哈工大機(jī)械原理大作業(yè)1—

1、Harbin Institute of Technology機(jī)械原理大作業(yè)設(shè)計(jì)說(shuō)明書(shū)（論文）課程名稱： 機(jī)械原理 設(shè)計(jì)題目：連桿機(jī)構(gòu)運(yùn)動(dòng)分析(27) 院 系：能源科學(xué)與工程學(xué)院 班 級(jí)： 1202101 設(shè) 計(jì) 者： 滕令凱 學(xué) 號(hào)： 1120200605 指導(dǎo)教師： 焦映厚 設(shè)計(jì)時(shí)間： 2014年6月 運(yùn)動(dòng)分析題目第二十七題 如圖所示機(jī)構(gòu)，已知機(jī)構(gòu)各構(gòu)件的尺寸為AB=280mm，BC=350mm，CD=320mm, AD=160mm, BE=175mm, EF=220mm, xc=25mm, yg=80mm, 構(gòu)件一的角速度為w1=10rad/s, 試求構(gòu)件2上點(diǎn)F的軌跡及構(gòu)件5的角位移，角

2、速度和角加速度，并對(duì)計(jì)算結(jié)果進(jìn)行分析。YAGCBEFyGXgDX一、建立坐標(biāo)系以A點(diǎn)為原點(diǎn)建立如圖所示坐標(biāo)系x-y，如上圖所示二、機(jī)構(gòu)結(jié)構(gòu)分析該機(jī)構(gòu)可認(rèn)為由一個(gè)I級(jí)桿組RR（桿AB）、II級(jí)桿組RRR（桿2、3）、II級(jí)桿組RPR（桿5及滑塊4）組成。如下圖所示。AB II級(jí)桿組RRCBDE II級(jí)桿組RRRGF II級(jí)桿組RPR三、確定已知參數(shù)和設(shè)計(jì)流程一）AB（I級(jí)桿組RR）運(yùn)動(dòng)副A的位置坐標(biāo)為AB=28OmmB的位置坐標(biāo)二）BCD桿（II級(jí)桿組RRR）運(yùn)動(dòng)副D的位置坐標(biāo)BC=350mm, CD=320mm由余弦定理，可求得由正弦定理得由余弦定理得由此可以求出運(yùn)動(dòng)副C的位置坐標(biāo)（X,Y）,

3、速度（vx，vy）和加速度(ax,ay),桿BC與x軸的夾角，桿BC的角速度，桿BC的角加速度，桿CD與x軸的夾角，角速度，角加速度。三）GF （II級(jí)桿組RPR）G點(diǎn)的位置坐標(biāo)由此可以求出構(gòu)件GF的轉(zhuǎn)角，角速度和角加速度四）構(gòu)件BC上E點(diǎn)的運(yùn)動(dòng)BE=175mm，根據(jù)前面求出的量，可以得到E的位置坐標(biāo)，速度和加速度，同理可以得到F點(diǎn)的運(yùn)動(dòng)規(guī)律。四、編程計(jì)算編程語(yǔ)言為VB，編程環(huán)境為visual basic6.0精簡(jiǎn)版源代碼如下Dim xA As Double '點(diǎn)A的坐標(biāo)，速度，加速度Dim yA As DoubleDim vxA As DoubleDim vyA As DoubleD

4、im axA As DoubleDim ayA As DoubleDim xB As Double '點(diǎn)B的坐標(biāo)，速度，加速度Dim yB As DoubleDim vxB As DoubleDim vyB As DoubleDim axB As DoubleDim ayB As DoubleDim xC As Double '點(diǎn)C的坐標(biāo)，速度，加速度Dim yC As DoubleDim vxC As DoubleDim vyC As DoubleDim axC As DoubleDim ayC As DoubleDim xD As Double '點(diǎn)D的坐標(biāo)，速度，

5、加速度Dim yD As DoubleDim vxD As DoubleDim vyD As DoubleDim axD As DoubleDim ayD As DoubleDim xE As Double '點(diǎn)E的坐標(biāo)，速度，加速度Dim yE As DoubleDim vxE As DoubleDim vyE As DoubleDim axE As DoubleDim ayE As DoubleDim xF As Double '點(diǎn)F的坐標(biāo)，速度，加速度Dim yF As DoubleDim vxF As DoubleDim vyF As DoubleDim axF As

6、DoubleDim ayF As DoubleDim xG As Double '點(diǎn)G的坐標(biāo)，速度，加速度Dim yG As DoubleDim vxG As DoubleDim vyG As DoubleDim axG As DoubleDim ayG As DoubleDim delt As Double '構(gòu)件1的初始角位移Dim lab As Double '桿AB的長(zhǎng)度Dim lbc As Double '桿BC的長(zhǎng)度Dim lcd As Double '桿CD的長(zhǎng)度Dim lad As Double '桿AD的長(zhǎng)度Dim lbe As

7、 Double '桿BE的長(zhǎng)度Dim lef As Double '桿EF的長(zhǎng)度Dim lbf As Double 'BF兩點(diǎn)間的距離Dim fab As Double '桿AB的角位移Dim fbc As Double '桿BC的角位移Dim fcd As Double '桿CD的角位移Dim fef As Double '桿EF的角位移Dim ffg As Double '桿FG的角位移Dim febf As Double '角EBF的角度Dim fj1 As DoubleDim wab As Double '

