顎式破碎機(jī)機(jī)構(gòu)設(shè)計(jì)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(jí) ：過程裝備與控制工程姓 名 ：汪浩學(xué) 號(hào) ：20102330指導(dǎo)教師 ：王丹成 績 ：2012年 11月 17日目 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1三. 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)2四. 機(jī)構(gòu)的運(yùn)動(dòng)分析24.1六桿鉸鏈?zhǔn)筋€式破碎機(jī)的運(yùn)動(dòng)分析24.2編寫主程序并運(yùn)行24.3四桿鉸鏈?zhǔn)筋€式破碎機(jī)的運(yùn)動(dòng)分析54.4編寫主程序并運(yùn)行5五.機(jī)構(gòu)的動(dòng)態(tài)靜力分析85.1六桿鉸鏈?zhǔn)筋€式破碎機(jī)的靜力分析85.2編寫主程序并

2、運(yùn)行95.3四桿鉸鏈?zhǔn)筋€式破碎機(jī)的靜力分析135.4編寫主程序并運(yùn)行14六. 工藝阻力函數(shù)及飛輪的轉(zhuǎn)動(dòng)慣量函數(shù) 176.1工藝阻力函數(shù)程序 176.2飛輪的轉(zhuǎn)動(dòng)慣量函數(shù)程序17七 .對(duì)兩種機(jī)構(gòu)的綜合評(píng)價(jià)21八 . 主要的收獲和建議21九 . 參考文獻(xiàn)21- 22 -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1.1 六桿鉸鏈?zhǔn)狡扑闄C(jī) 圖1.2 工藝阻力 圖1.3 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 =

3、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(dòng)慣量分別為：m2 = 500kg, Js2 = 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

4、。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(dòng)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(gè)方案進(jìn)行綜合評(píng)價(jià)。主要比較以下幾方面：1. 進(jìn)行運(yùn)動(dòng)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(dòng)態(tài)靜力分析，比較顎板擺動(dòng)中心運(yùn)動(dòng)副反力的大小及方向變化規(guī)律

5、，曲柄上的平衡力矩大小及方向變化規(guī)律。3. 飛輪轉(zhuǎn)動(dòng)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(dòng)件，構(gòu)件組成的RRR桿組，構(gòu)件組成的RRR桿組。21 83247 111096543.2四桿鉸鏈?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(dòng)件，構(gòu)件組成的RRR桿組。21 765432四.機(jī)構(gòu)的運(yùn)動(dòng)分析4.1六桿鉸鏈?zhǔn)筋€式破碎機(jī)的運(yùn)動(dòng)分析。1) 調(diào)用bark函數(shù)求主動(dòng)件的運(yùn)動(dòng)參數(shù)。形式參數(shù)n1n2n3kr1r2gametwepvpap實(shí) 值1201r120.00.0twepvpap2）調(diào)用rrrk函數(shù)求、構(gòu)件組成的RRR桿組進(jìn)行運(yùn)動(dòng)分析。形式參數(shù)mn1n2n3k1

6、k2r1r2t wepvpap實(shí) 值132432r34r24twepvpap3） 調(diào)用rrrk函數(shù)對(duì)、構(gòu)件組成的RRR桿組進(jìn)行運(yùn)動(dòng)分析。形式參數(shù)mn1n2n3k1k2r1r2t wepvpap實(shí) 值146545R45R56twepvpap4.2編寫主程序并運(yùn)行。按一定的步長，改變主動(dòng)件的位置角度，使其在0-360°變化，便可求出機(jī)構(gòu)各點(diǎn)在整個(gè)運(yùn)動(dòng)循環(huán)內(nèi)的運(yùn)動(dòng)參數(shù)并打印輸出。(1) 主程序。#include"subk.c"#include"draw.c"main()static double p202,vp202,ap202,del;static

