機械原理大作業(yè)1連桿(共11頁)

1、機械原理(yunl)大作業(yè)一課程名稱： 機械(jxi)原理 設(shè)計(shj)題目： 連桿機構(gòu)設(shè)計 院 系： 機電工程學(xué)院 班 級： 完 成 者： 學(xué) 號： 指導(dǎo)教師： 設(shè)計時間： 5月10日-5月19日 哈爾濱工業(yè)大學(xué)（13）在圖1-13所示的牛頭刨床機構(gòu)(jgu)中，已知各個構(gòu)建尺寸為：LAB=108mm，LCE=620mm，LEF=300mm，H1=350mm，H=635mm，曲柄1以等角速度轉(zhuǎn)動，轉(zhuǎn)速(zhun s)為n1=225r/min。試求滑塊5上點F的位移、速度和加速度。機構(gòu)的自由度計算(j sun)及基本桿組劃分（1）自由度計算 該機構(gòu)為平面機構(gòu)，活動構(gòu)件的數(shù)目為n=5，低副PL

2、=7，高副數(shù)目PH=0，故該牛頭刨床機構(gòu)的自由度為 F=3n-2PL-PH=3*5-2*7-0=1（2）基本桿組的劃分 構(gòu)件1為原動件，故先移除，然后按照拆分法拆分桿組。桿3與滑塊2組成RPRII級桿組，桿4與滑塊5組成RPRII級桿組。拆分結(jié)果如下：2、各基本桿組的運動(yndng)分析 以C點為坐標(biāo)原點建立直角坐標(biāo)系，通過求出B點坐標(biāo)求出E點坐標(biāo)，進而推出F點坐標(biāo)，其與時間的函數(shù)即為位移(wiy)方程，對其求一次導(dǎo)得速度方程，求二階導(dǎo)得加速度方程。 圖一為一級桿組： xB = lABcos yB = lABsin 圖二為二級桿組： xE = lCEcos1 yE = lCEsin1 1 =

3、 arctan（H1+lAbsin）/lABcos 圖三為二級桿組： xF = xE - lEFcos2 2 = arcsin（H - yE）/lEF3、數(shù)學(xué)(shxu)建模（1）、位移圖2、速度圖3、加速度圖4、計算(j sun)程序Begin VB.Form 牛頭刨連桿機構(gòu) Caption = Form1 ClientHeight = 3030 ClientLeft = 120 ClientTop = 450 ClientWidth = 4560 LinkTopic = Form1 ScaleHeight = 3030 ScaleWidth = 4560 StartUpPosition =

4、 3 窗口(chungku)缺省 Begin VB.PictureBox Picture4 Height = 6495 Left = 2760 ScaleHeight = 6435 ScaleWidth = 11235 TabIndex = 4 Top = 120 Width = 11295 End Begin VB.PictureBox Picture3 Height = 6255 Left = 1680 ScaleHeight = 6195 ScaleWidth = 75 TabIndex = 3 Top = 240 Width = 135 End Begin VB.PictureBox

5、Picture2 Height = 6255 Left = 2280 ScaleHeight = 6195 ScaleWidth = 75 TabIndex = 2 Top = 0 Width = 135 End Begin VB.PictureBox Picture1 Height = 6255 Left = 960 ScaleHeight = 6195 ScaleWidth = 195 TabIndex = 1 Top = 120 Width = 255 End Begin VB.CommandButton Command1 Caption = Command1 Height = 495

6、Left = 120 TabIndex = 0 Top = 120 Width = 495 EndEndAttribute VB_Name = 牛頭刨連桿機構(gòu)Attribute VB_GlobalNameSpace = FalseAttribute VB_Creatable = FalseAttribute VB_PredeclaredId = TrueAttribute VB_Exposed = FalsePrivate f1(3600) As Double 1桿的轉(zhuǎn)角(zhunjio)Private xB0(3600) As Double Private yB0(3600) As Doub

7、le Private vxB0(3600) As Double Private vyB0(3600) As Double Private axB0(3600) As Double Private ayB0(3600) As Double Private xE0(3600) As Double Private yE0(3600) As Double Private vxE0(3600) As Double Private vyE0(3600) As Double Private axE0(3600) As Double Private ayE0(3600) As Double Private f

8、3(3600) As Double Private w3(3600) As Double Private e3(3600) As Double Private s5(3600) As Double Private vs5(3600) As Double Private as5(3600) As Double Private pi As DoublePrivate pa As DoublePrivate Sub Command1_Click()Dim i As DoubleDim j As LongDim RR1 As rrDim RPR1 As rprDim RRP1 As rrpSet RR

9、1 = New rrSet RPR1 = New rprSet RRP1 = New rrppi = 4 * Atn(1)pa = pi / 180Picture1.DrawWidth = 1Picture1.Scale (-20, 1000)-(390, -40) Picture1.Line (-20, 0)-(390, 0) X Picture1.Line (0, 1000)-(0, -40) Y Picture1.CurrentX = 330: Picture1.CurrentY = 40 Picture1.Print 主動(zhdng)件轉(zhuǎn)角/度 X表示 Picture1.Curren

