机械原理大作业平面六杆机构的运动分析

1、平面六杆机构的运动分析（题号1 -B）成 绩指导老师班 级1、题目说明如右图所示平面六杆机构，试用计算机完成其运动分析。已知其尺寸参数如下表所示:组号L：l2,LL：LsaXc.yc1-B24.0105.665.067.587.534.425.060153.541.7题目要求:三人一组计算出原动件从0到360时（计算点数37）所要求的各运动变量的大小，并 绘出运动曲线图及轨迹曲线。2、题目分析1)建立封闭图形:Li + Lc= L5+ Lg+AG2)机构运动分析a、角位移分析由图形封闭性得:厶COS& +厶cos仇=厶cos +L4厶sin& +厶.sing =厶sin&3将上式化厶cos&

2、+L2 cos&? -L2 cos(7T-a + &?) = xG + L6 cos比-L5 cosQ 厶 sinq +厶 sing 厶 sin(7r-a + 02) = yG + L6 sinQ 一厶 sinQ 简可得：Lo cosg _厶cos&3 =乙一厶-cos乙2 sin&2- sin3 =_厶.sin(9,V厶-COS + 厶COS(&2 -&) + 厶COS&5 -L6 cos比=xG -L4厶sinG +L2 sin(&三 一 a) +厶-sin5 -L6 -sin6 = yGb、角速度分析上式对时间求一阶导数，可得速度方程：_厶2sin g + 厶sin鱼 = 厶sin 6、

3、L2cosg型 _ 厶cos%马 -_厶cos。】9_ 厶sin鱼马 _厶？sin(g -a) 2 一 L、sin仇d +厶6sin 2化 = 厶COS&3马+厶2COS02 一 a) +厶COS&5d 一厶6COS&6 =。化为矩阵形式为：-L2 - sin 02L、sinQ00 一血2Lcos&一 Lq cos0.009 sin(0) 6Z)-厶3sin -L5 sing厶6 sin &6L2 cos(2 - a)厶3COS厶COS&5一厶 COS比厶sinq一 L cosqW 00c、角加速度分析:矩阵对时间求一阶导数，可得加速度矩阵为:一厶sin&厶2COS&2_厶2 sin(0 -a

4、L,cos(G - a)一厶 COS&_厶sinQL2 cos(2 -g) L, -sin(ft - a)厶厶sinq00*一厶 cosQ005_厶sing _厶sin 厶sinQ5厶- cos厶cos仇cos 0h厶cos Q00CO；厶cos&厶sin仇009厶 sin q厶cosq厶cos q-L& cos+ 0厶sin仇5 sin一厶 sin_6_0d、E点的运动状态位移:xE = xG + L6 COS比一厶 COS&5yE=yG+Lsm06-L5-sinO5J% = 一厶6诂谊比+厶泊加企兮速度： vE = L6 -cos6 % 5 -COS5 co5加速度:aE = -L6cos

5、比cy： _厶sin比.刍+厶coscof + L5sin仇 5 aE = -L(y sin 0(y co：、+ L6 cos0b b + 厶 sin 仇或 _ L、 cos Q 53、流程4、源程序#include #include #include agaus.c #include Mdnetn.cH #include Hconio.hM #define Alpha (PI/3) #define PI 3.979 #define Angle (PI/180)FILE *fp;struct motionint theta 1;double theta习;/*thetal,2,3,5,6*/d

6、ouble w4;/*w2,3,5,6*/double alpha4;double XYe2,Ve3,ae3;struct motion mot37;struct motion *p;int k=100;double L7=65.0,24.0J05.6,67.5,87.5,34.4,25.0);double XG=1535;double YG=41.7;double wl = 1.0;double t=0.1;double h=0.1;double eps=0.0000001;main()int nJ,m；double x4=26.23*Angle,49.75*Angle,87.16*Angl

7、e,37.25*Angle;fp=fopen(Hnum-output.txtH,Hwn);for(n=0,p=mot;n=36:n+.p+) double a44;double b4;(*p). theta l=n* 10;(*p).thetaO=n* 10* Angle;i=dnetn(4,eps,t,h,x,k);for( m=0; m4; m+)(*p).thetam+1 =xm; printf(n%d %dnj);getchar();a00=-L2*sin(*p).theta 1); a0 1 =L3*sin(*p).theta2); a02=0.;a03=0.;a 1 0=L2*co

8、s(*p).theta 1 );at H 1 =-L3*cos(*p).theta2); al2=0.;al3=0.;a20=-L0*sin(*p).theta 1 卜 Alpha); a2 1 =-L3*sin(*p).theta2); a22=-L5*sin(*p).theta3);a23=L6*sin(*p).theta4);a30=L0*cos(*p).theta 1 -Alpha); a3 1 =L3*cos(*p).theta2); a32=L5*cos(*p).theta3); a33=-L6*cos(*p).theta4);bO=L 1 *sin(*p).thetaO)*w 1