7、 double t10, w10, e10, pdraw370, vpdraw370, apdraw370;static int ic;double r12,r24,r34,r56,r611,r45;double pi,dr;int i;FILE*fp;r12=0.1;r24=1.250;r34=1;r45=1.15;r56=1.96;r611=0.6;w1=-17.8;e1=0.0;del=15.0;p11=0;p12=0;p61=-1.0;p62=0.85;p31=0.94;p32=-1.0;pi=4.0*atan(1.0);dr=pi/180.0;printf("n The K

8、inematic Parameters of member 5n");printf("No THETA1 T5 W5 E5n");printf(" deg m m/s m/s/sn");if(fp=fopen("filel","w")=NULL)printf("Can't open this file.n");exit(0);fprintf(fp,"n The Kinematic Parameters of member 5n");fprintf(fp,&q

9、uot;No THETA1 T5 W5 E5n");fprintf(fp," 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(1,3,2,4,3,2,r34,r24,t,w,e,p,vp,ap);rrrk(1,4,6,5,4,5,r45,r56,t,w,e,p,vp,ap);bark(2,0,7,2,0.0,r24/2,0.0,t,w,e,p,vp,ap);bark(3,0,8

10、,3,0.0,r34/2,0.0,t,w,e,p,vp,ap);bark(4,0,9,4,0.0,r45/2,0.0,t,w,e,p,vp,ap);bark(6,0,10,5,0.0,r56/2,0.0,t,w,e,p,vp,ap);bark(6,0,11,5,0.0,r611,0.0,t,w,e,p,vp,ap);printf("n %2d %12.3f %12.3f %12.3f %12.3f",i+1,t1/dr,t5,w5,e5);fprintf(fp,"n %2d %12.3f %12.3f %12.3f %12.3f",i+1,t1/dr,t

11、5,w5,e5);pdrawi=t5;vpdrawi=w5;apdrawi=e5;if(i%16)=0)getch();fclose(fp);getch();draw1(del,pdraw,vpdraw,apdraw,ic); (2)運(yùn)行結(jié)果。桿件5的運(yùn)動(dòng)參數(shù)：The Kinematic Parameters of member 5No THETA1 T5 W5 E5 deg m m/s m/s/s 1 0.000 -1.658 0.346 3.955 2 -15.000 -1.653 0.392 2.002 3 -30.000 -1.647 0.400 -0.932 4 -45.000 -1

12、.641 0.362 -4.354 5 -60.000 -1.637 0.274 -7.504 6 -75.000 -1.633 0.146 -9.610 7 -90.000 -1.632 -0.001 -10.181 8 -105.000 -1.633 -0.145 -9.162 9 -120.000 -1.637 -0.265 -6.902 10 -135.000 -1.641 -0.345 -3.980 11 -150.000 -1.646 -0.382 -1.008 12 -165.000 -1.652 -0.377 1.518 13 -180.000 -1.657 -0.341 3.

13、296 14 -195.000 -1.662 -0.284 4.236 15 -210.000 -1.666 -0.220 4.435 16 -225.000 -1.668 -0.156 4.120 17 -240.000 -1.670 -0.10 3.583 18 -255.000 -1.671 -0.051 3.105 19 -270.000 -1.672 -0.007 2.897 20 -285.000 -1.672 0.036 3.063 21 -300.000 -1.671 0.085 3.570 22 -315.000 -1.669 0.142 4.246 23 -330.000

14、-1.667 0.209 4.790 24 -345.000 -1.663 0.281 4.816 25 -360.000 -1.658 0.346 3.955運(yùn)動(dòng)圖形：4.3四桿鉸鏈?zhǔn)筋€式破碎機(jī)的運(yùn)動(dòng)分析。1）調(diào)用bark函數(shù)求主動(dòng)件的運(yùn)動(dòng)參數(shù)。形式參數(shù)n1n2n3kr1r2gametwepvpap實(shí) 值1201r120.00.0twepvpap2）調(diào)用rrrk函數(shù)求、構(gòu)件組成的RRR桿組進(jìn)行運(yùn)動(dòng)分析。形式參數(shù)mn1n2n3k1k2r1r2t wepvpap實(shí) 值124323r23r34twepvpap4.4編寫主程序并運(yùn)行。按一定的步長，改變主動(dòng)件的位置角度，使其在0-360°變

