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

1、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(jiǎn)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(dòng)慣量分別為：m2 = 500kg, Js2 = 25.5kgm2, m3 = 200kg, Js3 = 9kgm2, m4 = 200kg,

2、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(jiǎn)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,

3、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(huà)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，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。+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(dòng)件，構(gòu)件組成的RRR桿組。

4、+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)對(duì)主動(dòng)件進(jìn)行運(yùn)動(dòng)分析。見(jiàn)表4.1。表4.1形式參數(shù)n1n2n3kr1r2gamtwepvpap實(shí)值1201r120.00.0twepvpap（2）調(diào)用rrrk函數(shù)對(duì)由構(gòu)件組成的RRR桿組進(jìn)行運(yùn)動(dòng)分析。見(jiàn)表4.2。表4.2形式參數(shù)mn1n2n3k1k2r1r2twepvpap實(shí)值142332r34r23twepvpap（3）調(diào)用rrrk函數(shù)對(duì)由構(gòu)件組成的RRR桿組進(jìn)行運(yùn)動(dòng)分析。見(jiàn)表4.3。表4.3形式參數(shù)mn1n2n3k1k2r1r2twepvpap實(shí)值136545,r35r56twepvpap（4）程序清單：#inc

5、lude "graphics.h"#include "subk.c"#include "draw.c"main() static double p202,vp202,ap202; static double t10,w10,e10,del; static double pdraw370,vpdraw370,apdraw370,wdraw370; static int ic; double r12,r23,r34,r35,r56; double pi,dr; int i; FILE *fp; r12=0.1; r34=1.0; r23=

6、1.250; r35=1.15; r56=1.96; p11=0.0; p12=0.0; p41=0.94; p42=-1.0; p61=-1.0; p62=0.85; pi=4.0*atan(1.0); dr=pi/180.0; t1=0.0; w1=-17*pi/3; e1=0.0; del=15; printf("n The Kinematic Parameters of Point6n"); printf("No THETA1 t5 w5 e5n"); printf(" deg rad rad/s rad/s/sn"); ic

7、=(int)(360.0/del); for(i=0;i<=ic;i+) t1=(-i)*del*dr-90*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); wdrawi=t1/dr; pdrawi=t5; vpdrawi=w5; apdrawi=e5; if(fp=fopen("六桿運(yùn)動(dòng)8888888.txt","w")=NULL) print

8、f("Can't open this file./n"); exit(0); for(i=0;i<=ic;i+)printf("%12.3f %12.3f %12.3f %12.3fn",wdrawi,pdrawi,vpdrawi,apdrawi);fprintf(fp,"%e %e %e %en",wdrawi,pdrawi,vpdrawi,apdrawi); if(i%18)=0)getch(); fclose(fp); getch(); draw1(del,pdraw,vpdraw,apdraw,ic);運(yùn)算結(jié)果：

9、The Kinematic Parameters of Point5THETA1 t5 w5 e5deg rad rad/s rad/s/s-9.00000e+01 -1.63238e+00 -1.37677e-03 -1.01835e+01-1.05000e+02 -1.63348e+00 -1.45454e-01 -9.16482e+00-1.20000e+02 -1.63654e+00 -2.64803e-01 -6.90406e+00-1.35000e+02 -1.64108e+00 -3.45263e-01 -3.98081e+00-1.50000e+02 -1.64647e+00

10、-3.81662e-01 -1.00778e+00-1.65000e+02 -1.65210e+00 -3.77125e-01 1.51876e+00-1.80000e+02 -1.65741e+00 -3.40696e-01 3.29712e+00-1.95000e+02 -1.66202e+00 -2.84290e-01 4.23741e+00-2.10000e+02 -1.66573e+00 -2.19724e-01 4.43601e+00-2.25000e+02 -1.66849e+00 -1.56345e-01 4.12137e+00-2.40000e+02 -1.67036e+00

11、 -9.95969e-02 3.58405e+00-2.55000e+02 -1.67146e+00 -5.06328e-02 3.10541e+00-2.70000e+02 -1.67188e+00 -6.91431e-03 2.89782e+00-2.85000e+02 -1.67166e+00 3.64486e-02 3.06340e+00-3.00000e+02 -1.67078e+00 8.48847e-02 3.57078e+00-3.15000e+02 -1.66912e+00 1.42323e-01 4.24740e+00-3.30000e+02 -1.66655e+00 2.

