrk函數(shù)對由構(gòu)件組成的RRR桿組進(jìn)行運(yùn)動分析。見表4.3。表4.1形式參數(shù)n1n2n3kr1r2gamtwepvpap實(shí)值1201r120.00.0twepvpap表4.2形式參數(shù)mn1n2n3k1k2r1r2twepvpap實(shí)值142332r34r23twepvpap表4.3形式參數(shù)mn1n2n3k1k2r

6、1r2twepvpap實(shí)值136545,r35r56twepvpap（2）編寫程序/* Note:Your choice is C IDE */#include graphics.h#include subk.c#include draw.cmain() static double p202,vp202,ap202,del; static double t10,w10,e10,tdraw370,wdraw370,edraw370; static int ic; double r12,r23,r34; double pi,dr; int i; FILE * fp; char * m=p,vp,a

7、p; pi=4.0*atan(1.0); dr=pi/180.0; r12=0.04; r23=1.11; r34=1.96; w1=17*pi/3; e1=0.0; del=1; p11=0.0; p12=0.0; p41=-0.95; p42=2.0; printf(n The kinematic parameters of point 3n); printf(No THETAL T3 W3 E3n); printf( deg m m/s m/s/sn); if(fp=fopen(6666yundong,w)=NULL) printf(Cant open this file.n); exi

8、t(0); fprintf(fp,n The Kinematic Parameters of Point 3n); printf(No THETAL T3 W3 E3n); printf( deg m m/s m/s/sn); ic=(int)(360.0/del); for(i=0;i=ic;i+) t1=(i)*del*dr; bark(1,2,0,1,r12,0.0,0.0,t,w,e,p,vp,ap); rrrk(1,2,4,3,2,3,r23,r34,t,w,e,p,vp,ap); printf(n%2d%12.3f%12.3f%12.3f%12.3f,i+1,t1/dr,t3,w3

9、,e3);fprintf(fp,n%2d%12.3f%12.3f%12.3f%12.3f,i+1,t1/dr,t3,w3,e3); tdrawi=t3; wdrawi=w3; edrawi=e3; if(i%16)=0)getch(); fclose(fp); getch(); draw1(del,tdraw,wdraw,edraw,ic,m);（3）運(yùn)行結(jié)果The Kinematic Parameters of Point 3 1 0.000 -1.632 -0.014 -6.232 2 15.000 -1.632 -0.105 -5.988 3 30.000 -1.635 -0.189 -

10、5.375 4 45.000 -1.638 -0.261 -4.415 5 60.000 -1.642 -0.317 -3.149 6 75.000 -1.647 -0.352 -1.639 7 90.000 -1.653 -0.364 0.030 8 105.000 -1.658 -0.351 1.746 9 120.000 -1.663 -0.313 3.38410 135.000 -1.667 -0.253 4.80711 150.000 -1.670 -0.174 5.89412 165.000 -1.672 -0.082 6.54513 180.000 -1.672 0.016 6.

11、70314 195.000 -1.671 0.113 6.35815 210.000 -1.669 0.201 5.54416 225.000 -1.666 0.274 4.33917 240.000 -1.661 0.327 2.84818 255.000 -1.656 0.357 1.19219 270.000 -1.651 0.362 -0.50120 285.000 -1.646 0.343 -2.11721 300.000 -1.641 0.301 -3.55322 315.000 -1.637 0.240 -4.73123 330.000 -1.634 0.163 -5.59124

12、 345.000 -1.632 0.077 -6.09825 360.000 -1.632 -0.014 -6.232圖 1六桿機(jī)構(gòu)顎板角位置、角速度、角加速度隨曲柄轉(zhuǎn)角的變化曲線4.2四桿鉸鏈?zhǔn)筋€式破碎機(jī)的運(yùn)動分析（1）分析調(diào)用bark函數(shù)對主動件進(jìn)行運(yùn)動分析。見表4.4。調(diào)用rrrk函數(shù)對由構(gòu)件組成的RRR桿組進(jìn)行運(yùn)動分析。見表4.5。表4.4形式參數(shù)n1n2n3kr1r2gamtwePvpap實(shí)值1201r120.00.0twePvpap表4.5形式參數(shù)mn1n2n3k1k2r1r2twepvpap實(shí)值124323r23r34twepvpap（2）編寫程序/* Note:Your cho