15、化，便可求出機(jī)構(gòu)各點(diǎn)在整個(gè)運(yùn)動(dòng)循環(huán)內(nèi)的運(yùn)動(dòng)參數(shù)并打印輸出。(1)主程序。#include"subk.c"#include"draw.c"main()static double p202,vp202,ap202,del;static double t10, w10, e10, pdraw370, vpdraw370, apdraw370;static int ic;double r12,r23,r34,r47;double pi,dr;int i;FILE*fp;r12=0.04;r23=1.11;r34=1.96;r47=0.6;w4=0.0;w1=-1

16、7.8;e1=0.0;del=15.0;p11=0.0;p12=0.0;p41=-0.95;p42=2.0;pi=4.0*atan(1.0);dr=pi/180.0;printf("n The Kinematic Parameters of poit 3n");printf("No THETA1 S3 V3 A3N");printf(" deg m m/s m/s/sn");if(fp=fopen("filel","w")=NULL)printf("Can't open thi

17、s file.n");exit(0);fprintf(fp,"No THETA1 S3 V3 A3n");fprintf(fp,"deg m m/s m/s/s");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,r23/2,0.0,t,w,e,p,vp,ap);bark(4,0,6,3,0.

18、0,r34/2,0.0,t,w,e,p,vp,ap);bark(4,0,7,3,0.0,r47/2,0.0,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,w3,e3);pdrawi=t3;vpdrawi=w3;apdrawi=e3;if(i%16)=0)getch();fclose(fp);getch();draw1(del,p

19、draw,vpdraw,apdraw,ic);(2)運(yùn)行結(jié)果。桿件3的運(yùn)動(dòng)參數(shù)：No THETA1 S3 V3 A3deg m m/s m/s/s 1 0.000 -1.632 0.014 -6.230 2 -15.000 -1.632 -0.077 -6.097 3 -30.000 -1.634 -0.163 -5.590 4 -45.000 -1.637 -0.240 -4.730 5 -60.000 -1.641 -0.301 -3.553 6 -75.000 -1.646 -0.343 -2.117 7 -90.000 -1.651 -0.362 -0.501 8 -105.000 -

20、1.656 -0.357 1.192 9 -120.000 -1.661 -0.327 2.847 10 -135.000 -1.666 -0.274 4.338 11 -150.000 -1.669 -0.201 5.543 12 -165.000 -1.671 -0.113 6.356 13 -180.000 -1.672 -0.016 6.702 14 -195.000 -1.672 0.082 6.543 15 -210.000 -1.670 0.174 5.892 16 -225.000 -1.667 0.253 4.806 17 -240.000 -1.663 0.313 3.38

21、3 18 -255.000 -1.658 0.351 1.746 19 -270.000 -1.653 0.364 0.030 20 -285.000 -1.647 0.352 -1.638 21 -300.000 -1.642 0.317 -3.148 22 -315.000 -1.638 0.261 -4.414 23 -330.000 -1.635 0.189 -5.373 24 -345.000 -1.632 0.105 -5.986 25 -360.000 -1.632 0.014 -6.230運(yùn)動(dòng)圖形：五.機(jī)構(gòu)的動(dòng)態(tài)靜力分析5.1六桿鉸鏈?zhǔn)筋€式破碎機(jī)的動(dòng)態(tài)靜力分析。（1）求質(zhì)點(diǎn)7，

