東北大學(xué)機(jī)械原理課程設(shè)計(jì)碼頭吊車機(jī)構(gòu)的設(shè)計(jì)及分析

1、機(jī)械原理課程設(shè)計(jì)說明書題目：碼頭吊車機(jī)構(gòu)的設(shè)計(jì)及分析  班 級 ：機(jī)械1415姓 名 ：張浩學(xué) 號 ：20148285指導(dǎo)教師 ：印明昂 成 績 ： 2016年11月18日一、題目說明    圖示為某碼頭吊車機(jī)構(gòu)簡圖。它是由曲柄搖桿機(jī)構(gòu)與雙搖桿機(jī)構(gòu)串聯(lián)成的。已知：lo1x=2.86m, lo1y=4m, lo4x=5.6m, lo4y=8.1m, l3=4m, l3'=28.525m, a3'=25°, l3´´=8.5m, a3´´=7°, l4=3.625m, l4

2、´=8.35m, a4'=184°, l4´´=1m, a4´´=95°, l5=25.15m, l5'=2.5m, a5'=24°。圖中S3、S4、S5為構(gòu)件3、4、5的質(zhì)心，構(gòu)件質(zhì)量分別為：m3=3500kg, m4=3600kg, m5=5500kg,K點(diǎn)向左運(yùn)動(dòng)時(shí)載重Q為50kN，向右運(yùn)動(dòng)時(shí)載重為零，曲柄01A的轉(zhuǎn)速n3=1.1r/min.二、機(jī)構(gòu)簡圖三、求連架桿O3C擺動(dòng)范圍1、拆分桿組2、列形參和實(shí)參的表格對主動(dòng)件運(yùn)動(dòng)分析形式參數(shù)N1N2N3kR1R2gamtwepvpap實(shí)值4

3、503R450.00.0twepvpap對rrr桿運(yùn)動(dòng)分析形式參數(shù)mN1N2N3K1K2R1R2twepvpap實(shí)值157645R56R67twepvpap用bark桿求10點(diǎn)形式參數(shù)N1N2N3kR1R2gamtwepvpap實(shí)值501040.0R510176°twepvpap3、編寫程序/* Note:Your choice is C IDE */#include "subk.c"main() static double p202,vp202,ap202,del; static double t10,w10,e10; int ic; /*定義靜態(tài)變量*/ do

4、uble r45,r56,r67,r510,gam; double pi,dr; double r2; int i; FILE*fp; char*m="p","vp","ap" r45=28.525;r56=3.625;r67=25.15;r510=8.35; gam=176.0; w3=15.0; del=1.0; /*步長1*/ p41=0.0; p42=0.0; p71=5.6; p72=8.1; /*變量賦值*/ pi=4.0*atan(1.0);/*/ dr=pi/180.0; /*弧度*/ gam=gam*dr; /*計(jì)算

5、gam*/ printf("n the kinematic parameters of point10n"); printf("NO THETA1 S10 V10 A10n"); printf(" deg m m/s m/s/sn"); if(fp=fopen("20148285","w")=NULL) printf("can,t open this file.n"); exit(0); fprintf(fp,"n the kinematic parameters

6、of point11n"); fprintf(fp,"NO THETA1 S10 V10 A10n"); fprintf(fp," deg m m/s m/s/sn");ic=(int)(360.0/del); for(i=0;i<=ic;i+) t3=(i)*del*dr; bark(4,5,0,3,r45,0.0,0.0,t,w,e,p,vp,ap); rrrk(1,5,7,6,4,5,r56,r67,t,w,e,p,vp,ap); bark(5,0,10,4,0.0,r510,gam,t,w,e,p,vp,ap);printf(&q

7、uot;n%2d%12.3f%12.3f%12.3f%12.3f",i+1,t3/dr,p102,vp102,ap102); /*運(yùn)算結(jié)果輸出*/ fprintf(fp,"n%2d%12.3f%12.3f%12.3f%12.3f",i+1,t3/dr,p102,vp102,ap102);/*結(jié)果入filel文件*/ if(i%16)=0) getch();/*停*/ fclose(fp); getch();4、O3C在93°至135°之間擺動(dòng)時(shí)為K點(diǎn)近似水平運(yùn)動(dòng),得O3C擺角為93°135°。 Deg m m/s m/s/s