9、; b 1=-L 1 *cos(*p).theta0)*w 1; b2=0.;b3=0.;if(agaus(a,b,4)!=0)for(m=0;m4;m+)(*p).wm=bm;a00=-L2*sin(*p).theta 1); a0 1 =L3*sin(*p).theta2); a02=0.;a03=0.;a 1 0=L2*cos(*p).theta 1 ); at H 1 =-L3*cos(*p).theta2); al2=0.;al3=0.;a20=-L0*sin(*p).theta 1 卜 Alpha); a2 1 =-L3*sin(*p).theta2); a22=-L5*sin(*

10、p).theta3); a23=L6*sin(*p).theta4);a30=L0*cos(*p).theta 1 -Alpha); a3 1 =L3*cos(*p).theta2); a32=L5*cos(*p).theta3); a33=-L6*cos(*p).theta4);b0=L2 *cos(*p).theta l)*(*p).w0*(*p).w0-L3*cos(*p).theta2)*(*p).w l*(*p).wl+w 1 *w 1 *Ll*cos *p).thetaO);b 1 =L2*sin(*p).theta l)*(*p).wO*(*p).wO-L 3*sin(*p).t

11、heta2)*(*p).w l*(*p).w I+w 1 *w 1 *Ll*sin( *p).thetaO);b2=L0*cos(*p).thetal-Alpha)*(*p).w0*(*p).w0+L3*cos(*p).theta2)*(*p).wl *(*p).w 1+L5*cos( *p).theta3)*(*p).w2*(*p).w 2-L6*cos(*p).theta4)*(*p).w3*(*p).w3;b3=L0*sin(*p).thetal -Alpha)*(*p).w0*(*p).w0+L3*sin(*p).theta2)*(*p).w l*(*p).wl+L5*sin(* p)

12、.theta3)*(*p).w2*(*p).w 2-L6 *sin(*p).theta4)*(*p).w3*(*p).w3;if(agaus(a,b,4)!=0)for(m=0;mv4;m+)(*p).alpham=bm;(*p).XYe0=XG+L6*cos(*p).theta4)-L5*cos(*p).theta3); (*p)AYel=YG+L6*sin(*p)Aheta41)-L5*sin(*p).theta3);(*p).Ve0=-L6*sin(*p).theta4)*(*p).w3+L5*sin(*p).theta3)*(*p).w2J; (*p).Vel=L6*cos(*p).t

13、heta4)*(*p).w3-L5*cos(*p).theta3)*(*p).w2;(*p).Ve2=sqrt(*p).Ve0* (*p).VeO+(*p).Vel*(*p).Ve 1);(*p).ae0=-L6*cos(*p).theta4)*(*p).w3*(*p).w3-L6*sin(*p).theta4)*(*p).alpha3+L5*cos(*p).thet a3)*(*p).w2*(*p).w2+L习*sin(水p)theki3)*(水p).alpha2;(*p).ael=-L 6*sin(*p).theta4)*(*p).w3*(*p).w3+L6*cos(*p).theta4)

14、*(*p).alpha3+L5*sin(*p).thet a3)*(*p).w2*(*p).w2-L5*cos(*p).theta3)*(*p).alpha2;(*p).ae2=sqrt(*p).ae0*(*p).ae0+(*p).ae l*(*p).ael);fprintf(fp/l%dt,(*p).thetal);for( m=0; m=4; m+) fprintf(fp/,%lft,(*p).thetam);for( m=0; m =3; m+)fprintf(fp?l%lft,(*p).wm);for(m=0; m=3; m+)fprintf(fp/,%lft,(*p).alpham)

15、;for(m=0;m= 1 ;m+)fprintf(fp；,%lft,(*p).XYem);for( m=0; m=2; m+)fprintf(fp；,%lft,(*p).Vem);for(m=0; m=2; m+)fprintf(fp/%lft,(*p).aem);fprintf(fp/,nH);fclose(fp);)void dnetnf(x,yji)int n;double x,y;y0=L 1 *cos(*p).theta0)+L2 *cos(x0)-L3 *cos(x 1 )-L4;y 1 =L l*sin(*p).theta0)+L2*sin(x0)-L3*sin(xl ); y

