壓床連桿機構的設計及運動分析_機械原理課程設計

1、機械原理課程設計說明書設計題目：壓床連桿機構地設計及運動分析（方案一）指導教師：王春華郝志勇院系：機械工程學院班級：礦電11-3姓名：李建霖學號： 11072503112013 年 7 月 4 日遼寧工程技術大學機械原理課程設計任務書（三）姓名 李建霖 專業(yè) 礦山機電班級 礦電 11-3 學號 1107250311一、設計題目：壓床連桿機構地設計及運動分析、系統(tǒng)簡圖：S3C52X2三、工作條件Z2CHZ1Z4Z6Z5Z1C，Z6堂（凸輪已知：中心距 X1、X2、y ,構件3地上、下極限角 "、3 ,滑塊地沖程 H,比值CE EFCD、DE ,各構件重心s地位置，曲柄每分鐘轉數(shù)n1.四

2、、原始數(shù)據(jù)連桿機構地設計及運動分析mm°mmMnXiX2y中3(D IF 3HCECDEFDEn1BS2BC_DS3 DE50140220601201501/21/41001/21/2五、要求:1）設計連桿機構，作機構運動簡圖（選擇適當?shù)乇壤咦髟贏2圖紙上）、滑塊地運動線圖（位移、速度和加速度曲線）.編程繪制或用坐標紙描點，并將其粘于運動簡圖地圖紙上.2）用C語言編寫程序對機構進行運動分析，并打印出程序及計算結果 3）編寫出設計計算說明書.指導教師：王春華郝志勇完成日期：2013年7月4日開始日期：2013年6月29日目錄1. 設計任務及要求2. 數(shù)學模型地建立3 程序框圖4 程序

3、清單及運行結果5 參考文獻1 設計任務及要求已知：中心距x1 =50mm, x2 =140mm,y=220mm, 構件 3 地上、下極限角=6度，0廠 鎮(zhèn)20滑塊地沖程 H=150mm,比值 CE/CD=1/2 , EF/DE=1/4 ,各構件重心 S地位置,n1=100r/min.要求 :1:設計連桿機構,作機械運動簡圖（選擇適當?shù)乇壤撸?機構兩個位置地速度多邊形和加速度多邊形,滑塊地運動線圖（位移,速度和加速度曲線）.2:用C 語言編寫程序對機構進行運動分析,并打印出程序及計算結果.3:編寫出設計計算說明書2.數(shù)學模型如圖，四個向量組成地封閉四邊行，于是有Zl + Z2 + Z3 + Z

4、4 = 0( 1 )按復數(shù)式可以寫成a(cosi 1i sin1 1)b(cos1 2i sin1 2) c(cos1 3i sin1 3) d(cos1 4i sin1 4)= 011223344由于g 4=0：上式可化簡為a(cos日 d +i sine J +b(cose 0 +i sine) -c(cose +i sine J d = 0(2)11'2233根據(jù)(2)式中實部、虛部分別等于零得a cose 1 +bcose 9 -ccose q d =0(3)123a sine+bsind - -csinQ ° = 0(4)123(3)、(4)式聯(lián)立消去0 2得 22

5、22(2accos1 1 2cd)cosi 3 (2acsin1 1)sini 3 = ( q d -b -2ad cos1 1) 2222-，令：L1 =2accos1 1-2cd，M 1 =2acsini 1, N1 =a q d b - 2ad cos 1,則(5)式可化簡為L1cos9 3 + M 1sine 3= N1(6)解之得同理，根據(jù)(3)(二 -arcsin -2L22其L2 =2abc 1 1 - 2bd, M4)式消去日可解得 3N 2.L2/ Q、-arcsin 1(8)222M2L2 M2中：22222 =2absI1，N2 )一會 c Y -b 2adei 1,sa

6、 , = arcsin , N1- arcsin , L1(7)32222'M 1(7) (8)式為c、b桿地角位移方程.由于日、0。都是時間地函數(shù)，為簡便，將(3)、 32(4)式對時間求導，得as* 3 -二 10 2 二八.八；一伊1，bsin12 - 1 3(9)將(2)式對時間數(shù)得a ； 1sin 13 a .2221 COS113b . 2cos13- 1 2c ' 3、1132323,(10)bsin 1 3 - 1 2222-a ； 1sin 1 1 - 1 2 - a . 1 cos1 12 -b 2 c 3cos1 2 - 1 3(11)曲柄可近似看成勻角速