8、94 93.000 20.156 -124.441 367165.19795 94.000 20.127 25.142 43585.49096 95.000 20.176 53.182 11987.30597 96.000 20.244 60.791 2608.13298 97.000 20.315 61.275 -1276.11199 98.000 20.385 58.575 -3155.842100 99.000 20.451 54.272 -4137.438101 100.000 20.511 49.122 -4660.849102 101.000 20.565 43.524 -4928

9、.159103 102.000 20.612 37.712 -5041.901104 103.000 20.653 31.829 -5057.946105 104.000 20.686 25.967 -5008.356106 105.000 20.713 20.192 -4912.192107 106.000 20.733 14.550 -4781.005108 107.000 20.747 9.077 -4621.793109 108.000 20.755 3.803 -4438.657110 109.000 20.756 -1.244 -4233.755111 110.000 20.752

10、 -6.041 -4007.871112 111.000 20.742 -10.562 -3760.740113 112.000 20.727 -14.784 -3491.225114 113.000 20.708 -18.678 -3197.403115 114.000 20.684 -22.214 -2876.559116 115.000 20.656 -25.360 -2525.130117 116.000 20.625 -28.077 -2138.574118 117.000 20.591 -30.321 -1711.173119 118.000 20.555 -32.040 -123

11、5.737120 119.000 20.517 -33.174 -703.189121 120.000 20.478 -33.650 -101.983122 121.000 20.439 -33.379 582.738123 122.000 20.401 -32.254 1370.353124 123.000 20.364 -30.140 2286.547125 124.000 20.331 -26.870 3366.016126 125.000 20.302 -22.226 4656.661127 126.000 20.280 -15.925 6226.325128 127.000 20.2

12、66 -7.590 8174.020129 128.000 20.263 3.300 10649.527130 129.000 20.275 17.487 13889.468131 130.000 20.306 36.068 18288.309132 131.000 20.361 60.760 24550.172133 132.000 20.450 94.436 34050.297134 133.000 20.586 142.381 49830.626135 134.000 20.791 215.776 79985.448136 135.000 21.109 344.361 153865.36

13、85、K點(diǎn)坐標(biāo)位置圖四、曲柄搖桿機(jī)構(gòu)尺寸的設(shè)計(jì)。由O3C擺角范圍求得O3B擺角為68°110° 通過作圖法計(jì)算得L1=1.387m,L2=2.783m。五、求K點(diǎn)水平位移、速度和加速度 1、拆分桿組2、列形參實(shí)參表對主動(dòng)件運(yùn)動(dòng)分析形式參數(shù)N1N2N3kR1R2gamtwepvpap實(shí)值1201R120.00.0twepvpap對組成的rrr桿組運(yùn)動(dòng)分析形式參數(shù)mN1N2N3K1K2R1R2twepvpap實(shí)參142332R34R23twepvpap用bark函數(shù)求5點(diǎn)形式參數(shù)N1N2N3kR1R2gamtwepvpap實(shí)參40530.0R4525°twepvpap

14、對組成的rrr桿組運(yùn)動(dòng)分析形式參數(shù)mN1N2N3K1K2R1R2twepvpap實(shí)參157645R56R67twepvpap用bark函數(shù)求8，9,10,11形式參數(shù)N1N2N3kR1R2gamtwepvpap實(shí)參501040.0R510176°twepvpap實(shí)參70850.0R78-156°twepvpap實(shí)參50940.0R5995°twepvpap實(shí)參401130.0R41118°twepvpap3、編寫程序#include "subk.c"main()static double p202,vp202,ap202,del;st

15、atic double t10,w10,e10;/*定義靜態(tài)變量*/int ic;double r12,r34,r23,r45,r56,r67,r510,r78,r59,r411;double pi ,dr;double r2,vr2,ar2;/*定義局部變量*/int i; FILE*fp;char *m="p","vp","ap" r56=3.625,r67=25.15,r510=8.35; r12=1.387,r34=4.0,r23=2.783,r45=28.525; pi=4.0*atan(1.0); dr=pi/180.0;