16、2=L3*cos(xl)+L0*cos(x0 卜 Alpha)+L *cos(x2)-L6*cos(x3)-XG+L4; y3=L3*sin(xl)+L0*sin(x0 卜 Alpha)+L5*sin(x )-L6*sin(x3)-YG;n=n;return;)5、计算结果和曲线图: 各从动件的角位移与8 1的关系曲线和计算数据:9 10203050 6000. 6560231.2671912.3093821. 934332100.1745330. 5932751. 21221.9611071. 449734200.3490660. 5391941. 1806731. 7590481. 158

17、217300.5235990. 4955651. 1724811.6197780.983385400.6981320. 4624771. 1851321. 5034750.881119500.8726650. 4390431. 2150171. 3893620.8195041.0471980. 4240281. 2583611.2622150.7682841.221730.416221. 3117191. 103070.6896581.3962630.4145881. 3721390.8830430.5292011.5707960.4183271.4371530.5815970.2366421

18、.7453290. 4268321. 5047010.245608-0.151371.9198620. 4396651. 573043-0.03764-0.528212.0943950. 4565121. 640689-0.23518-0.837912.2689280.477141. 706339-0.36101-1. 080012.4434610. 5013631. 76885-0. 43869-1. 269612.6179940. 5291. 827209-0. 4876-1. 420692.7925270. 5598481. 880524-0.52159-1. 543422.967060

19、. 5936471.928018-0.55031-1.6453.1415930. 6300521. 969024-0.58041-1. 730793.3161260. 6686112.002982-0.61636-1.805163.4906590. 7087462.029422-0.66098-1.871963.6651910. 7497372.047947-0.71577-1. 934623. 8397240. 7907162.058204-0.78126-1. 996074.0142570. 8306572.059856-0.85725-2.058444.188790. 8683712.0

20、52548-0.94311-2.122774.3633230. 9024992.035877-1.03816-2.188754.5378560. 9315162.009384-1. 14201-2.254754.7123890. 9537311. 972557-1. 25487-2.318064.8869220. 9673271. 924878-1. 37782-2.375415.0614550. 9704371. 865936-1.51275-2.423695.2359880. 9613051. 795638-1. 66223-2.460995.4105210. 9385691. 71454

21、2-1. 82937-2.488085. 5850540. 901691. 624345-2.01888-2.511755. 7595870. 8514961. 528412-2.24561-2.558735.9341190. 7906341.432113-2.60336-2.774346.1086520. 7236021. 342527-3.34217-3.563366.2831850. 6560231. 267191-3. 9738-4.34885607080901001101201301401501601701801902002102202302402502602702802903003

22、10320330340350360 各从动件角速度与的关系曲线和计算结果:323335360-0. 37795-0. 37795-2. 67285-3.5506510-0. 33738-0. 2492-1. 46626-2.1267920-0.28069-0. 11229-0.92514-1. 2836330-0. 219260. 015911-0.70654-0.7600840-0.160810. 125518-0.64485-0. 441450-0.108930. 213289-0.67648-0.2927360-0. 06430. 280093-0.79782-0.3291770-0.0

23、26170. 328526-1.05428-0.62445800.0067040. 361488-1.49479-1.27316900.0355650. 38156-1.9127-2.044081000.0614810. 390826-1. 84048-2.282841100.0852810. 390901-1. 37725-1. 984541200.1075520. 383027-0. 90373-1. 568361300.1286560. 368182-0. 56169-1.221651400.1487430. 347174-0.34696-0.964481500.1677640. 320

24、717-0.22655-0.776361600.1854830. 289483-0.17209-0.63681700. 2014960. 254119-0.16332-0.532251800. 2152470. 215247-0.18581-0.454961900.2260590. 173436-0.22879-0.400932000.2331660. 129166-0.28388-0.367772100.2357310. 082778-0.34451-0.353072200.2328750. 034444-0.40574-0.353172300.223679-0. 01585-0. 4643

25、4-0.36262400. 207191-0. 06829-0.51886-0.374242500.182436-0. 12318-0.56994-0.380252600.148451-0. 18089-0.62024-0.373442700.104373-0. 24162-0.67411-0.348862800.049631-0. 30515-0. 73659-0.30521290-0. 0157-0. 37039-0.81211-0.24612300-0. 09029-0. 43469-0.90377-0.18183310-0. 17082-0. 49304-1.01549-0.13413

26、320-0. 25104-0. 53737-1.16684-0.1577330-0.32162-0. 55679-1. 49038-0.47584340-0. 37144-0. 53983-3.03617-2.62664350-0. 39118-0. 47936-4.53764-5.32839360-0. 37795-0. 37795-2. 67285-3.55065 各从动件角加速度与的关系曲线和计算结果a2a 3a5a 600.1631630.6765839. 62383910. 37457100.2904760.7796584.5832376. 170388200.3478960.772

27、5851. 9479833. 747622300.3486530.6871510. 7059862. 352497400.3177860.5660440. 0579481. 330158500.2762290.440802-0.417510. 360502600.2360190.327323-1. 01754-0. 84794700.2021630. 2305-1. 99224-2. 65699800.1757250.149699-2. 89533-4.61522900.1560190.082297-1. 29346-3. 397790. 1417530. 0254171. 9499390.