12、09172e-01 4.79134e+00-3.45000e+02 -1.66295e+00 2.80705e-01 4.81744e+00-3.60000e+02 -1.65832e+00 3.46484e-01 3.95596e+00-3.75000e+02 -1.65286e+00 3.91648e-01 2.00206e+00-3.90000e+02 -1.64698e+00 4.00498e-01 -9.32100e-01-4.05000e+02 -1.64131e+00 3.61788e-01 -4.35539e+00-4.20000e+02 -1.63658e+00 2.7373

13、4e-01 -7.50567e+00-4.35000e+02 -1.63346e+00 1.46198e-01 -9.61223e+00-4.50000e+02 -1.63238e+00 -1.37677e-03 -1.01835e+01圖4.1六桿機(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(dòng)分析（1）調(diào)用bark函數(shù)對(duì)主動(dòng)件進(jìn)行運(yùn)動(dòng)分析。見(jiàn)表4.4。表4.4形式參數(shù)n1n2n3kr1r2gamtwepvpap實(shí)值1201r120.00.0twepvpap（2）調(diào)用rrrk函數(shù)對(duì)由構(gòu)件組成的RRR桿組進(jìn)行運(yùn)動(dòng)分析。見(jiàn)表4.5。表4.5形式參數(shù)mn1n2n

14、3k1k2r1r2twepvpap實(shí)值124323r23r34twepvpap（3）程序清單#include "graphics.h"#include "subk.c"#include "draw.c"main()static double p202,vp202,ap202;static double t10,w10,e10,del;static double pdraw370,vpdraw370,apdraw370,wdraw370; static int ic; double r12,r23,r34; double pi,dr;

15、double r2,vr2,ar2; int i; FILE *fp; r12=0.04; r23=1.11; r34=1.96; p11=0.0; p12=0.0; p41=-0.95; p42=2.0; pi=4.0*atan(1.0); dr=pi/180.0; w1=-17*pi/3; e1=0.0; del=15; printf("n The Kinematic Parameters of Point6n"); printf("No THETA1 t3 w3 e3n"); printf(" deg rad rad/s rad/s/sn

16、"); ic=(int)(360.0/del); for(i=0;i<=ic;i+) t1=(-i)*del*dr-3*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); wdrawi=t1/dr; pdrawi=t3; vpdrawi=w3; apdrawi=e3; if(fp=fopen("四桿運(yùn)動(dòng)8888888.txt","w")=NULL) printf("Can't open this fil

17、e./n"); exit(0); for(i=0;i<=ic;i+)printf("%12.3f %12.3f %12.3f %12.3fn",wdrawi,pdrawi,vpdrawi,apdrawi);fprintf(fp,"%e %e %e %en",wdrawi,pdrawi,vpdrawi,apdrawi); if(i%18)=0)getch(); fclose(fp); getch(); draw1(del,pdraw,vpdraw,apdraw,ic);運(yùn)算結(jié)果：The Kinematic Parameters of Poi

18、nt3THETA1 t3 w3 e3deg rad rad/s rad/s/s-3.00000e+00 -1.63161e+00 -4.05618e-03 -6.23548e+00-1.80000e+01 -1.63234e+00 -9.46782e-02 -6.02631e+00-3.30000e+01 -1.63436e+00 -1.79482e-01 -5.44663e+00-4.80000e+01 -1.63756e+00 -2.53165e-01 -4.51911e+00-6.30000e+01 -1.64173e+00 -3.10889e-01 -3.28467e+00-7.800