16、 w1=0.0367*pi;del=1.0; e1=0.0,r411=8.5,r59=1.0,r78=2.5; p11=2.86; p12=4.0; p41=0.0; p42=0.0; p71=5.6; p72=8.1;/*變量賦值*/ printf("n The Kinematic Parameters of Point 10n"); printf("No THETA1 s10 v10 a10n"); printf(" deg m m/s m/s/sn");/*寫表頭*/ if(fp=fopen("20148285.txt

17、","w")=NULL) printf("Can't open this file.n");exit(0); fprintf(fp,"n The kinematic parameters of point 10n"); fprintf(fp,"No THETA1 S10 V10 A10n"); 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,

18、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); bark(4,0,5,3,0.0,r45,25.0*dr,t,w,e,p,vp,ap); rrrk(1,5,7,6,4,5,r56,r67,t,w,e,p,vp,ap); bark(5,0,10,4,0.0,r510,176.0*dr,t,w,e,p,vp,ap); bark(4,0,11,3,0.0,r411,18.0*dr,t,w,e,p,vp,ap); bark(5,0,9,4,0.0,r59,95.0*dr,t,w,e,p,vp,ap);

19、 bark(7,0,8,5,0.0,r78,-156.0*dr,t,w,e,p,vp,ap); printf("n%2d %12.3f %12.3f %12.3f %12.3f",i+1,t1/dr,p102,vp102,ap102); fprintf(fp,"n%2d %12.3f %12.3f %12.3f %12.3f",i+1,t1/dr,p102,vp102,ap102);/*結(jié)果顯示屏幕上*/if(i%16)=0)getch(); fclose(fp); getch();4、 運(yùn)行結(jié)果(一部分)89 88.000 20.752 0.017 -

20、0.03690 89.000 20.755 0.011 -0.03691 90.000 20.756 0.006 -0.03692 91.000 20.756 0.000 -0.03693 92.000 20.756 -0.005 -0.03694 93.000 20.755 -0.011 -0.03595 94.000 20.753 -0.016 -0.03596 95.000 20.750 -0.021 -0.03597 96.000 20.746 -0.026 -0.03498 97.000 20.742 -0.031 -0.03399 98.000 20.737 -0.036 -0.0

21、33100 99.000 20.731 -0.041 -0.032101 100.000 20.724 -0.046 -0.031102 101.000 20.717 -0.051 -0.030103 102.000 20.709 -0.055 -0.029104 103.000 20.700 -0.059 -0.028105 104.000 20.691 -0.063 -0.026106 105.000 20.681 -0.067 -0.025107 106.000 20.671 -0.071 -0.024108 107.000 20.660 -0.074 -0.022109 108.000

22、 20.648 -0.078 -0.021110 109.000 20.636 -0.081 -0.019111 110.000 20.624 -0.083 -0.017112 111.000 20.611 -0.086 -0.016113 112.000 20.598 -0.088 -0.014114 113.000 20.584 -0.090 -0.012115 114.000 20.570 -0.092 -0.010116 115.000 20.556 -0.093 -0.008117 116.000 20.542 -0.094 -0.006118 117.000 20.528 -0.0

23、95 -0.004119 118.000 20.513 -0.096 -0.002120 119.000 20.499 -0.096 -0.000121 120.000 20.484 -0.096 0.002122 121.000 20.470 -0.095 0.004123 122.000 20.456 -0.095 0.006124 123.000 20.441 -0.093 0.008125 124.000 20.427 -0.092 0.010126 125.000 20.413 -0.090 0.013127 126.000 20.400 -0.088 0.015128 127.00

24、0 20.387 -0.086 0.017129 128.000 20.374 -0.083 0.019130 129.000 20.362 -0.080 0.022131 130.000 20.350 -0.076 0.024132 131.000 20.339 -0.073 0.026133 132.000 20.328 -0.069 0.028134 133.000 20.318 -0.064 0.030135 134.000 20.308 -0.059 0.032136 135.000 20.300 -0.054 0.034137 136.000 20.292 -0.049 0.036