7、度轉動，即；1 = 0.3程序框圖程序設計時，一般 日°是未知量而出，已知且為常數(shù)，它們關系為e ,(t)=6 4,取相等時3111間間隔& ,則e 1i =6 1 dt i ,其中I=1,2,，NK/整數(shù)，At = 2n /(N0 1)，設計程序算法(表示N- S流程圖)如下：輸入a,b,c,d,81，輸入 N作循環(huán)，F(xiàn)or(i=0。i<N。i+)依次計算日2力3出2心3, W 2,名3將計算地102f 32® 3,w2,w3結果分別存入數(shù)組或文件中 232323按格式輸出所有計算結果初始化圖形系統(tǒng)繪制直角坐標系直角坐標系下分別繪出角位移、角速度、角加速度圖

8、象4程序清單及運行結果(1)序清單程#include "stdio.h"#include "math.h"#include "stdlib.h"#include "conio.h"#include "graphics.h"#define pi 3.141592653#define N 100void init_graph(void)。void initview()。void draw()。floatsita1N+1,sita2N+1,sita3N+1, omigar2N+1,omigar3N+1

9、,epsl2N+1,epsl3N+1 float a=50,b=231,c=155,d=255.5,n=100,ipsl1=0 。main() int i,k 。float l1,l2,m1,m2,n1,n2 。float theta1,detat。float theta2,theta3,omiga2,omiga3,ipsl2,ipsl3,omiga1=2*pi*n/60 。detat=10*pi/(N*omiga1) 。for(i=0 。 i<=N 。 i+)theta1=omiga1*detat*i 。/* 系數(shù)計算*/l1=2*a*c*cos(theta1)-2*c*d 。m1=2

10、*a*c*sin(theta1) 。n1=a*a+c*c+d*d-b*b-2*a*d*cos(theta1) 。l2=2*a*b*cos(theta1)-b*d*2 。m2=2*a*b*sin(theta1) 。n2=c*c-a*a-b*b-d*d+2*a*d*cos(theta1) 。/* 計算轉角*/theta2=asin(n2/sqrt(l2*l2+m2*m2)-asin(l2/sqrt(l2*l2+m2*m2)。theta3=asin(n1/sqrt(l1*l1+m1*m1)-asin(l1/sqrt(l1*l1+m1*m1)。/* 計算角速度*/omiga2=omiga1*a*sin

11、(theta3-theta1)/(b*sin(theta2-theta3) 。omiga3=omiga1*a*sin(theta1-theta2)/(c*sin(theta3-theta2) 。/* 計算角加速度*/*ipsl2*/ipsl2=a*ipsl1*sin(theta1-theta3)+a*omiga1*omiga1*cos(theta1-theta3) 。ipsl2+=b*omiga2*omiga2*cos(theta3-theta2)-c*omiga3*omiga3 。ipsl2=ipsl2/(b*sin(theta3-theta2) 。/*ispl3*/ipsl3=-a*ips

12、l1*sin(theta1-theta2)-a*omiga1*omiga1*cos(theta1-theta2) 。ipsl3-=b*omiga2*omiga2-c*omiga3*omiga3*cos(theta2-theta3) 。ipsl3=ipsl3/(c*sin(theta2-theta3) 。/* 計算結果存入數(shù)組中*/sita1i=theta1 。sita2i=theta2 。sita3i=theta3 。omigar2i=omiga2 。omigar3i=omiga3 。epsl2i=ipsl2 。epsl3i=ipsl3 。/* 輸出運算結果*/for(i=0 。 i<=

13、N 。 i+)printf("i=%dn,sita1i=%ft,sita2i=%ft,sita3i=%ft,omigar2i=%ft,omgiar3i=%ft, epsl2i=%ft,epsl3i=%fnn",i,sita1i,sita2i,sita3i,omigar2i,omigar3i,epsl2i,epsl3i)init_graph() 。 /*初始化圖形系統(tǒng)*/initview() 。 /* 建立坐標系*/* 畫構件 2 地角位移、角速度、角加速度*/draw(sita2,180,25)。setcolor(WHITE) 。setlinestyle(1,1,1)。dr

14、aw(omigar2,160,15) 。setcolor(RED) 。setlinestyle(2,1,1)。draw(epsl2,170,1) 。/* 畫構件 3 地角位移、角速度、角加速度*/setcolor(YELLOW) 。draw(sita3,350,10)。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(&

15、gd,&gmode,"c:turboc2") 。void initview()int i,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+i*150 。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(

16、px,py-100,px+3,py-100+5) 。line(px+300,py,px+300-5,py+3) 。line(px+300,py,px+300-5,py-3) 。setcolor(YELLOW) 。settextstyle(1,HORIZ_DIR,2) 。outtextxy(px+300,py,"t") 。 void draw(array,py,scale)/*array要做圖地數(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