19、00e+01 -1.64661e+00 -3.48569e-01 -1.80535e+00-9.30000e+01 -1.65187e+00 -3.63197e-01 -1.65406e-01-1.08000e+02 -1.65717e+00 -3.53157e-01 1.53056e+00-1.23000e+02 -1.66213e+00 -3.18490e-01 3.16304e+00-1.38000e+02 -1.66642e+00 -2.61053e-01 4.60652e+00-1.53000e+02 -1.66972e+00 -1.84521e-01 5.74117e+00-1.6

20、8000e+02 -1.67178e+00 -9.42091e-02 6.46611e+00-1.83000e+02 -1.67245e+00 3.30455e-03 6.71231e+00-1.98000e+02 -1.67168e+00 1.00725e-01 6.45290e+00-2.13000e+02 -1.66953e+00 1.90711e-01 5.70852e+00-2.28000e+02 -1.66614e+00 2.66566e-01 4.54585e+00-2.43000e+02 -1.66178e+00 3.22868e-01 3.06898e+00-2.58000e

21、+02 -1.65676e+00 3.55913e-01 1.40521e+00-2.73000e+02 -1.65144e+00 3.63939e-01 -3.11702e-01-2.88000e+02 -1.64618e+00 3.47101e-01 -1.95669e+00-3.03000e+02 -1.64134e+00 3.07263e-01 -3.42418e+00-3.18000e+02 -1.63724e+00 2.47662e-01 -4.63297e+00-3.33000e+02 -1.63413e+00 1.72551e-01 -5.52594e+00-3.48000e+

22、02 -1.63222e+00 8.68636e-02 -6.06671e+00圖4.1四桿機(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(dòng)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）調(diào)用bark函數(shù)對(duì)主動(dòng)件進(jìn)行運(yùn)動(dòng)分析。見(jiàn)表4.1。（2）調(diào)用rrrk函數(shù)對(duì)由構(gòu)件組成的RRR桿組進(jìn)行運(yùn)動(dòng)分析。見(jiàn)表4.2。（3）調(diào)用rrrk函數(shù)對(duì)由構(gòu)件組成的RRR桿組進(jìn)行運(yùn)動(dòng)分析。見(jiàn)表4.3。（4）求各構(gòu)件的質(zhì)心7、8、9、10點(diǎn)及礦石破碎阻力作用點(diǎn)11點(diǎn)的運(yùn)動(dòng)參數(shù)。見(jiàn)表5.1表5.5。表5.1 7點(diǎn)運(yùn)動(dòng)參數(shù)形式參數(shù)n1n2n3kr1r2gamtwepvpap實(shí)值20720.0r270.

23、0twepvpap表5.2 8點(diǎn)運(yùn)動(dòng)參數(shù)形式參數(shù)n1n2n3kr1r2gamtwepvpap實(shí)值40830.0r480.0twepvpap表5.3 9點(diǎn)運(yùn)動(dòng)參數(shù)形式參數(shù)n1n2n3kr1r2gamtwepvpap實(shí)值30940.0r390.0twepvpap表5.4 10點(diǎn)運(yùn)動(dòng)參數(shù)形式參數(shù)n1n2n3kr1r2gamtwepvpap實(shí)值601050.0r6100.0twepvpap表5.5 11點(diǎn)運(yùn)動(dòng)參數(shù)形式參數(shù)n1n2n3kr1r2gamtwepvpap實(shí)值601150.0r6110.0twepvpap（5）調(diào)用rrrf對(duì)由桿組成的RRR桿組進(jìn)行靜力分析。見(jiàn)表5.6。表5.6形式參數(shù)n1n2