13、ice is C IDE */#include graphics.h#include subk.c#include draw.cmain() static double p202,vp202,ap202,del; static double t10,w10,e10,tdraw370,wdraw370,edraw370; static int ic; double r12,r23,r34; double pi,dr; int i; FILE * fp; char * m=p,vp,ap; pi=4.0*atan(1.0); dr=pi/180.0; r12=0.04; r23=1.11; r34

14、=1.96; w1=17*pi/3; e1=0.0; del=1; p11=0.0; p12=0.0; p41=-0.95; p42=2.0; printf(n The kinematic parameters of point 3n); printf(No THETAL T3 W3 E3n); printf( deg m m/s m/s/sn); if(fp=fopen(4444yundong,w)=NULL) printf(Cant open this file.n); exit(0); fprintf(fp,n The Kinematic Parameters of Point 3n);

15、 printf(No THETAL T3 W3 E3n); printf( deg m m/s m/s/sn); ic=(int)(360.0/del); for(i=0;i=ic;i+) t1=(i)*del*dr; bark(1,2,0,1,r12,0.0,0.0,t,w,e,p,vp,ap); rrrk(1,2,4,3,2,3,r23,r34,t,w,e,p,vp,ap);printf(n%2d%12.3f%12.3f%12.3f%12.3f,i+1,t1/dr,t3,w3,e3);fprintf(fp,n%2d%12.3f%12.3f%12.3f%12.3f,i+1,t1/dr,t3,

16、w3,e3); tdrawi=t3; wdrawi=w3; edrawi=e3; if(i%16)=0)getch(); fclose(fp); getch(); draw1(del,tdraw,wdraw,edraw,ic,m);（3）運(yùn)行結(jié)果 The Kinematic Parameters of Point 3 1 0.000 -1.632 -0.014 -6.232 2 15.000 -1.632 -0.105 -5.988 3 30.000 -1.635 -0.189 -5.375 4 45.000 -1.638 -0.261 -4.415 5 60.000 -1.642 -0.31

17、7 -3.149 6 75.000 -1.647 -0.352 -1.639 7 90.000 -1.653 -0.364 0.030 8 105.000 -1.658 -0.351 1.746 9 120.000 -1.663 -0.313 3.38410 135.000 -1.667 -0.253 4.80711 150.000 -1.670 -0.174 5.89412 165.000 -1.672 -0.082 6.54513 180.000 -1.672 0.016 6.70314 195.000 -1.671 0.113 6.35815 210.000 -1.669 0.201 5

18、.54416 225.000 -1.666 0.274 4.33917 240.000 -1.661 0.327 2.84818 255.000 -1.656 0.357 1.19219 270.000 -1.651 0.362 -0.50120 285.000 -1.646 0.343 -2.11721 300.000 -1.641 0.301 -3.55322 315.000 -1.637 0.240 -4.73123 330.000 -1.634 0.163 -5.59124 345.000 -1.632 0.077 -6.09825 360.000 -1.632 -0.014 -6.2

19、32圖 2四桿機(jī)構(gòu)顎板角位置、角速度、角加速度隨曲柄轉(zhuǎn)角的變化曲線五 機(jī)構(gòu)的動態(tài)靜力分析5.1 六桿鉸鏈?zhǔn)筋€式破碎機(jī)的靜力分析（1）分析調(diào)用bark函數(shù)對主動件進(jìn)行運(yùn)動分析。見表4.1。調(diào)用rrrk函數(shù)對由構(gòu)件組成的RRR桿組進(jìn)行運(yùn)動分析。見表4.2。調(diào)用rrrk函數(shù)對由構(gòu)件組成的RRR桿組進(jìn)行運(yùn)動分析。見表4.3。構(gòu)件的質(zhì)心7運(yùn)動參數(shù)。見表5.1。構(gòu)件的質(zhì)心8運(yùn)動參數(shù)。見表5.2。構(gòu)件的質(zhì)心9運(yùn)動參數(shù)。見表5.3。構(gòu)件的質(zhì)心10運(yùn)動參數(shù)。見表5.4。阻力的作用點(diǎn)11運(yùn)動參數(shù)。見表5.5。調(diào)用rrrf對由桿組成的RRR桿組進(jìn)行靜力分析。見表5.6。調(diào)用rrrf對由桿組成的RRR桿組進(jìn)行靜力分析

