机械原理大作业连杆机构.

1、第嚼ti矣求衣孝Harbin Institute of Technology大作业设计说明书课程名称：机械原理 设计题目：连杆机构设计 院系：班级：设计者：学号：指导教师：设计时间：2013-6-13哈尔滨工业大学1.连杆题目（16）:如图所示机构，已知机构各构件的尺寸为lAc = lcE=100mm, lBc=lcD=200mm ,.BCD =90，构件1的角速度为Wi=10rad/s，试求构件5的角位移、角速度和角加 速度，并对计算结果进行分析。1.1机构的运动分析AB为原动件，AB转动通过转动导杆机构带动杆 BCD转动，BCD转动通过转动导 杆机构带动杆DE摆动1.2机构的结构分析杆组可

2、以划分为一个 RR I级杆组（杆1）、RRPII级杆组（滑块2,杆3）、RPRII 级杆组（滑块4,杆5）1）RRI级杆组1：2)RRPII 级杆组 2,3 :3)RPRII 级杆组 4,5 :VxB二VxA-“，ab 1 ab SinabVyB=vyAab1 ab Cosaba 灿 - AB l ab COS ；： ab2a yA AB l ab sin ；： abAO（ Xc-x a）Sin =-（ yc-yA）Cosab0. 5 Cosabbc = arc tan （MOJ-MO 2 + 1）+ab1.3机构各杆组的运动分析数学模型1)RRI级杆组1：B点位移方程：Xb = Xalab

3、cosab.YB 二Alab sinabB点速度方程:B点加速度方程：axBa yB2)RRPII 级杆组 2,3 :以A点为参考点Xb 二 Xc +lbcCos bcYb Tc+IbcSin bcX B -X ACosab二 VxA 一 Vxc _ WabSSin abQ2=VyA _ VyC +WabSCoS abQs=lbcSin bcSin ab+hcCos bcCos bWbc-Q1 Sin ab + Q 2Cos abQ 3Vs(QHCos l)+(Q2lbcSin 尢)Q32Q 4 = w l bc Cosbcbc -W 2b sCosab -2 V s W ab Sin ab2

4、Q 5 = w bc l bc Sin-bc -w ab sSin ab -2 V s w ab CO Sab:bc =- Q 4 Sinab +Q5COSabRPRII级杆组4,5 :l de二 7 ( x D - X E )2( y Dy e )2：dearctan yDyE：dearctan：dearctan：dearctanXdXeyD-yExDxEyD-yEXdXeyD-yExDXE+第一象限2-第二象限第二象限第四象限I xE And yDyE The n 第一象限fde = Atn(yD - yE) / (xD - xE)ElseEnd IfIf xDvxE And yD= yE

5、 The n 第二象限fde = Atn(yD - yE) / (xD - xE) + piElseEnd IfIf xDvxE And yDxE And yDyE The n y轴正向fde = 0.5 * piElseEnd IfIf xD = xE And yDvyE The n y轴负向fde = 1.5 * piElseEnd Ifwde = (vyD * Cos(fde) - vxD * Si n( fde) / ldeede = (ayD * Cos(fde) - axD * Sin(fde) - 2 * (vxd * Cos(fde) + vyd * Sin(fde)* wde

6、) / lde2. 计算编程以A为坐标原点，建立坐标系计算编程，源代码如下：Optio n Explicit 定义自变量Dim xA As Double 点A的坐标，速度，加速度Dim yA As DoubleDim vxA As DoubleDim vyA As DoubleDim axA As DoubleDim ayA As DoubleDim xB As Double 点B的坐标，速度，加速度Dim yB As DoubleDim vxB As DoubleDim vyB As DoubleDim axB As DoubleDim ayB As DoubleDim xC As Doub

7、le 点C的坐标，速度，加速度Dim yC As DoubleDim vxC As DoubleDim vyC As DoubleDim axC As DoubleDim ayC As DoubleDim xD As Double 点D的坐标，速度，加速度Dim yD As DoubleDim vxD As DoubleDim vyD As DoubleDim axD As DoubleDim ayD As DoubleDim atd As DoubleDim adn As DoubleDim xE As Double点E的坐标，速度，加速度Dim yE As DoubleDim vxE As