24、n3ns1ns2nn1nn2nexfk1k2pvpaptwefr實(shí)值3659100111145pvpaptwefr（6）調(diào)用rrrf對(duì)由桿組成的RRR桿組進(jìn)行靜力分析。見(jiàn)表5.7。表5.7形式參數(shù)n1n2n3ns1ns2nn1nn2nexfk1k2pvpaptwefr實(shí)值4238730032pvpaptwefr（7）調(diào)用barf對(duì)主動(dòng)件進(jìn)行靜力分析。見(jiàn)表5.8。表5.8形式參數(shù)n1ns1nn1k1papefrtb實(shí)值1121papefr&tb程序清單#include "graphics.h"#include "subk.c"#include &q

25、uot;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; static double fr202,fe202; static int ic; double r12,r23,r34,r35,r56; double r27,r48,r39,r6

26、10,r611; int i; double pi,dr; double fr6,bt6,we1,we2,we3,we4,we5,tb,tb1; FILE*fp; sm1=0.0;sm2=500.0;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/

27、180.0; w1=-170*2*pi/60; e1=0.0; del=15; p11=0.0; p12=0.0; p41=0.94; p42=-1.0; p61=-1.0; p62=0.85; printf("n The Kineto-static Analysis of a Six-bar Linkasen");printf(" NO THETA1 FR6 BT6 TB TB1n");printf(" (deg.) (N) (deg.) (N.m) (N.m)n"); if(fp=fopen("六桿受力8888888.t

28、xt","w")=NULL) printf("Can't open this file./n"); exit(0); fprintf(fp,"n The Kineto-static Analysis of a Six-bar Linkasen");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

29、;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(3,0,9,4,0.0,r39,0.0,t,w,e,p,vp,ap); bark(6,0,10,5,0.0,r610,0

30、.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=-(ap11*vp11+(ap12+9.81)*vp12)*sm1-e1*w1*sj1; we2=-(ap71*v

31、p71+(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+we2+we3+we4+we5)/w1; printf("%3d %10.3f %10.3f

32、 %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(); fclose(fp); getch(); draw2

33、(del,tbdraw,tb1draw,ic); draw3(del,sita1,fr1draw,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)*(85000.0/182.0)*cos(-t5-pi/2); fenexf2=-(

34、-t1/dr-90.0)*(85000.0/182.0)*sin(-t5-pi/2); elsefenexf1=0;fenexf2=0; 運(yùn)行結(jié)果： The Kineto-static Analysis of a Six-bar LinkaseNO THETA1 FR1 BT1 FR4 BT4 FR6 BT6 TB TB1 (deg.) (N) (deg.) (N) (deg.) (N) (deg.) (N.m) (N.m) 1 0.000 6464.189 124.258 769.703 95.965 9904.580 77.690 534.273 534.273 2 -15.000 121

35、40.033 106.228 2532.978 168.621 10248.086 82.670 1038.104 1038.104 3 -30.000 18594.244 99.513 5575.144 -179.005 10522.852 89.576 1434.513 1434.513 4 -45.000 24798.893 96.382 8791.463 -174.111 10757.314 97.329 1547.760 1547.760 5 -60.000 29754.383 94.713 11296.855 -171.709 10967.175 104.339 1270.987

36、1270.987 6 -75.000 32606.285 93.605 12322.386 -170.890 11112.158 109.009 644.228 644.228 7 -90.000 32912.594 92.518 11514.476 -171.622 11132.496 110.330 -144.608 -144.608 8 -105.000 31996.601 91.034 11227.703 -171.652 13356.757 128.454 -883.773 -883.773 9 -120.000 29068.031 88.968 9795.299 -172.849

37、16176.401 139.007 -1407.830 -1407.830 10 -135.000 24808.593 85.962 7962.955 -174.722 19186.867 145.561 -1626.344 -1626.344 11 -150.000 19908.523 81.555 6419.120 -176.329 22374.519 150.172 -1559.245 -1559.245 12 -165.000 14937.569 74.940 5662.152 -176.164 25846.624 153.746 -1292.854 -1292.854 13 -180