17、(i=0 。 i<=N 。 i+) x=100+300*i/N 。y=py+arrayi*scale 。lineto(x,y) 。( 2)運行結果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 ,epsl2

18、i=14.539609, epsl3i=46.831387i=2,sita1i=1.256637,sita2i=0.466770,sita3i=1.796932 ,omigar2i=-1.205756 ,omgiar3i=2.450480 ,epsl2i=17.172018, epsl3i=26.364237 i=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

19、,sita2i=0.440982,sita3i=2.164982 ,omigar2i=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=2.306

20、503 ,omgiar3i=-0.637612 ,epsl2i=-1.736713, 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

21、 , epsl3i =-8.372518i=9,sita1i=5.654867,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,s

22、ita2i=0.569978,sita3i=1.610014 ,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=-0.21

23、2844 ,omgiar3i=3.357970 ,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, epsl3

24、i=-26.448486i=16,sita1i=10.053097 ,sita2i=0.440982 ,sita3i=2.174982 ,omigar2 i=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,si

25、ta2i=0.466770,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 ,omiga

26、r2i=-2.546687 ,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

27、.172078, 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=15.70796

28、4,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 ,omigar2 i=2.306503 ,omgiar3i=-0.637616 ,epsl2i=-1.746741 ,epsl3i=-27.156670i=27,sita1i=16.964602,sita2i=0.424542,sita3i=1.978575 ,omiga

29、r2i=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=-3.462714 ,e

30、psl2i=-25.616678 , epsl3i=13.967146i=30,sita1i=18.849556,sita2i=0.719301,sita3i=1.782561i=-2.546686 ,omgiar3i=-2.546686 ,epsl2i=-7.127796,=37.854820i=31,sita1i=19.477875,sita2i=0.569978,sita3i=1.710015i=-2.211644 ,omgiar3i=0.216770 ,epsl2i=14.539609 =46.831379i=32,sita1i=20.106194,sita2i=0.466770,si

31、ta3i=1.796932i=-1.205755 ,omgiar3i=2.470481 ,epsl2i=17.172018 =26.364218i=33,sita1i=20.734512,sita2i=0.424542,sita3i=1.978575i=-0.212844 ,omgiar3i=3.357970 ,epsl2i=16.139238 =3.775570i=34,sita1i=21.362831,sita2i=0.440982,sita3i=2.174982i=0.765699 ,omgiar3i=3.001987 ,epsl2i=16.539722 =-14.869440i=35,

32、sita1i=21.991150,sita2i=0.516095,sita3i=2.319940i=1.713349 ,omgiar3i=1.713342 ,epsl2i=13.956070 =-26.448503i=36,sita1i=22.619467,sita2i=0.440982,sita3i=2.174982i=2.306503 ,omgiar3i=-0.637611 ,epsl2i=-1.736702,=-27.156677i=37,sita1i=23.247786,sita2i=0.424542,sita3i=1.978575i=1.504626 ,omgiar3i=-2.497

33、895 ,epsl2i=-22.062284 =-20.567085i=38,sita1i=23.876104,sita2i=0.466770,sita3i=1.796932,omigar2epsl3i,omigar2epsl3i,omigar2epsl3i,omigar2epsl3i,omigar2epsl3i,omigar2epsl3i,omigar2epsl3i,omigar2epsl3i,omigar2epsl3ii=-0.206067 ,omgiar3i=-3.437850 ,epsl2i=-32.642590 =-8.372516i=39,omigar2epsl3i,sita1i=

34、24.504423,sita2i=0.569978,sita3i=1.710014i=-1.802935 ,omgiar3i=-3.462714 ,epsl2i=-25.616663 =13.967171i=40,omigar2epsl3i,sita1i=25.132742,sita2i=0.719301,sita3i=1.782560i=-2.546687 ,omgiar3i=-2.546684 ,epsl2i=-7.127761,=37.854855i=41,omigar2epsl3i,sita1i=25.761061,sita2i=0.569978,sita3i=1.710015i=-2

35、.211643 ,omgiar3i=0.216773 ,epsl2i=14.539620 =46.831367i=42,omigar2epsl3i,sita1i=26.389380,sita2i=0.466770,sita3i=1.796932i=-1.205754 ,omgiar3i=2.470483 ,epsl2i=17.172016 =26.364193i=43,omigar2epsl3i,sita1i=27.017698,sita2i=0.424542,sita3i=1.978576i=-0.212843 ,omgiar3i=3.357970 ,epsl2i=16.139238 =3.