8、 DoubleDim Q1 As Double RRP Dim Q2 As Double RRP Dim Q3 As Double RRP Dim Q4 As Double RRP Dim Q5 As Double RRP Dim A0 As Double Dim MO As Double的长度的速度中的Q1中的Q2中的Q3中的Q4中的Q5杆组的中间变量圆周率角度与弧度转换的系数循环变量Dim vyE As DoubleDim axE As DoubleDim ayE As DoubleDim Ibc As Double Dim lcd As Double Dim fab As Double

9、1Dim fbc As Double Dim fde As Double 1Dim fj1 As Double Dim wab As Double Dim wbc As Double Dim wde As Double Dim eab As Double Dim ebc As Double Dim ede As Double Dim lab As Double AB Dim lde As Double DE Dim s As Double s Dim vs As Double sDim pi As Double 1Dim pa As DoubleDim i As Double 杆BC的长度杆C

10、D的长度杆AB的角位移杆BC的角位移杆DE的角位移循环变量杆AB的角速度杆BC的角速度杆DE的角速度杆AB的角加速度杆BC的角加速度杆DE的角加速度的距离的距离赋值Private Sub Form_Load() Forml.Wi ndowState = 2 Ibc = 200 led = 200 wab = 10 eab = 0 xA = 0 yA = 0 vxA = 0 vyA = 0 axA = 0 ayA = 0 xC = 0 yC = -100 vxC = 0 vyC = 0 axC = 0 ayC = 0 xE = 0 yE = -200 vxE = 0 vyE = 0 axE =

11、0 ayE = 0 pi = 4 * Atn(1) pa = pi / 180 fj1 = 0End SubPrivate Sub Comma nd1_Click()Set Picturel.Picture = Nothi ngPicturel.Scale (-20, 8)-(400, -2)Picture1.Li ne (-20, 0)-(400, 0) XPicture1.Li ne (0, 8)-(0, -2) YFor i = -20 To 400 Step 50 X轴坐标Picturel.DrawStyle = 2Picturel.Li ne (i, 8)-(i, -2)Pictur

12、el.Curre ntX = i - 10: Picturel.Curre ntY = 0Picturel.Pri nt iNext iFor i = -2 To 8 Step 1 Y轴坐标Picturel.DrawStyle = 2Picturel.Line (-20, i)-(400, i)Picturel.Curre ntX = -10: Picturel.Curre ntY = iPicturel.Pri nt iNext iFor fj1 = 0 To 360 Step 0.01fab = fj1 * paCall RRPCall RPRPicture1.PSet (fj1, fde

13、), vbRedNext fj1End SubPrivate Sub Comma nd2_Click()Set Picture2.Picture = Nothi ngPicture2.Scale (-20, 30)-(400, -4)Picture2.Li ne (-20, 0)-(400, 0) XPicture2.Line (0, 30)-(0, -4) YFor i = 0 To 360 Step 30 X轴坐标Picture2.DrawStyle = 2Picture2.Li ne (i, 30)-(i, -4)Picture2.Curre ntX = i - 10: Picture2

14、.Curre ntY = 0Picture2.Pri nt iNext iFor i = -4 To 30 Step 4 Y轴坐标Picture2.Li ne (0, i)-(400, i)Picture2.Curre ntX = -20: Picture2.Curre ntY = iPicture2.Pri nt iNext iFor fj1 = 0 To 360 Step 0.01fab = fj1 * paCall RRPCall RPRPicture2.PSet (fj1, wde), vbRedNext fj1End SubPrivate Sub Command3_Click()杆

15、5 的角加速度Set Picture3.Picture = Nothi ngPicture3.Scale (-20, 10000)-(400, -20000)Picture3.Li ne (-20, 0)-(400, 0) XPicture3.L ine (0, 10000)-(0, -20000) YFor i = 0 To 360 Step 30 X轴坐标Picture3.DrawStyle = 2Picture3.L ine (i, 10000)-(i, -20000)Picture3.Curre ntX = i - 10: Picture3.Curre ntY = 0Picture3.