22、8，9，10及礦石破碎產(chǎn)生阻力的作用點(diǎn)11的運(yùn)動(dòng)參數(shù)；調(diào)用bark函數(shù)對(duì)質(zhì)點(diǎn)7進(jìn)行運(yùn)動(dòng)分析： 形式參數(shù)n1n2n3kr1r2gametwepvpap實(shí) 值20720.0r24/20.0twepvpap調(diào)用bark函數(shù)對(duì)質(zhì)點(diǎn)8進(jìn)行運(yùn)動(dòng)分析： 形式參數(shù)n1n2n3kr1r2gametwepvpap實(shí) 值30830.0r34/20.0twepvpap調(diào)用bark函數(shù)對(duì)質(zhì)點(diǎn)9進(jìn)行運(yùn)動(dòng)分析： 形式參數(shù)n1n2n3kr1r2gametwepvpap實(shí) 值40940.0r45/20.0twepvpap調(diào)用bark函數(shù)對(duì)質(zhì)點(diǎn)10進(jìn)行運(yùn)動(dòng)分析： 形式參數(shù)n1n2n3kr1r2gametwepvpap實(shí) 值601

23、050.0r56/20.0twepvpap調(diào)用bark函數(shù)對(duì)質(zhì)點(diǎn)11進(jìn)行運(yùn)動(dòng)分析： 形式參數(shù)n1n2n3kr1r2gametwepvpap實(shí) 值601150.0r6110.0twepvpap（2）調(diào)用rrrf函數(shù)對(duì)、構(gòu)件構(gòu)成的RRR桿組進(jìn)行動(dòng)態(tài)靜力分析：形式參數(shù)n1n2n3ns1ns2nn1nn2nexfk1實(shí) 值465910011114形式參數(shù)k2pvpaptwefr實(shí) 值5pvpaptwefr（3）調(diào)用rrrf函數(shù)對(duì)、構(gòu)件構(gòu)成的RRR桿組進(jìn)行動(dòng)態(tài)靜力分析：形式參數(shù)n1n2n3ns1ns2nn1nn2nexfk1實(shí) 值324874003形式參數(shù)k2pvpaptwefr實(shí) 值2pvpaptwe

24、fr（4）調(diào)用barf函數(shù)對(duì)主動(dòng)件1進(jìn)行動(dòng)態(tài)靜力分析：形式參數(shù)n1ns1nn1k1papefrtb 實(shí) 值1121papefr&tb5.2編寫主程序并運(yùn)行。按一定的步長，改變主動(dòng)件的位置角度，使其在0-360°變化，便可求出機(jī)構(gòu)各運(yùn)動(dòng)副反力及作用在主動(dòng)件上的平衡力矩。（1） 主程序。#include "graphics.h"#include "subk.c"#include "subf.c"#include "draw.c"main() static double p202,vp202,ap202

25、,del; static double sita1370,fr1draw370,sita2370,fr2draw370, sita3370,fr3draw370,tbdraw370,tb1draw370; static double fr202,fe202,t10,w10,e10; static int ic; double r12,r24,r34,r45,r56,r611; int i; double pi,dr; double fr1,bt1,fr3,bt3,fr6,bt6,we1,we2,we3,we4,we5,tb,tb1; FILE*fp; sm1=0.0;sm2=500.0;sm3

26、=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; r24=1.25; r34=1.0; r45=1.15;r56=1.96;r611=0.6; pi=4.0*atan(1.0); dr=pi/180.0; w1=-170*2*pi/60; e1=0.0; del=15; p11=0.0; p12=0.0; p31=0.94; p32=-1.0; p61=-1.0; p62=0.85; printf("n The Kineto-static Analysis of a Six-

27、bar Linkasen"); printf(" NO THETA1 FR6 BT6 TB TB1n"); printf(" (deg.) (N) (deg.) (N.m) (N.m)n"); if(fp=fopen("liuganls","w")=NULL) printf("Can't open this file./n"); exit(0); fprintf(fp,"n The Kineto-static Analysis of a Six-bar Linkase