25、138 137.000 20.285 -0.043 0.038139 138.000 20.279 -0.037 0.040140 139.000 20.274 -0.031 0.042141 140.000 20.269 -0.025 0.044142 141.000 20.266 -0.018 0.045143 142.000 20.264 -0.011 0.047144 143.000 20.263 -0.004 0.048145 144.000 20.263 0.003 0.049146 145.000 20.264 0.011 0.050147 146.000 20.266 0.01

26、9 0.051K點(diǎn)水平位移、速度和加速度線圖六、對機(jī)構(gòu)動(dòng)態(tài)靜力分析 1、拆分桿組2、列形參實(shí)參表對主動(dòng)件運(yùn)動(dòng)分析形式參數(shù)N1N2N3kR1R2gamtwepvpap實(shí)值1201R120.00.0twepvpap對組成的rrr桿組運(yùn)動(dòng)分析形式參數(shù)mN1N2N3K1K2R1R2twepvpap實(shí)參142332R34R23twepvpap用bark函數(shù)求5點(diǎn)形式參數(shù)N1N2N3kR1R2gamtwepvpap實(shí)參40530.0R4525°twepvpap對組成的rrr桿組運(yùn)動(dòng)分析形式參數(shù)mN1N2N3K1K2R1R2twepvpap實(shí)參157645R56R67twepvpap用bark函數(shù)

27、求8，9,10,11形式參數(shù)N1N2N3kR1R2gamtwepvpap實(shí)參501040.0R510176twepvpap實(shí)參70850.0R78-156twepvpap實(shí)參50940.0R5995twepvpap實(shí)參401130.0R41118twepvpap對rrr桿組動(dòng)態(tài)靜力分析形式參數(shù)N1N2N3Ns1Ns2Nn1Nn2nexfK1K2pvpaptwefr實(shí)參576981001045pvpaptwefr對rrr桿組動(dòng)態(tài)靜力分析形式參數(shù)N1N2N3Ns1Ns2Nn1Nn2nexfK1K2pvpaptwefr實(shí)參42311050032pvpaptwefr用barf函數(shù)求1點(diǎn)運(yùn)動(dòng)副反力及力矩

28、形式參數(shù)N1Ns1Nn1K1pvpapefrtb實(shí)參1021pvpapefr&tb3、編寫程序#include"subk.c"#include"subf.c"main() static double p202,vp202,ap202,del; static double t10,w10,e10; static double sita1370,sita2370,sita3370; static double fr202,fe202,tb,tb1,fr1,bt1,fr4,bt4,fr7,bt7,we1,we2,we3,we4,we5; int ic;

29、 double r12,r23,r34,r45,r56,r67,r59,r78,r510,r411; double pi,dr; int i; FILE *fp; char *m="tb","tb1","fr1","fr4","fr7" sm1=0.0;sm2=0.0;sm3=3500;sm4=3600;sm5=5500; sj1=0.0;sj2=0.0;sj3=252875;sj4=3600;sj5=34375; r12=1.387;r23=2.783;r34=4.0;r45=28.525;r

30、56=3.625;r67=25.15;r510=8.35;r78=2.5;r59=1.0;r411=8.5; pi=4.0*atan(1.0); w1=2.2*pi/60;e1=0.0;del=1; dr=pi/180.0; p11=2.86; p12=4.0; p41=0.0; p42=0.0; p71=5.6; p72=8.1; printf("n The Kinet0-static Analysis of a six-bar Linkase.n"); printf("No HETA1 fr1 sita1 fr4 sita4 fr7 sita7 tb tb1n

31、"); printf(" deg N radian N radian N radian N.m N.mn"); if(fp=fopen("20148285.txt","w")=NULL) printf("Can't open this file.n"); exit(0); fprintf(fp,"n The Kinet0-static Analysis of a six-bar Linkase.n"); fprintf(fp,"No HETA1 fr1 sita1 f