16、Pri nt iNext iFor i = -20000 To 10000 Step 2500 Y轴坐标Picture3.L ine (0, i)-(400, i)Picture3.Curre ntX = -25: Picture3.Curre ntY = i + 5Picture3.Pri nt iNext iFor fj1 = 0 To 360 Step 0.01 fab = fj1 * paCall RRPCall RPRPicture3.PSet (fj1, ede), vbRedNext fj1End SubPrivate Sub RRP() U级杆组 RRP(滑块 2、杆 3)A0

17、 = (xC - xA) * Si n(fab) - (yC - yA) * Cos(fab)M0 = 0.5 * Cos(fab)fbc = Atn(M0 / Sqr(-M0 * M0 + 1) + fabxB = xC + lbc * Cos(fbc)yB = yC + lbc * Sin(fbc)If fab = pi / 2 The ns = lbc - (yA - yC)Elself fab = 3 * pi / 2 The ns = lbc + (yA - yC)Elses = (xB - xA) / Cos(fab)End IfQ1 = vxA - vxC - wab * s *

18、 Si n( fab)Q2 = vyA - vyC + wab * s * Cos(fab)Q3 = Ibc * Si n(fbc) * Si n( fab) + Ibc * Cos(fbc) * Cos(fab)wbc = (-Q1 * Si n(fab) + Q2 * Cos(fab) / Q3vs = -(Q1 * Ibc * Cos(fbc) + Q2 * Ibc * Si n( fbc) / Q3Q4 = wbc A 2 * Ibc * Cos(fbc) - wab A 2*s*Cos(fab)-2*vs*wab *Sin(fab)Q5 = wbc a 2 * Ibc * Sin(f

19、bc) - wab a 2*s*Sin(fab)+2*vs*wab *Cos(fab)ebc = (-Q4 * Si n(fab) + Q5 * Cos(fab)atd = Ibc * ebcadn = wbc a 2 * IbcxD = xC + Ibc * Si n(fbc)yD = yC - Ibc * Cos(fbc)vxD = wbc * Ibc * Cos(fbc)vyD = wbc * Ibc * Si n( fbc)axD = -adn * Si n(fbc) + atd * Cos(fbc)ayD = adn * Cos(fbc) + atd * Si n(fbc)End S

20、ubPrivate Sub RPR() U 级杆组 RPR(滑块 4、杆 5)Ide = Sqr(xD - xE) a 2 + (yD - yE) a 2)If xDxE And yDyE Then 第一象限fde = Atn(yD - yE) / (xD - xE)ElseEnd IfIf xDvxE And yD= yE The n 第二象限fde = Atn(yD - yE) / (xD - xE) + piElseEnd IfIf xDvxE And yDvyE Then 第三象限fde = Atn(yD - yE) / (xD - xE) + piElseEnd IfIf xDxE

21、And yDyE The n y 轴正向fde = 0.5 * piElseEnd IfIf xD = xE And yDvyE The n y 轴负向fde = 1.5 * piElseEnd Ifwde = (vyD * Cos(fde) - vxD * Si n( fde) / ldeede = (ayD * Cos(fde) - axD * Sin(fde) - 2 * (vxD * Cos(fde) + vyD * Sin(fde)* wde) / ldeEnd Sub3. 计算结果（绘制构件运动图线）构件5角位移构件5角位移：构件5角速度图像构件5角加速度图像TSOS獅牛5角加速度

22、750irICOlifi175110；150()02*50(1330360 4. 构件运动属性随主动件的转动变化列举(角度变化为=1 ):度构件5角位移(rad)构件5角速度(rad/s)构件5角加速度(rad/s 2)05.65127099514.76627109-14893.444515.67672239814.40057723-14666.114925.70154440514.04504413-14437.3892435.7257547713.69968448-14207.7383545.74937121913.36445541-13977.5738855.77241136213.039

