含间隙曲柄滑块机构动力学计算表达式

1、-(lderta(i)*(k* (rj - rb + (12*sin (phi2 (i) - ll*sin (phil)a2 +(12*cos(phi2(i) ) -x3(i) + ll*cos (phil)a2)a (1/2)an - (cn* ( (12*sin(phi2 (i) -ll*sin(phil)*(ll*w*cos(phil) - 12*cos(phi2 (i)*p5) + (p5 + ll*w*sin(phil) + 12*sin(phi2(i)*p5)*(12*cos(phi2(i) - x3(i) + ll*cos(phil)*(rj - rb + ( (12*sin (

2、phi2 (i) 一 ll*sin (phil)a2 + (12*cos (phi2 (i) 一 x3 (i) + ll*cos (phil)a2)a(1/2)/(12*sin(phi2(i) 一 ll*sin(phil)a2 +(12*cos(phi2(i) 一 x3(i) + ll*cos(phil)a2)a(1/2)/(12*sin(phi2(i) 一 ll*sin (phil)a2/ (12*cos(phi2 (i) 一 x3 (i) + ll*cos (phil)a2 + 1)a (1/2) + (ldertm(i)*(12*sin(phi2(i) 一 ll*sin(phil)*(c

3、t*(rj*p5 + (ll*w*cos(phil) 一 12*cos(phi2(i)*p5)/(12*sin(phi2(i) ) 一 ll*sin(phil)2/(12*cos(phi2(i) -x3 (i) + 11*cos (phil)a2 + l)a(l/2) 一 ( (12*sin (phi2(i) ) - ll*sin(phil)*(p5 + ll*w*sin (phil) + 12*sin(phi2 (i)*p5)/ ( (12*sin(phi2(i) 一 ll*sin(phil)a2/(12*cos(phi2 (i) 一 x3 (i) + 11*cos (phil)a2 +1)

4、a (1/2)* (12*cos (phi2 (i) - x3 (i) + ll*cos(phil) +f*sign(vt(i)*lderta(i)*(k*(rj - rb + (12*sin(phi2(i) ) - ll*sin (phil)a2+ (12*cos(phi2(i) 一 x3 (i) + ll*cos(phil)a2)a (1/2)an 一(cn*(12*sin(phi2(i) - ll*sin(phil)* (11*w*cos (phil) 一 12*cos (phi2 (i)*p5) + (p5 + ll*w*sin (phil) + 12*sin (phi2 (i)*p5

5、)*(12*cos(phi2(i) - x3 (i) + ll*cos(phil)*(rj - rb + (12*sin (phi2 (i) 一 ll*sin (phil)a2 +(12*cos (phi2 (i) - x3(i) + ll*cos (phil)a2)a (1/2)/ ( (12*sin(phi2(i)- ll*sin (phil)a2 + (12*cos (phi2(i) - x3 (i) + ll*cos (phil)a2)a(1/2)/(12*sin(phi2(i)-ll*sin (phil)a2/ (12*cos(phi2 (i) - x3 (i) + ll*cos (

6、phil)a2 +1)a (1/2)* (12*cos (phi2 (i) 一 x3 (i) + ll*cos(phil)/m3(lderta(j)*(k*(rj - rb + (i2*sin(phi2(i) ll*sin(phil)a2 + (i2*cos(phi2(i) - x3(i) + ll*cos(phil)a2)a(l/2)an - (cn*(l2*sin(phi2(i) - ll*sin(phil)*(ll*w*cos(phil) - !2*cos(phi2(i)*p5) +(dx3(i) + ll*w*sin(phil) + !2*sin(phi2(i)*p5)*(l2*cos

7、(phi2(i) x3(i) + ll*cos(phil)*(rj rb + (i2*sin(phi2(i) - ll*sin(phil)a2 + (i2*cos(phi2(i) - x3(i) + h*cos(phil)a2)a(1/2)/(l2*sin(phi2(i)- ll*sin(phil)a2 + (i2*cos(phi2(i)x3(i)+h*cos(phil)a2)a(l/2)/(l2*sin(phi2(i)ll*sin(phil)a?/(l2*cos(phi2(i) - x3(i) + ll*cos(phil)a2 + l)a(l/2) + (lderta(i)*(l2*sin(

8、phi2(i)- ll*sin(ph )*(ct*(rj*p5+ (ll*w*cos(phil) -!2*cos(phi2(i)*p5)/(l2*sin(phi2(i)-h*sin(phil)a?/(l2*cos(phi2(i) x3(i) + ll*cos(ph )八2 + 1)a()(i2*sin(phi2(i) il*sin(phil)*(dx3(i) + ll*w*sin(phil) +!2*sin(phi2(i)*p5)/(l2*sin(phi2(i)-ll*sin(ph)八2/(l2*cos(phi2(i) - x3(i) + ll*cos(phil)a2 + l)a(l/2)*(