20、。見表5.7。調(diào)用barf對主動件進(jìn)行靜力分析。見表5.8。表5.1形式參數(shù)n1n2n3kr1r2gamtwepvpap實(shí)值20720.0r270.0twepvpap表5.2形式參數(shù)n1n2n3kr1r2gamtwepvpap實(shí)值40830.0r480.0twepvpap表5.3形式參數(shù)n1n2n3kr1r2gamtwepvpap實(shí)值30940.0r390.0twepvpap表5.4形式參數(shù)n1n2n3kr1r2gamtwepvpap實(shí)值601050.0r6100.0twepvpap表5.5形式參數(shù)n1n2n3kr1r2gamtwepvpap實(shí)值601150.0r6110.0twepvpap表

21、5.6形式參數(shù)n1n2n3ns1ns2nn1nn2nexfk1k2pvpaptwefr實(shí)值3659100111145pvpaptwefr表5.7形式參數(shù)n1n2n3ns1ns2nn1nn2nexfk1k2pvpaptwefr實(shí)值4238730032pvpaptwefr表5.8形式參數(shù)n1ns1nn1k1papefrtb實(shí)值1121papefr&tb（2）編寫程序#include graphics.h#include subk.c#include subf.c#include draw.cmain() static double p202,vp202,ap202,del; static doub

22、le t10,w10,e10; static double sita1370,fr1draw370,sita2370,fr2draw370,sita3370,fr3draw370,tbdraw370,tb1draw370; static double fr202,fe202; static int ic; double r12,r23,r34,r35,r56; double r27,r48,r39,r610,r611; int i; double pi,dr; double fr6,bt6,we1,we2,we3,we4,we5,tb,tb1; FILE*fp; sm1=0.0;sm2=500

23、.0;sm3=200.0;sm4=200.0;sm5=900.0; sj1=0.0;sj2=25.5;sj3=9.0;sj4=9.0;sj5=50.0; r12=0.1; r23=1.25; r34=1.0; r35=1.15;r56=1.96; r27=r23/2; r48=r34/2; r39=r35/2; r610=r56/2; r611=0.6; pi=4.0*atan(1.0); dr=pi/180.0; w1=-17*pi/3; e1=0.0; del=15; p11=0.0; p12=0.0; p41=0.94; p42=-1.0; p61=-1.0; p62=0.85; pri

24、ntf(n The Kineto-static Analysis of a Six-bar Linkasen); printf(NO HETA1 fr6 bt6 tb tb1n); printf( deg N deg N.m (N.m)n); if(fp=fopen(6666li.txt,w)=NULL) printf(Cant open this file./n); exit(0); fprintf(fp,n The Kineto-static Analysis of a Six-bar Linkasen); fprintf(fp,NO HETA1 fr6 bt6 tb tb1n); fpr

25、intf(fp, deg N deg N.m (N.m)n); ic=(int)(360.0/del); for(i=0;i=ic;i+) t1=(-i)*del*dr; bark(1,2,0,1,r12,0.0,0.0,t,w,e,p,vp,ap); rrrk(1,4,2,3,3,2,r34,r23,t,w,e,p,vp,ap); rrrk(1,3,6,5,4,5,r35,r56,t,w,e,p,vp,ap); bark(2,0,7,2,0.0,r27,0.0,t,w,e,p,vp,ap); bark(4,0,8,3,0.0,r48,0.0,t,w,e,p,vp,ap); bark(3,0,

26、9,4,0.0,r39,0.0,t,w,e,p,vp,ap); bark(6,0,10,5,0.0,r610,0.0,t,w,e,p,vp,ap); bark(6,0,11,5,0.0,r611,0.0,t,w,e,p,vp,ap); rrrf(3,6,5,9,10,0,11,11,4,5,p,vp,ap,t,w,e,fr); rrrf(4,2,3,8,7,3,0,0,3,2,p,vp,ap,t,w,e,fr); barf(1,1,2,1,p,ap,e,fr,&tb); fr6=sqrt(fr61*fr61+fr62*fr62); bt6=atan2(fr62,fr61); we1=-(ap1

27、1*vp11+(ap12+9.81)*vp12)*sm1-e1*w1*sj1; we2=-(ap71*vp71+(ap72+9.81)*vp72)*sm2-e2*w2*sj2; we3=-(ap81*vp81+(ap82+9.81)*vp82)*sm3-e3*w3*sj3; we4=-(ap91*vp91+(ap92+9.81)*vp92)*sm4-e4*w4*sj4; extf(p,vp,ap,t,w,e,11,fe); we5=-(ap101*vp101+(ap102+9.81)*vp102)*sm5-e5*w5*sj5+fe111*vp111+fe112*vp112; tb1=-(we1