23、26746-13747.2544365.79489261712.72399249-13517.0912975.8168321512.41847071-13287.3538485.83824682412.12251691-13058.2744995.85915316411.83592579-12830.05328105.87956731811.55847668-12602.86193115.89950504211.28993752-12376.84759125.91898167911.0300683-12152.13611135.93801214610.77862402-11928.835011

24、45.95661093210.53535705-11707.03604155.97479209210.30001929-11486.81746165.99256925110.07236376-11268.24602176.0099556029.85214605-11051.37866186.0269639159.639125439-10836.26396196.0436065469.433065763-10622.94346206.0598954429.23373613-10411.45264216.075842159.040911451-10201.82191226.0914578338.8

25、54372832-9994.077278236.1067532758.673907846-9788.241045246.1217388978.499310711-9584.33228256.1364247648.330382385-9382.367254266.1508206038.166930588-9182.359775276.1649358088.008769777-8984.321462286.1787794577.855721072-8788.261955296.1923603217.707612149-8594.189079306.2056868767.564277103-8402

26、.108972316.2187673147.425556294-8212.026177326.2316095537.291296171-8023.943711336.2442212487.161349095-7837.863112346.2566098037.035573143-7653.784473356.2687823796.913831914-7471.706463366.28074596.795994337-7291.626341379.32E-036.68193447-7113.539966382.09E-026.571531308-6937.441803390.0322627966

27、.464668594-6763.324925404.35E-026.361234628-6591.181025415.45E-026.26112209-6421.000418426.53E-026.164227865-6252.772052430.0759886556.070452866-6086.483526448.65E-025.979701878-5922.1211459.69E-025.891883397-5759.669719460.1070721735.806909481-5599.113037470.1171350025.724695602-5440.433448480.1270

28、566895.645160514-5283.61211490.1368418425.568226113-5128.628989500.1464949345.493817317-4975.462894510.156020315.421861945-4824.091517520.165422195.352290598-4674.49148530.1747046765.285036556-4526.638382540.1838717585.220035668-4380.506845550.1929273135.157226257-4236.070565560.2018751145.096549022

29、-4093.302368570.2107188335.037946952-3952.174255580.2194620424.981365236-3812.657463590.2281082224.926751184-3674.722513602.37E-014.874054148-3538.33927612.45E-014.823225447-3403.47699622.53E-014.774218296-3270.104382632.62E-014.726987743-3138.189653642.70E-014.681490596-3007.700567652.78E-014.63768

30、5368-2878.604494660.2861889014.595532216-2750.868464670.2941740094.554992884-2624.459213680.3020897434.51603065-2499.343234690.3099388264.478610274-2375.486827700.317723924.442697951-2252.856144710.3254476264.40826126-2131.417234720.3331124954.375269121-2011.136088730.340721024.343691751-1891.978684

31、740.3482756464.313500625-1773.911025750.3557787684.284668431-1656.899187760.3632327354.257169038-1540.90935770.3706398524.230977453-1425.907845780.378002384.206069791-1311.861186790.3853225394.182423239-1198.736112800.3926025124.160016021-1086.499618810.3998444434.13882737-975.1189937820.4070504424.

32、118837498-864.5618593830.4142225854.100027562-754.7961966840.4213629144.08237964-645.7903847850.4284734444.065876704-537.513233860.4355561584.050502591-429.9340144870.4426130134.036241977-323.0224984880.449645944.023080356-216.7489838890.4566568444.011004013-111.084332900.4636476094-6910.4706200953.

33、99005611698.53192623920.4775761423.981160883202.5386977930.4845175723.973303522306.0468682940.4914461863.966473937409.0822597950.498363773.960662689511.6699264960.5052720943.955860979613.8341187970.5121729133.952060626715.5982462980.5190679663.949254046816.9848392990.5259589843.947434235918.01550991

34、000.5328476823.9465947481018.7109121010.5397357653.9467296791119.09071020.5466249313.9478336421219.1734861030.5535168653.949901751318.9767951040.5604132473.95292961418.517021050.5673157493.9569132481517.8093791060.5742260343.9618491921616.8678621071081091101111121131141151161171181191201211221231241