8、桿AB的角速度Dim wbc As Double '桿BC的角速度Dim wcd As Double '桿CD的角速度Dim wce As Double '桿CE的角速度Dim wef As Double '桿EF的角速度Dim wfg As Double '桿FG的角速度Dim eab As Double '桿AB的角加速度Dim ebc As Double '桿BC的角加速度Dim ecd As Double '桿CD的角加速度Dim ece As Double '桿CE的角加速度Dim eef As Double &

9、#39;桿EF的角加速度Dim efg As Double '桿FG的角加速度Dim LBD As Double 'BD的長(zhǎng)度Dim LGF As Double 'GF的長(zhǎng)度Dim JCBD As Double '角CBD的角度Dim fbd As Double '桿BD的角位移Dim Ci As Double 'RRR桿組的中間變量Dim Cj As DoubleDim Si As DoubleDim Sj As DoubleDim G1 As DoubleDim G2 As DoubleDim G3 As DoubleDim val As D

10、ouble '角CBD的余弦值Dim pi As Double '圓周率Dim pa As Double '角度與弧度轉(zhuǎn)換的系數(shù)Dim i As Double '循環(huán)變量Private Sub Form_Load() '附值lab = 280lbc = 350lcd = 320lad = 160lbe = 175lef = 220wab = 10eab = 0delt = 0xA = 0yA = 0vxA = 0vyA = 0axA = 0ayA = 0xD = 0yD = 160vxD = 0vyD = 0axD = 0ayD = 0xG = -25y

11、G = 80vxG = 0vyG = 0axG = 0ayG = 0pi = 3.1415926pa = pi / 180fj1 = 0End SubPrivate Sub Command1_Click() '點(diǎn)F的軌跡Picture1.Scale (-200, 250)-(100, -50)Picture1.Line (-200, 0)-(100, 0) 'XPicture1.Line (0, 250)-(0, -50) 'Y For i = -180 To 120 Step 30 'X軸坐標(biāo) Picture1.DrawStyle = 2 Picture1.L

12、ine (i, 250)-(i, -50) Picture1.CurrentX = i - 10: Picture1.CurrentY = 0 Picture1.Print i Next i For i = -60 To 240 Step 30 'Y軸坐標(biāo) Picture1.DrawStyle = 2 Picture1.Line (-200, i)-(100, i) Picture1.CurrentX = -10: Picture1.CurrentY = i Picture1.Print i Next iFor fj1 = 0 To 360 Step 0.01 fab = fj1 *

13、pa Call RR1 Call RRR Call RR2 Picture1.PSet (xF, yF) Next fj1End SubPrivate Sub Command2_Click() '桿5的角位移Picture2.Scale (-10, 8)-(380, -2)Picture2.Line (-10, 0)-(380, 0) 'XPicture2.Line (0, 8)-(0, -2) 'Y For i = -30 To 390 Step 30 'X軸坐標(biāo) Picture2.DrawStyle = 2 Picture2.Line (i, 8)-(i,

14、-2) Picture2.CurrentX = i - 10: Picture2.CurrentY = 0 Picture2.Print i Next i For i = -2 To 8 Step 1 'Y軸坐標(biāo) Picture2.DrawStyle = 2 Picture2.Line (-10, i)-(380, i) Picture2.CurrentX = -10: Picture2.CurrentY = i Picture2.Print i Next i For fj1 = 0 To 360 Step 0.01 fab = fj1 * paCall RR1Call RRRCall

15、 RR2Call RPRPicture2.PSet (fj1, ffg) Next fj1End SubPrivate Sub Command3_Click() '桿5的角速度Picture3.Scale (-20, 90)-(380, -10)Picture3.Line (-20, 0)-(380, 0) 'XPicture3.Line (0, 90)-(0, -10) 'YFor i = 0 To 360 Step 30 'X軸坐標(biāo)Picture3.DrawStyle = 2Picture3.Line (i, 90)-(i, -10)Picture3.Cur

16、rentX = i - 10: Picture3.CurrentY = 0Picture3.Print iNext iFor i = -10 To 90 Step 5 'Y軸坐標(biāo) Picture3.Line (0, i)-(380, i) Picture3.CurrentX = -20: Picture3.CurrentY = i Picture3.Print i Next i For fj1 = 0 To 360 Step 0.01 fab = fj1 * paCall RR1Call RRRCall RR2Call RPRPicture3.PSet (fj1, wfg) Next

17、fj1End SubPrivate Sub Command4_Click() '桿5的角加速度Picture4.Scale (-20, 800)-(380, -800)Picture4.Line (-20, 0)-(380, 0) 'XPicture4.Line (0, 800)-(0, -800) 'YFor i = 0 To 360 Step 30 'X軸坐標(biāo) Picture4.DrawStyle = 2 Picture4.Line (i, 800)-(i, -800) Picture4.CurrentX = i - 10: Picture4.Current