28、+we2+we3+we4+we5)/w1; printf(%3d %10.3f %10.3f %10.3f %10.3f %10.3f n,i+1,t1/dr,fr6,bt6/dr,tb,tb1); fprintf(fp,%3d %10.3f %10.3f %10.3f %10.3f %10.3f n,i+1,t1/dr,fr6,bt6/dr,tb,tb1); tbdrawi=tb; tb1drawi=tb1; fr1drawi=fr6;sita1i=bt6; fr2drawi=fr6;sita2i=bt6; fr3drawi=fr6;sita3i=bt6; if(i%16)=0)getch(

29、); fclose(fp); getch(); draw2(del,tbdraw,tb1draw,ic); draw3(del,sita1,fr1draw,sita2,fr2draw,sita3,fr3draw,ic); #include math.hextf(p,vp,ap,t,w,e,nexf,fe) double p202,vp202,ap202,t10,w10,e10,fe202; double pi,dr; pi=4.0*atan(1.0); dr=pi/180.0; if(w50) fenexf1=(-t1/dr-90.0)*(85000.0/183.0)*cos(-t5-pi/2

30、); fenexf2=-(-t1/dr-90.0)*(85000.0/183.0)*sin(-t5-pi/2); elsefenexf1=0;fenexf2=0; 圖 3六桿機(jī)構(gòu)曲柄上的平衡力矩的變化規(guī)律圖 4六桿機(jī)構(gòu)顎板擺動中心運(yùn)動副反力的大小及方向變化規(guī)律5.2四桿鉸鏈?zhǔn)筋€式破碎機(jī)的靜力分析（1）分析調(diào)用bark函數(shù)對主動件進(jìn)行運(yùn)動分析。見表4.4。調(diào)用rrrk函數(shù)對由構(gòu)件組成的RRR桿組進(jìn)行運(yùn)動分析。見表4.5。各構(gòu)件的質(zhì)心5運(yùn)動參數(shù)。見表5.9。各構(gòu)件的質(zhì)心6運(yùn)動參數(shù)。見表5.10。阻力的作用點(diǎn)7運(yùn)動參數(shù)。見表5.11。調(diào)用rrrf對由桿組成的RRR桿組進(jìn)行靜力分析。見表5.12。調(diào)用

31、barf對主動件進(jìn)行靜力分析。見表5.13。表5.9 形式參數(shù)n1n2n3kr1r2gamtwepvpap實(shí)值20520.0r250.0twepvpap表5.10形式參數(shù)n1n2n3kr1r2gamtwepvpap實(shí)值40630.0r460.0twepvpap表5.11 形式參數(shù)n1n2n3kr1r2gamtwepvpap實(shí)值40730.00.60.0twepvpap表5.12形式參數(shù)n1n2n3ns1ns2nn1nn2nexfk1k2pvpaptwefr實(shí)值2435607723pvpaptwefr表5.13形式參數(shù)n1ns1nn1k1papefrtb實(shí)值1121papefr&tb（2）編寫程

32、序/* Note:Your choice is C IDE */#include graphics.h#includesubk.c#includesubf.c#include draw.cmain() static double p202,vp202,ap202,del; static double t10,w10,e10; static double sita1370,fr1draw370,sita2370,fr2draw370,sita3370,fr3draw370,tbdraw370,tb1draw370; static double fr202,fe202; static int ic

33、; double r12,r23,r34,r25,r46,r47; double pi,dr; double fr1,fr4,bt1,bt4,we1,we2,we3,tb,tb1; int i; FILE * fp; char * m=tb,tb1,fr1,fr2; sm1=0.0;sm2=200;sm3=900; sj1=0.0;sj2=9.0;sj3=50.0; pi=4.0*atan(1.0); dr=pi/180.0; r12=0.04; r23=1.11; r34=1.96;r47=0.6;r25=0.555;r46=0.98; w1=17*pi/3; e1=0.0; del=1;

34、p11=0.0; p12=0.0; p41=-0.95; p42=2.0; printf(n The Kineto-static Analysis of a Six-bar Linkasen); printf(No HETAL fr4 sital bt4 sital tb tb1n); printf( deg N deg N.m (N.m)n); if(fp=fopen(filel,w)=NULL) printf(Cant open this file./n); exit(0); fprintf(fp,n The Kineto-static Analysis of a Six-bar Link