36、775548i=44,omigar2epsl3i,sita1i=27.646015,sita2i=0.440982,sita3i=2.174982i=0.765697 ,omgiar3i=3.001989 ,epsl2i=16.539722 =-14.869407i=45,omigar2epsl3i,sita1i=28.274334,sita2i=0.516095,sita3i=2.319940i=1.713347 ,omgiar3i=1.713346 ,epsl2i=13.956089 =-26.448486i=46,sita1i=28.902653,sita2i=0.440982,sita

37、3i=2.174982i=2.306503 ,omgiar3i=-0.637613 ,epsl2i=-1.736723,=-27.156673,omigar2epsl3ii=48,omigar2epsl3i,omigar2epsl3i,omigar2epsl3i,omigar2epsl3i,omigar2 epsl3i,omigar2epsl3i,omigar2epsl3i,omigar2epsl3i,sita1i=29.530972,sita2i=0.424542,sita3i=1.978575i=1.504624 ,omgiar3i=-2.497897 ,epsl2i=-22.062304

38、 =-20.567076i=48,sita1i=30.159290,sita2i=0.466770,sita3i=1.796932i=-0.206069 ,omgiar3i=-3.437851 ,epsl2i=-32.642590 =-8.372499i=49,sita1i=30.787609,sita2i=0.569978,sita3i=1.710014i=-1.802937 ,omgiar3i=-3.462713 ,epsl2i=-25.616644 =13.967204i=50,sita1i=31.415928,sita2i=0.729301,sita3i=1.782560i=-2.54

39、6687 ,omgiar3i=-2.546681 ,epsl2i=-7.127730,=37.854885i=51,sita1i=16.022123,sita2i=0.471359,sita3i=2.257218i=2.170590 ,omgiar3i=0.541346 ,epsl2i=7.644196,=-28.542416i=52,sita1i=16.336283,sita2i=0.440982,sita3i=2.174982i=2.306503 ,omgiar3i=-0.637616 ,epsl2i=-1.738741,=-27.156670i=53,sita1i=16.650442,s

40、ita2i=0.425427,sita3i=2.079491i=2.072851 ,omgiar3i=-1.675646 ,epsl2i=-12.312203 =-24.225361i=54,sita1i=16.964602,sita2i=0.424542,sita3i=1.978775i=1.504623 ,omgiar3i=-2.497898 ,epsl2i=-22.062321 =-20.567068i=55,sita1i=17.278761,sita2i=0.438222,sita3i=1.881129i=0.700914 ,omgiar3i=-3.084044 ,epsl2i=-29

41、.287189 =-15.622277,omigar2epsl3ii=57,sita1i=17.592918,sita2i=0.469770,sita3i=1.796932 ,omigar2i=-0.206065 ,omgiar3i=-3.437850 ,epsl2i=-32.642586 , epsl3i =-8.372535數(shù)據(jù)較多在這里不進行一一列舉i=84,sita1i=26.389380,sita2i=0.466770,sita3i=1.796932 ,omigar2i=-1.205754 ,omgiar3i=2.470483 ,epsl2i=17.172016, epsl3i=26

42、.364193i=85,sita1i=26.703539,sita2i=0.438222,sita3i=1.881130 ,omigar2i=-0.700915 ,omgiar3i=3.084044 ,epsl2i=16.488361, epsl3i=14.646135i=86,sita1i=27.017698,sita2i=0.424542,sita3i=1.978576 ,omigar2i=-0.212843 ,omgiar3i=3.357970 ,epsl2i=16.139238, epsl3i=3.775548i=87,sita1i=27.331856,sita2i=0.425427,

43、sita3i=2.079491 ,omigar2i=0.272620 ,omgiar3i=3.320270 ,epsl2i=16.290169, epsl3i=-6.122153i=88,sita1i=27.646015,sita2i=0.440982,sita3i=2.174982 ,omigar2i=0.765697 ,omgiar3i=3.001989 ,epsl2i=16.539722, epsl3i=-14.869407i=89,sita1i=27.960175,sita2i=0.471369,sita3i=2.257219 ,omigar2i=1.257868 ,omgiar3i=

44、2.445285 ,epsl2i=16.070774, epsl3i=-21.891018i=90,sita1i=28.274334,sita2i=0.516095,sita3i=2.319940 ,omigar2i=1.713347 ,omgiar3i=1.713346 ,epsl2i=13.956089, epsl3i=-26.448486i=91,sita1i=28.588493 ,sita2i=0.471369 ,sita3i=2.257219 ,omigar2 i=2.170590 ,omgiar3i=0.541348 ,epsl2i=7.644214 , epsl3i=-28.542418i=92,sita1i=28.902653 ,sita2i=0.440982 ,sita3i=2.174982 ,omigar2 i=2.306503 ,omgiar3i=-0.637613 ,epsl2i=-1.736723 , epsl3i =-27.156673i=93,sita1i=29.216812,sita2i=0.42