35、251261271281291301311321331341351361371381391401411421431441451461471481491500.5811457633.9677343531715.7051820.5880765913.974566051814.3327290.5950201663.9823419871912.7605120.6019781353.9910602242010.9971110.6089521414.0007191642109.0496160.6159438264.0113175232206.9235770.6229548274.0228543142304

36、.6229420.6299867824.0353288212402.1500020.6370413274.0487405782499.5053270.6441200984.0630893432596.6877130.6512247294.0783750732693.6941140.6583568574.0945979022790.5195860.6655181184.1117581122887.1572220.6727101464.1298561052983.5980940.6799345814.1488923793079.8311880.6871930594.1688674983175.84

37、33460.694487224.1897820613271.6192060.7018187044.2116366743367.1411450.7091891534.2344319173462.3892210.7166002084.2581683143557.341120.7240535124.2828462993651.9721030.731550714.3084661823746.2549590.7390934444.3350281153840.1599640.746683364.3625320573933.6548340.7543221024.3909777374026.7046960.7

38、620113124.4203646174119.2720560.7697526324.4506918564211.3167780.7775477034.4819582714302.7960650.7853981634.5141622964393.6644550.7933056474.5473019494483.8738190.8012717854.5813747854573.3733680.8092982034.6163778644662.109680.8173865224.6523077054750.0267230.8255383574.6891602534837.0659020.83375

39、53144.7269308334923.1661080.8420389894.7656141195008.2637920.8503909734.8052040895092.2930390.858812844.8456939935175.1856670.8673061554.8870763175256.8713350.8758724684.9293427445337.2776660.8845133164.9724841265416.3303910.8932302165.0164904535493.9535040.9020246685.061350825570.0694290.9108981535

40、.1070534055644.5992180.919852135.1535854445717.4627460.9288880345.2009332075788.5789360.9380072785.2490819875857.8659940.9472112445.2980160825925.2416590.956501295.3477187825990.6234670.9658787415.3981723716053.9290290.9753448925.4493581176115.0763220.9849010045.501256286173.9839910.9945483015.55384

41、61186230.5716581.0042879745.6071058976284.7602391.014121175.6610129136336.4722741.0240489995.7155435096385.632251.0340725295.7706731076432.1669391.0441927825.8263762426476.0057221.0544107375.8826265956517.0809221.0647273255.9393970426555.3281281.075143435.99665976590.6865111.0856598866.0543859836623

42、.0991281.0962774776.1125466616652.5132231.1069969346.1711119216678.8804981.1178189396.2300514396702.1573851.1287441166.2893344496722.3052791.1397730396.3489298246739.2907671.1509062266.4088061486753.0858181.1621441386.4689318096763.667961.1734871846.5292750746771.0204161.1849357166.5898041846775.132

43、2271.196490036.6504874416775.9983261.2081503686.7112932976773.6195981.2199169166.7721904446768.0028991.2317898076.833147916759.1610411.2437691196.8941351426747.1127521.2558548786.9551221036731.8826011.2680470587.0160793536713.5008881.2803455817.0769781396692.003511.2927503227.1377904786667.4317931.3

44、052611047.1984892356639.8322971.3178777087.25904826609.2566011.3305998667.3194421666575.7610541.3434272717.3796469896539.4065111.3563595717.4396396636500.2580491.3693963767.499398376458.3846641.3825372617.5589025416413.8589521.3957817647.6181329076366.756784151152153154155156157158159160161162163164

45、1651661671681691701711721731741751761771781791801811821831841851861871881891901911921931941951.4091293927.6770715376317.1569651961.422579627.7357018876265.140891971.4361318977.7940088246210.7921951981.4497856477.8519786666154.1964041991.463540277.9095991986095.4405852001.4773951477.9668596976034.6129972011.4913496428.0237509435971.8027512021.5054031028.0802652315907.0994792031.5195548658.1363963765840.5930062041.5338042588.1921397155772.3730372051.54815068.2474921055702.5288562061.5625932088.3024519185631.1490382071.5771313968.3570190335558.3211782081.59