28、5888110.131532-0. 023382.9426592.3604110.124017-0.065922.3686582. 2496530.117956-0.103431. 5654961. 7161490.112174-0.136630. 9288951. 2532730.105565-0. 16590. 4780730. 9224040.0971-0. 19140. 1650950. 6895580.085859-0. 21325-0. 0510. 5157450.071064-0. 23165-0. 196550. 3734990.052104-0. 247-0. 288030.

29、 247780.02853-0. 25997-0. 336980. 1343680.000029-0. 27144-0. 353040. 037497-0.03363-0.28244-0. 34556-0. 0334-0.07266-0. 29404-0. 32449-0. 06772-0.11722-0.30716-0. 30094-0. 05805-0.16738-0. 3223-0. 28693-0. 00381-0.2229-0. 33924-0. 293710. 0867-0.28278-0. 3565-0. 328540. 196347-0. 3445-0. 37052-0. 39

30、1720. 300513-0.40291-0. 37457-0.476510. 367195-0.44882-0. 35752-0. 576660. 350054-0.46799-0.30342-0. 716980. 151732-0.44227-0.19401-1. 10288-0. 57763-0.35557-0.01707-3. 2752-4.05407-0.205890.218804-17. 5054-25. 2675-0.01730.4718817. 5277364.8277870.1631630.6765839. 62383910. 37457100no12013014015016

31、01701801902002102202302402502602702802903003103203303403503601510-5-30-10-15-20-25 E点运动分析结果:9 13203050632333536000. 6560231. 2671912.3093821. 934332-0. 37795-0. 37795-2. 67285-3. 55065100.1745330. 5932751. 21221.9611071.449734-0. 33738-0. 2492-1.46626- 2. 12679200.3490660. 5391941. 1806731. 7590481.

32、 158217-0.28069-0. 11229-0.92514-1.28363300.5235990. 4955651. 1724811.6197780.983385-0. 219260. 015911-0. 70654-0. 76008400.6981320. 4624771. 1851321. 5034750.881119-0. 160810. 125518-0. 64485-0.4414500. 8726650. 4390431. 2150171. 3893620.819504-0. 108930. 213289-0.67648-0. 29273601. 0471980. 424028

33、1. 2583611.2622150.768284-0. 06430. 280093-0.79782-0. 32917701.221730.416221. 3117191. 103070.689658-0.026170. 328526-1.05428-0.62445801. 3962630.4145881. 3721390.8830430.5292010.0067040. 361488-1.49479-1.27316901. 5707960.4183271.4371530.5815970.2366420.0355650. 38156-1.9127-2. 044081001. 7453290.

34、4268321. 5047010.245608-0.151370. 0614810. 390826-1. 84048-2.282841101. 9198620. 4396651. 573043-0.03764-0.528210. 0852810. 390901-1. 37725-1.984541202.0943950. 4565121. 640689-0.23518-0.837910.1075520. 383027-0. 90373-1.568361302.2689280.477141. 706339-0.36101-1. 080010.1286560. 368182-0. 56169-1.2

35、21651402.4434610. 5013631. 76885-0.43869-1. 269610.1487430. 347174-0.34696-0.964481502.6179940. 5291. 827209-0. 4876-1. 420690.1677640. 320717-0.22655-0. 776361602.7925270. 5598481. 880524-0.52159-1. 543420.1854830. 289483-0. 17209-0.63681702.967060. 5936471. 928018-0.55031-1. 6450. 2014960. 254119-

36、0.16332-0. 532251803.1415930. 6300521. 969024-0.58041-1. 730790. 2152470. 215247-0.18581-0.454961903.3161260. 6686112.002982-0.61636-1.805160.2260590. 173436-0.22879-0. 400932003.4906590. 7087462.029422-0.66098-1.871960.2331660. 129166-0. 28388-0. 367772103.6651910. 7497372.047947-0.71577-1. 934620.

37、2357310. 082778-0. 34451-0. 353072203. 8397240. 7907162.058204-0.78126-1. 996070.2328750. 034444-0. 40574-0. 353172304.0142570. 8306572.059856-0.85725-2.058440.223679-0. 01585-0.46434-0.36262404.188790. 8683712.052548-0.94311-2.122770. 207191-0. 06829-0. 51886-0. 374242504.3633230. 9024992.035877-1.03816-2.188750.182436-0. 12318-0. 56994-0. 380252604