35、asen);fprintf(fp,NO THETA1 fr4 sital bt4 sital tb tb1n);fprintf(fp, deg N deg N.m (N.m)n); ic=(int)(360.0/del); for(i=0;i=ic;i+) t1=(i)*del*dr; bark(1,2,0,1,r12,0.0,0.0,t,w,e,p,vp,ap); rrrk(1,2,4,3,2,3,r23,r34,t,w,e,p,vp,ap); bark(2,0,5,2,0.0,r25,0.0,t,w,e,p,vp,ap); bark(4,0,6,3,0.0,r46,0.0,t,w,e,p,

36、vp,ap); bark(4,0,7,3,0.0,0.6,0.0,t,w,e,p,vp,ap); rrrf(2,4,3,5,6,0,7,7,2,3,p,vp,ap,t,w,e,fr); barf(1,1,2,1,p,ap,e,fr,&tb); fr1=sqrt(fr11*fr11+fr12*fr12); bt1=atan2(fr12,fr11); fr4=sqrt(fr41*fr41+fr42*fr42); bt4=atan2(fr42,fr41); we1=-(ap11*vp11+(ap12+9.81)*vp12)*sm1-e1*w1*sj1; we2=-(ap51*vp51+(ap52+9

37、.81)*vp52)*sm2-e2*w2*sj2; extf(p,vp,ap,t,w,e,7,fe); we3=-(ap61*vp61+(ap62+9.81)*vp62)*sm3-e3*w3*sj3+fe71*vp71+fe72*vp72; tb1=-(we1+we2+we3)/w1; printf(%3d %10.3f %10.3f %10.3f %10.3f %10.3f n,i+1,t1/dr,fr4,bt4/dr,tb,tb1); fprintf(fp,%3d %10.3f %10.3f %10.3f %10.3f %10.3f n,i+1,t1/dr,fr4,bt4/dr,tb,tb

38、1); tbdrawi=tb; tb1drawi=tb1; fr1drawi=fr4; sita1i=bt4; fr2drawi=fr4; sita2i=bt4; fr3drawi=fr4; sita3i=bt4; if(i%16)=0)getch(); fclose(fp); getch(); draw2(del,tbdraw,tb1draw,ic,m); draw3(del,sita1,fr1draw,sita2,fr2draw,sita3,fr3draw,ic,m); #include math.hextf(p,vp,ap,t,w,e,nexf,fe) double p202,vp202

39、,ap202,t10,w10,e10,fe202; double pi,dr; pi=4.0*atan(1.0); dr=pi/180.0; if(w30) fenexf1=(-t1/dr-3.0)*(85000.0/180.0)*cos(-t3-pi/2); fenexf2=-(-t1/dr-3.0)*(85000.0/180.0)*sin(-t3-pi/2); elsefenexf1=0;fenexf2=0; （3）運(yùn)行結(jié)果 The Kineto-static Analysis of a Six-bar LinkaseNO THETA1 fr4 sital bt4 sital tb tb1

40、 deg N deg N.m (N.m) 1 0.000 10023.002 97.295 46.864 46.864 2 15.000 10179.916 68.512 63.999 63.999 3 30.000 12605.379 45.171 26.103 26.103 4 45.000 16447.933 30.391 -66.275 -66.275 5 60.000 21034.103 21.189 -203.233 -203.233 6 75.000 26031.225 15.110 -365.182 -365.182 7 90.000 31267.929 10.859 -524

41、.226 -524.226 8 105.000 36634.610 7.776 -647.711 -647.711 9 120.000 42045.228 5.512 -703.792 -703.792 10 135.000 47425.423 3.872 -668.062 -668.062 11 150.000 52711.744 2.730 -529.459 -529.459 12 165.000 57855.056 1.994 -293.570 -293.570 13 180.000 9876.254 70.487 -29.962 -29.962 14 195.000 10039.491

42、 71.586 14.965 14.965 15 210.000 10179.909 73.779 45.788 45.788 16 225.000 10292.083 76.834 54.093 54.093 17 240.000 10375.423 80.484 38.920 38.920 18 255.000 10432.077 84.456 6.496 6.496 19 270.000 10465.335 88.490 -32.135 -32.135 20 285.000 10478.413 92.343 -64.615 -64.615 21 300.000 10473.492 95.802 -80.727 -80.727 22 315.000 10451.097 98.687 -74.894 -74.894 23 330.000 10410.008 100.858 -47.249 -47.249 24 345.000 10347.725 102.212 -3.290 -3.290