28、n"); fprintf(fp,"NO THETA1 FR6 BT6 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(1,3,2,4,3,2,r34,r24,t,w,e,p,vp,ap); rrrk(1,4,6,5,4,5,r45,r56,t,w,e,p,vp,ap);

29、bark(2,0,7,2,0.0,r24/2,0.0,t,w,e,p,vp,ap); bark(3,0,8,3,0.0,r34/2,0.0,t,w,e,p,vp,ap); bark(4,0,9,4,0.0,r45/2,0.0,t,w,e,p,vp,ap); bark(6,0,10,5,0.0,r56/2,0.0,t,w,e,p,vp,ap); bark(6,0,11,5,0.0,r611,0.0,t,w,e,p,vp,ap); rrrf(4,6,5,9,10,0,11,11,4,5,p,vp,ap,t,w,e,fr); rrrf(3,2,4,8,7,4,0,0,3,2,p,vp,ap,t,w,

30、e,fr); barf(1,1,2,1,p,ap,e,fr,&tb); fr1=sqrt(fr11*fr11+fr12*fr12); bt1=atan2(fr12,fr11); fr3=sqrt(fr31*fr31+fr32*fr32); bt3=atan2(fr32,fr31); fr6=sqrt(fr61*fr61+fr62*fr62); bt6=atan2(fr62,fr61); we1=-(ap11*vp11+(ap12+9.81)*vp12)*sm1-e1*w1*sj1;we2=-(ap71*vp71+(ap72+9.81)*vp72)*sm2-e2*w2*sj2;we3=-

31、(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+we2+we3+we4+we5)/w1; printf("%3d %10.3f %10.3f %10.3f %10.3f %10.3f n",i+1,t1/dr,fr6,

32、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=fr1;sita1i=bt1; fr2drawi=fr3;sita2i=bt3; fr3drawi=fr6;sita3i=bt6; if(i%16)=0)getch(); fclose(fp); getch(); draw2(del,tbdraw,tb1draw,ic); draw3(del,sita1,fr1d

33、raw,sita2,fr2draw,sita3,fr3draw,ic); #include "math.h"extf(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(w5<0) fenexf1=(-t1/dr-90.0)*(85000.0/183.0)*cos(-t5-pi/2); fenexf2=(-t1/dr-90.0)*(85000.0/183.0)*sin(-t5-pi/2); else

34、fenexf1=0;fenexf2=0;運(yùn)行結(jié)果： The Kineto-static Analysis of a Six-bar LinkaseNO THETA1 FR6 BT6 TB TB1 (deg.) (N) (deg.) (N.m) (N.m) 1 0.000 9904.580 77.690 534.273 534.273 2 -15.000 10248.086 82.670 1038.104 1038.104 3 -30.000 10522.852 89.576 1434.513 1434.513 4 -45.000 10757.314 97.329 1547.760 1547.7

35、60 5 -60.000 10967.175 104.339 1270.987 1270.987 6 -75.000 11112.158 109.009 644.228 644.228 7 -90.000 11132.496 110.330 -144.608 -144.608 8 -105.000 12680.958 130.862 -883.317 -883.317 9 -120.000 15029.598 144.220 -1406.073 -1406.073 10 -135.000 17682.290 153.370 -1622.609 -1622.609 11 -150.000 206

36、00.516 160.349 -1553.177 -1553.177 12 -165.000 23898.781 165.982 -1284.581 -1284.581 13 -180.000 27671.348 170.489 -921.391 -921.391 14 -195.000 31923.984 173.941 -554.919 -554.919 15 -210.000 36575.510 176.459 -251.268 -251.268 16 -225.000 41492.782 178.238 -49.526 -49.526 17 -240.000 46530.125 179