38、.000 10336.426 64.277 5972.185 -173.877 29700.830 156.609 -931.213 -931.213 14 -195.000 6553.236 44.603 7407.676 -171.433 33968.451 158.869 -565.243 -565.243 15 -210.000 4432.642 6.066 9812.374 -170.222 38602.952 160.602 -260.954 -260.954 16 -225.000 4766.284 -38.055 12891.374 -170.034 43497.372 161

39、.905 -57.628 -57.628 17 -240.000 6137.776 -63.013 16303.169 -170.298 48515.553 162.900 32.265 32.265 18 -255.000 7161.722 -76.919 19734.118 -170.628 53525.123 163.703 23.978 23.978 19 -270.000 7326.704 -86.885 22956.013 -170.818 58424.813 164.412 -39.809 -39.809 20 -285.000 11975.478 -95.129 2703.86

40、1 3.602 8481.823 78.617 -205.306 -205.306 21 -300.000 10744.698 -101.624 2437.780 5.040 8583.465 77.292 -338.729 -338.729 22 -315.000 8639.883 -110.269 2351.157 8.846 8793.293 75.658 -361.459 -361.459 23 -330.000 5826.445 -127.009 2176.748 15.111 9113.158 74.602 -227.576 -227.576 24 -345.000 3709.74

41、9 -177.584 1592.370 27.896 9506.210 75.059 80.824 80.824 25 -360.000 6464.189 124.258 769.703 95.965 9904.580 77.690 534.273 534.273 圖5.1 六桿機(jī)構(gòu)曲柄上的平衡力矩的變化規(guī)律圖5.2六桿機(jī)構(gòu)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5.2四桿鉸鏈?zhǔn)筋€式破碎機(jī)的靜力分析（1）調(diào)用bark函數(shù)對(duì)主動(dòng)件進(jìn)行運(yùn)動(dòng)分析。見(jiàn)表4.4。（2）調(diào)用rrrk函數(shù)對(duì)由構(gòu)件組成的RRR桿組進(jìn)行運(yùn)動(dòng)分析。見(jiàn)表4.5。（3）求各構(gòu)件的質(zhì)心5、6點(diǎn)及礦石破碎阻力作用點(diǎn)7點(diǎn)的運(yùn)動(dòng)參數(shù)。見(jiàn)表

42、5.9表5.11。表5.9 5點(diǎn)運(yùn)動(dòng)參數(shù)形式參數(shù)n1n2n3kr1r2gamtwepvpap實(shí)值20520.0r250.0twepvpap表5.10 6點(diǎn)運(yùn)動(dòng)參數(shù)形式參數(shù)n1n2n3kr1r2gamtwepvpap實(shí)值40630.0r460.0twepvpap表5.11 7點(diǎn)運(yùn)動(dòng)參數(shù)形式參數(shù)n1n2n3kr1r2gamtwepvpap實(shí)值40730.00.60.0twepvpap（4）調(diào)用rrrf對(duì)由桿組成的RRR桿組進(jìn)行靜力分析。見(jiàn)表5.12。表5.12形式參數(shù)n1n2n3ns1ns2nn1nn2nexfk1k2pvpaptwefr實(shí)值2435607723pvpaptwefr（5）調(diào)用bar

43、f對(duì)主動(dòng)件進(jìn)行靜力分析。見(jiàn)表5.13表5.13形式參數(shù)n1ns1nn1k1papefrtb實(shí)值1121papefr&tb程序清單：#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,fr2dra

44、w370,sita3370,fr3draw370,tbdraw370,tb1draw370; static double fr202,fe202; static int ic; double r12,r23,r34; double 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; r

45、46=r34/2; r47=0.6; pi=4.0*atan(1.0); w1=-170*2*pi/60; e1=0.0; del=15; dr=pi/180.0; 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 THETA1 FR4 BT4 TB TB1n");printf(" (deg.) (N) (deg.) (N.m) (N.m)n"); if(fp=fo

46、pen("四桿受力88888888.txt","w")=NULL) printf("Can't open this file./n"); exit(0); fprintf(fp,"n The Kineto-static Analysis of a Six-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,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(