9、l2*cos(phi2(i) - x3(i) + ll*cos(phil) + f*sign(vt(i)*lderta(i)*(k*(rj - rb + (i2*sin(phi2(i) - ll*sin(phil)a2 + (i2*cos(phi2(i) x3(i) + ll*cos(phil)a2)a(v)a n (cn*(l2*sin(phi2(i) ll*sin(phil)*(ll*w*cos(phil)l2*cos(phi2(i)*p5) + (dx3(i) + ll*w*sin(phil) + !2*sin(phi2(i)*p5)*(l2*cos(phi2(i) - x3(i) +

10、ll*cos(phil)*(rj rb + (i2*sin(phi2(i) - ll*sin(phil)a2 + (i2*cos(phi2(i) x3(i) + h*cos(phil)a2)a(l/2)/(l2*sin(phi2(i)- ll*sin(phil)a2 + (i2*cos(phi2(i) -x3(i)+h*cos(phil)a2)a(/2)/(l2*sin(phi2(i) - ll*sin(phil)a2/(l2*cos(phi2(i) - x3(i) + ll*cos(phil)a2 + l)a(l/2)*(l2*cos(phi2(i)- x3(i) +h*cos(phil)*

11、(l2*sin(phi2(i)/2+ (rj*(l2*sin(phi2(i)-il*sin(phil)/(l2*sin(phi2(i) h*sin(phil)a2/(l2*cos(phi2(i) x3(i) + ll*cos(phil)a2 + l)a(l/2)*(l2*cos(phi2(i) x3(i) + ll*cos(phil) + (lderta(i)*(ct*(rj*p5 + (ll*w*cos(phil) !2*cos(phi2(i)*p5)/(l2*sin(phi2(i) - h*sin(phil)a/(l2*cos(phi2(i) - x3(i) + ll*cos(phil)a

12、2 + l)a(l/2) -(i2*sin(phi2(i) - il*sin(phil)*(dx3(i) + ll*w*sin(phil) + l2*sin(phi2(i)*p5)/(l2*sin(phi2(i)- ll*sin(ph)八刀(i2*cos(phi2(i) - x3(i) + ll*cos(phil)a2 + l)a(1/2)*(l2*cos(phi2(i) - x3(i) + ll*cos(phil) + f*sign(vt(i)*lderta(i)*(k*(rj - rb + (i2*sin(phi2(i) - ll*sin(phil)a2 + (i2*cos(phi2(i)

13、 x3(i) + ll*cos(phil)a2)a(l/2)a n (cn*(l2*sin(phi2(i) - ll*sin(phil)*(ll*w*cos(phil)l2*cos(phi2(i)*p5) + (dx3(i) + ll*w*sin(phil) + !2*sin(phi2(i)*p5)*(l2*cos(phi2(i) - x3(i) + ll*cos(phil)*(rj - rb + (i2*sin(phi2(i) - ll*sin(phil)a2 + (i2*cos(phi2(i) - x3(i) + ll*cos(ph )a2)a(l/2)/(l2*sin(phi2(i) -

14、 ll*sin(ph il)a2 + (i2*cos(phi2(i) - x3(i) + h*cos(phil)a2)a(l/2)/(l2*sin(phi2(i) - h*sin(phil)a2/(l2*cos(phi2(i) - x3(i) + ll*cos(phil)a2 + l)a(1/2) - (lderta(i)*(l2*sin(phi2(i) - ll*sin(phil)*(k*(rj - rb + (i2*sin(phi2(i) - ll*sin(phil)a2 + (i2*cos(phi2(i) - x3(i) + ll*cos(phil)a2)a(l/2)an - (cn*(

15、l2*sin(phi2(i) - ll*sin(phil)*(ll*w*cos(phil) -!2*cos(phi2(i)*p5) + (dx3(i) + ll*w*sin(phil) + !2*sin(phi2(i)*p5)*(l2*cos(phi2(i) - x3(i) + ll*cos(phil)*(rj - rb + (i2*sin(phi2(i) ll*sin(ph )八2 + (i2*cos(phi2(i) - x3(i) + h*cos(phil)a2)a(1/2)/(l2*sin(phi2(i)- ll*sin(phil)a2 + (i2*cos(phi2(i) -x3(i)+

16、h*cos(phil)a2)a(l/2)/(l2*sin(phi2(i) - h*sin(phil)a?/(l2*cos(phi2(i) - x3(i) + ll*cos(phil)a2 + l)a(1/2)*(l2*cos(phi2(i)- x3(i)+ h*cos(phil)*(l2*cos(phi2(i)/2+ rj/(l2*sin(phi2(i)-h*sin(phil)ay(l2*cos(phi2(i) - x3(i) + ll*cos(phil)a2 + l)a(l/2) + (l2*sin(phi2(i)*(lderta(i)*(k*(rj - rb + (i2*sin(phi2(