10、tX = 10: Picture1.CurrentY = 960 Picture1.Print 滑塊位移(wiy)S /mm Y表示 For j = 30 To 390 Step 30 X軸坐標(biāo)(zubio) Picture1.Line (j, 5)-(j, 0) Picture1.CurrentX = j - 5: Picture1.CurrentY = 0 Picture1.Print j Next j For j = 0 To 1000 Step 80 Y軸坐標(biāo) Picture1.Line (0, j)-(5, j) Picture1.CurrentX = -20: Picture1.C

11、urrentY = j + 2 Picture1.Print j Next j Picture1.DrawStyle = 2 For j = 0 To 1000 Step 80 Picture1.Line (-20, j)-(390, j), vbBlack 橫向網(wǎng)格 Next j For j = 0 To 390 Step 30 Picture1.Line (j, -20)-(j, 1000), vbBlack 縱向網(wǎng)格 Next j Picture2.DrawWidth = 1Picture2.Scale (-20, 8000)-(390, -4000) Picture2.Line (-2

12、0, 0)-(380, 0) X Picture2.Line (0, 8000)-(0, -4000) Y Picture2.CurrentX = 340: Picture2.CurrentY = 400 Picture2.Print 主動(zhdng)件轉(zhuǎn)角/度 Picture2.CurrentX = 10: Picture2.CurrentY = 2400 Picture2.Print 滑塊速度(sd)V mm/s For j = 30 To 390 Step 30 X軸坐標(biāo)(zubio) Picture2.Line (j, 5)-(j, 0) Picture2.CurrentX = j

13、- 5: Picture2.CurrentY = 0 Picture2.Print j Next j For j = -4000 To 8000 Step 800 Y軸坐標(biāo) Picture2.Line (0, j)-(5, j) Picture2.CurrentX = -10: Picture2.CurrentY = j + 7 Picture2.Print j Next j Picture2.DrawStyle = 2 For j = -4000 To 8000 Step 800 Picture2.Line (-20, j)-(390, j), vbBlack 橫向網(wǎng)格 Next j For

14、 j = 30 To 390 Step 30 Picture2.Line (j, -4000)-(j, 8000), vbBlack 縱向網(wǎng)格 Next j Picture3.DrawWidth = 1Picture3.Scale (-20, 150000)-(380, -200000) Picture3.Line (-20, 0)-(390, 0) X Picture3.Line (0, 150000)-(0, -200000) Y Picture3.CurrentX = 300: Picture3.CurrentY = 10000 Picture3.Print 主動件轉(zhuǎn)角/度 Pictur

15、e3.CurrentX = 10: Picture3.CurrentY = 80000 Picture3.Print 滑塊加速度a mm/S2 For j = 30 To 390 Step 30 X軸坐標(biāo) Picture3.Line (j, 5)-(j, 0) Picture3.CurrentX = j - 5: Picture3.CurrentY = 0 Picture3.Print j Next j For j = -200000 To 150000 Step 10000 Y軸坐標(biāo) Picture3.Line (0, j)-(5, j) Picture3.CurrentX = -20: P

16、icture3.CurrentY = j + 7 Picture3.Print j Next j Picture3.DrawStyle = 2 For j = -200000 To 150000 Step 10000 Picture3.Line (-200000, j)-(150000, j), vbBlack 橫向(hn xin)網(wǎng)格 Next j For j = 0 To 390 Step 30 Picture3.Line (j, -200000)-(j, 150000), vbBlack 縱向(zn xin)網(wǎng)格 Next j 主程序For i = 0# To 3600# Step 0.

17、1 主動(zhdng)件轉(zhuǎn)角0-360,步長0.01RR類模塊屬性賦值f1(i) = i * pa / 10RR1.f = f1(i)RR1.L = 108RR1.w = 205 * 2 * pi / 60RR1.e = 0RR1.xA = 0RR1.yA = 0RR1.vxA = 0RR1.vyA = 0RR1.axA = 0RR1.ayA = 0RR1.calRR 執(zhí)行RR類模塊方法xB0(i) = RR1.xByB0(i) = RR1.yBvxB0(i) = RR1.vxBvyB0(i) = RR1.vyBaxB0(i) = RR1.axBayB0(i) = RR1.ayBRPR類模塊屬

18、性賦值RPR1.Li = 0RPR1.Lj = 620RPR1.Lk = 0RPR1.xB = xB0(i)RPR1.yB = yB0(i)RPR1.vxB = vxB0(i)RPR1.vyB = vyB0(i)RPR1.axB = axB0(i)RPR1.ayB = ayB0(i)RPR1.xD = 0RPR1.yD = -350RPR1.vxD = 0RPR1.vyD = 0RPR1.axD = 0RPR1.ayD = 0RPR1.calRPR 執(zhí)行(zhxng)RPR類模塊方法xE0(i) = RPR1.xEyE0(i) = RPR1.yEvxE0(i) = RPR1.vxEvyE0(i) = RPR1.vyEaxE0(i) = RPR1.axEayE0