32、r4 sita2 fr7 sita3 tb tb1n"); fprintf(fp," deg N radian N radian N radian N.m N.mn"); 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); bark(4,0,5,3,0.0,r45,25.0*dr,t,w,e,p,vp,ap); rrrk(1,5,7,6,4,

33、5,r56,r67,t,w,e,p,vp,ap); bark(5,0,10,4,0.0,r510,176.0*dr,t,w,e,p,vp,ap); bark(4,0,11,3,0.0,r411,18.0*dr,t,w,e,p,vp,ap); bark(5,0,9,4,0.0,r59,95.0*dr,t,w,e,p,vp,ap); bark(7,0,8,5,0.0,r78,-156.0*dr,t,w,e,p,vp,ap); rrrf(5,7,6,9,8,10,0,10,4,5,p,vp,ap,t,w,e,fr); rrrf(4,2,3,11,0,5,0,0,3,2,p,vp,ap,t,w,e,f

34、r); barf(1,0,2,1,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); fr7=sqrt(fr71*fr71+fr72*fr72); bt7=atan2(fr72,fr71); we3=-(ap111*vp111+(ap112+9.81)*vp112)*sm3-e3*w3*sj3; we5=-(ap81*vp81+(ap82+9.81)*vp82)*sm5-e5*w5*sj5; ex

35、tf(p,vp,ap,t,w,e,11,fe); we4=-(ap91*vp91+(ap92+9.81)*vp92)*sm4+fe102*vp102; tb1=-(we3+we4+we5)/w1; printf("n%2d %10.3f %10.3f %10.3f %10.3f %10.3f %10.3f %10.3f %10.3f %10.3f",i+1,t1/dr,fr1,bt1/dr,fr4,bt4/dr,fr7/dr,bt7/dr,tb,tb1); fprintf(fp,"n%2d %10.3f %10.3f %10.3f %10.3f %10.3f %1

36、0.3f %10.3f %10.3f %10.3f",i+1,t1/dr,fr1,bt1/dr,fr4,bt4/dr,fr7/dr,bt7/dr,tb,tb1); sita1i=bt1; sita2i=bt4; sita3i=bt7; if(i%10)=0)getch(); fclose(fp); getch(); extf(p,vp,ap,t,w,e,nexf,fe) double p202,vp202,ap202,t10,w10,e10,fe202; int nexf; fenexf1=0.0; if(vpnexf1<0) fenexf2=-50000.0; else fe

37、nexf2=0.0;4、運(yùn)行結(jié)果（一部分）1 0.000 73988.299 -174.158 119909.180 59.161 1753469.004 67.247 -10444.968 -10444.968 2 1.000 76200.686 -173.637 122249.519 58.772 1723264.514 66.390 -9879.152 -9879.152 3 2.000 78415.202 -173.116 124620.104 58.410 1693644.817 65.507 -9259.539 -9259.539 4 3.000 80613.589 -172.59

38、7 127002.985 58.076 1664950.978 64.608 -8583.630 -8583.630 5 4.000 82773.764 -172.080 129376.178 57.774 1637564.115 63.707 -7849.388 -7849.388 6 5.000 84869.793 -171.564 131713.563 57.505 1611898.128 62.821 -7055.465 -7055.465 7 6.000 86872.146 -171.050 133985.064 57.274 1588388.578 61.971 -6201.457

39、 -6201.457 8 7.000 88748.335 -170.538 136157.218 57.082 1567478.030 61.182 -5288.171 -5288.171 9 8.000 90463.997 -170.028 138194.203 56.933 1549598.731 60.480 -4317.871 -4317.87110 9.000 91984.432 -169.520 140059.359 56.830 1535154.046 59.895 -3294.461 -3294.46111 10.000 93276.532 -169.015 141717.131 56.773 1524500.273 59.452 -2223.584 -2223.58412 11.000 94310.937 -168.513 143135.293 56.765 1517930.284 59.174 -1112.571 -1112.57113 12.000 5880.112 11.987 115509.834 94.375 328644