17、i) - ll*sin(ph)人2 + (i2*cos(phi2(i) x3(i) + ll*cos(phil)a2)a(l/2)an (cn*(l2*sin(phi2(i) - ll*sin(phil)*(ll*w*cos(phil) - l2*cos(phi2(i)*p5) + (dx3(i) + ll*w*sin(phil) + !2*sin(phi2(i)*p5)*(l2*cos(phi2(i) - x3(i) + ll*cos(phil)*(rj - rb + (i2*sin(phi2(i) - ll*sin(phil)a2 + (i2*cos(phi2(i) - x3(i) + h

18、*cos(phil)a2)a(/2)/(l2*sin(phi2(i) - ll*sin(phil)a2 + (i2*cos(phi2(i)- x3(i)+ ll*cos(ph 4)八2)八(!/2)/(l2*sin(phi2(i) ll*sin(ph )八刀(i2*cos(phi2(i)x3(i)+ll*cos(phil)a2 + l)a(l/2) - m2*(ll*cos(phil)*wa2 + (i2*(sin(phi2(i)*dp5 + cos(phi2(i)*p5a2)/2) + (lderta(i)*(l2*sin(phi2(i) - ll*sin(phil)*(ct*(rj*p5

19、+ (ll*w*cos(phil) - l2*cos(phi2(i)*p5)/(l2*sin(phi2(i) - h*sin(phil)ay(l2*cos(phi2(i) - x3(i) + ll*cos(phil)a2 + l)a(/2) -(i2*sin(phi2(i) ll*sin(phil)*(dx3(i) + ll*w*sin(phil) + l2*sin(phi2(i)*p5)/(l2*sin(phi2(i)- h*sin(phil)a?/(l2*cos(phi2(i) x3(i) + ll*cos(phil)a2 + l)a(1/2)*(l2*cos(phi2(i) x3(i)

20、+ ll*cos(phil) + f*sign(vt(i)*lderta(i)*(k*(rj - rb + (i2*sin(phi2(i) - ll*sin(phil)a2 + (i2*cos(phi2(i) -x3(i) + ll*cos(ph 口)八2)八(1/2)八 n - (cn*(l2*sin(phi2(i) - ll*sin(phil)*(ll*w*cos(phil)- l2*cos(phi2(i)*p5) + (dx3(i) + ll*w*sin(phil) + !2*sin(phi2(i)*p5)*(l2*cos(phi2(i) x3(i) + ll*cos(phil)*(rj

21、 - rb + (i2*sin(phi2(i) ll*sin(phil)a2 + (i2*cos(phi2(i) - x3(i) + ll*cos(ph )a2)a(l/2)/(l2*sin(phi2(i) - ll*sin(phil)a2 + (i2*cos(phi2(i) - x3(i) + h*cos(phil)a2)a(/2)/(l2*sin(phi2(i) - ll*sin(phil)ay(l2*cos(phi2(i) - x3(i) + ll*cos(phil)a2 +l)a(l/2)*(l2*cos(phi2(i) - x3(i) + ll*cos(phil)/2 - (l2*c

22、os(phi2(i)*(m2*(ll*sin(phil)*wa2 + (l2*(cos(phi2(i)*dp5 - sin(phi2(i)*p5a2)/2) g*m2 (lderta(i)*(ct*(rj*p5 + (ll*w*cos(phil) !2*cos(phi2(i)*p5)/(l2*sin(phi2(i) - h*sin(phil)ay(l2*cos(phi2(i) - x3(i) + ll*cos(phil)a2 + l)a(l/2) -(i2*sin(phi2(i) - ll*sin(phil)*(dx3(i) + ll*w*sin(phil) + l2*sin(phi2(i)*

23、p5)/(l2*sin(phi2(i)- ll*sin(ph)八2/(l2*cos(phi2(i) - x3(i) + ll*cos(phil)a2 + l)a(l/2)*(l2*cos(phi2(i) - x3(i) + ll*cos(phil) + f*sign(vt(i)*lderta(i)*(k*(rj - rb + (i2*sin(phi2(i) - ll*sin(phil)a2 + (i2*cos(phi2(i) -x3(i) + ll*cos(ph 口)八2)八(1/2)八 n - (cn*(l2*sin(phi2(i) - ll*sin(phil)*(ll*w*cos(phil)- l2*cos(phi2(i)*p5) + (dx3(i) + ll*w*sin(phil) + !2*sin(phi2(i)*p5)*(l2*cos(phi2(i) - x3(i) + ll*cos(phil)*(rj - rb + (i2*sin(phi2(i) ll*sin(ph )八2 + (i2*cos(phi2(i