37、.500 38.171 38.171 18 -255.000 51560.146 -179.558 27.338 27.338 19 -270.000 56493.851 -178.791 -39.305 -39.305 20 -285.000 8481.823 78.617 -205.306 -205.306 21 -300.000 8583.465 77.292 -338.729 -338.729 22 -315.000 8793.293 75.658 -361.459 -361.459 23 -330.000 9113.158 74.602 -227.576 -227.576 24 -3

38、45.000 9506.210 75.059 80.824 80.824 25 -360.000 9904.580 77.690 534.273 534.273 （3）平衡力矩曲線：(4)反力的矢端圖曲線：5.3四桿鉸鏈?zhǔn)筋€式破碎機(jī)的動(dòng)態(tài)靜力分析。（1）求質(zhì)點(diǎn)5，6及礦石破碎產(chǎn)生阻力的作用點(diǎn)7的運(yùn)動(dòng)參數(shù)；調(diào)用bark函數(shù)對(duì)質(zhì)點(diǎn)5進(jìn)行運(yùn)動(dòng)分析： 形式參數(shù)n1n2n3kr1r2gametwepvpap實(shí) 值20520.0r250.0twepvpap調(diào)用bark函數(shù)對(duì)質(zhì)點(diǎn)6進(jìn)行運(yùn)動(dòng)分析： 形式參數(shù)n1n2n3kr1r2gametwepvpap實(shí) 值40630.0r460.0twepvpap調(diào)用bar

39、k函數(shù)對(duì)質(zhì)點(diǎn)7進(jìn)行運(yùn)動(dòng)分析： 形式參數(shù)n1n2n3kr1r2gametwepvpap實(shí) 值40730.0r470.0twepvpap（2）調(diào)用rrrf函數(shù)對(duì)、構(gòu)件構(gòu)成的RRR桿組進(jìn)行動(dòng)態(tài)靜力分析：形式參數(shù)n1n2n3ns1ns2nn1nn2nexfk1實(shí) 值243560772形式參數(shù)k2pvpaptwefr實(shí) 值3pvpaptwefr（3）調(diào)用barf函數(shù)對(duì)主動(dòng)件1進(jìn)行動(dòng)態(tài)靜力分析：形式參數(shù)n1ns1nn1k1papefrtb 實(shí) 值1121papefr&tb5.4編寫主程序并運(yùn)行。按一定的步長，改變主動(dòng)件的位置角度，使其在0-360°變化，便可求出機(jī)構(gòu)各運(yùn)動(dòng)副反力及作用在主

40、動(dòng)件上的平衡力矩。（1）主程序。#include "graphics.h"#include "subk.c"#include "subf.c"#include "draw.c"main() static double p202,vp202,ap202,del; static double t10,w10,e10; static double sita1370,fr1draw370,sita2370,fr2draw370, sita3370,fr3draw370,tbdraw370,tb1draw370; stati

41、c double fr202,fe202; static int ic; double r12,r23,r34,r25,r46,r47; int i; double pi,dr; double fr1,fr4,bt1,bt4,we1,we2,we3,tb,tb1; FILE*fp; sm1=0.0;sm2=200.0;sm3=900.0;sj1=0.0;sj2=9.0;sj3=50.0; r12=0.04; r23=1.11; r34=1.96,r25=r23/2,r46=r34/2,r47=0.6; pi=4.0*atan(1.0); w1=-17.8; e1=0.0; del=15.0;

42、dr=pi/180.0; p11=0.0;p12=0.0;p41=-0.95;p42=2.0; printf("n The Kineto-static Analysis of a four-bar Linkasen"); printf(" NO THETA1 FR4 BT4 TB TB1n"); printf(" (deg.) (N) (deg.) (N.m) (N.m)n"); if(fp=fopen("FILE4","w")=NULL) printf("Can't open this file./n"); exit(0); fprintf(fp,"n The Kineto-static Analysis of a four-bar Linkasen"); fprintf(fp,"NO THETA1 FR4 BT4 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,