18、Y = 0 Picture4.Print i Next i For i = -800 To 800 Step 80 'Y軸坐標(biāo) Picture4.Line (0, i)-(380, i) Picture4.CurrentX = -25: Picture4.CurrentY = i + 5 Picture4.Print i Next i For fj1 = 0 To 360 Step 0.01 fab = fj1 * pa Call RR1 Call RRR Call RR2 Call RPR Picture4.PSet (fj1, efg) Next fj1End SubPrivate

19、 Sub RR1() '級(jí)桿組RR1（原動(dòng)件1）xB = xA + lab * Cos(fab + delt)yB = yA + lab * Sin(fab + delt)vxB = vxA - wab * lab * Sin(fab + delt)vyB = vyA + wab * lab * Cos(fab + delt)axB = axA - wab 2 * lab * Cos(fab + delt) - eab * lab * Sin(fab + delt)ayB = ayA - wab 2 * lab * Sin(fab + delt) + eab * lab * Sin(f

20、ab + delt)End SubPrivate Sub RR2() '構(gòu)件2上點(diǎn)F的運(yùn)動(dòng)分析lbf = Sqr(lbe 2 + lef 2)febf = Atn(lef / lbe)xF = xB + lbf * Cos(fbc + febf)yF = yB + lbf* Sin(fbc + febf)vxF = vxB - wbc * lbf * Sin(fbc + febf)vyF = vyB + wbc * lbf* Cos(fbc + febf)axF = axB - wbc 2 * lbf * Cos(fbc + febf) - ebc * lbf * Sin(fbc +

21、febf)ayF = ayB - wbc 2 * lbf * Sin(fbc + febf) + ebc * lbf* Sin(fbc + febf)End SubPrivate Sub RRR() 級(jí)桿組RRR（桿2、桿3）xB = xA + lab * Cos(fab + delt)yB = yA + lab * Sin(fab + delt)LBD = Sqr(xD - xB) 2 + (yD - yB) 2)val = (lbc 2 + LBD 2 - lcd 2) / (2 * lbc * LBD)JCBD = Atn(-val / Sqr(-val * val + 1) + 2 *

22、 Atn(1)If xD > xB And yD > yB Then '第一象限fbd = Atn(yD - yB) / (xD - xB)fbc = fbd - JCBDElseEnd IfIf xD < xB And yD >= yB Then '第二象限fbd = Atn(yD - yB) / (xD - xB) + pifbc = fbd - JCBDElseEnd IfIf xD < xB And yD < yB Then '第三象限fbd = Atn(yD - yB) / (xD - xB) + pifbc = fbd -

23、 JCBDElseEnd IfIf xD > xB And yD <= yB Then '第四象限fbd = Atn(yD - yB) / (xD - xB) + pi * 2fbc = fbd - JCBDElseEnd IfIf xB = xD And yD > yB Then 'y軸正向fcd = 0.5 * piElseEnd IfIf xB = xD And yD < yB Then 'y軸負(fù)向fcd = 1.5 * piElseEnd IfxC = xB + lbc * Cos(fbc)yC = yB + lbc * Sin(fbc)

24、If xC > xD And yC >= yD Then '第一象限fcd = Atn(yC - yD) / (xC - xD)ElseEnd IfIf xC < xD And yC >= yD Then '第二象限fcd = Atn(yC - yD) / (xC - xD) + piElseEnd IfIf xC < xD And yC < yD Then '第三象限fcd = Atn(yC - yD) / (xC - xD) + piElseEnd IfIf xC > xD And yC <= yD Then '

25、;第四象限fcd = 2 * pi + Atn(yC - yD) / (xC - xD)ElseEnd IfIf xC = xD And yC > yD Then 'y軸正向fcd = 0.5 * piElseEnd IfIf xC = xD And yC < yD Then 'y軸負(fù)向fcd = 1.5 * piElseEnd IfCi = lbc * Cos(fbc)Si = lbc * Sin(fbc)Cj = lcd * Cos(fcd)Sj = lcd * Sin(fcd)G1 = Ci * Sj - Cj * Siwbc = (Cj * (vxD - v

26、xB) + Sj * (vyD - vyB) / G1wcd = (Ci * (vxD - vxB) + Si * (vyD - vyB) / G1vxC = vxB - wbc * lbc * Sin(fbc)vyC = vyB + wbc * lbc * Cos(fbc)G2 = axD - axB + wbc 2 * Ci - wcd 2 * CjG3 = ayD - ayB + wbc 2 * Si - wcd 2 * Sjebc = (G2 * Cj + G3 * Sj) / G1ecd = (G2 * Ci + G3 * Si) / G1axC = axB - ebc * lbc * Sin(fbc) - wbc 2 * lbc * Cos(fbc)ayC = ayB - ebc * lbc * Cos(fbc) - wbc 2 * lbc * Sin(fbc)End SubPrivate Sub RPR() '級(jí)桿組RPR（滑塊4、桿5）LGF = Sqr(xG - xF) 2 + (yG - yF) 2)If xF > xG And yF > yD Then '第一象限ffg = Atn(yF - yG) / (xF - xG)ElseEnd IfIf xF < xG And yF >= y