机械原理大作业(一)--连杆(34题)

1、机械原理大作业（一）作业名称： 连杆机构运动分析 设计题目： （34）题 院 系： 机电工程学院 班 级： 设 计 者： 学 号： 指导教师： 林琳 设计时间： 2013年6月15日 哈尔滨工业大学机械设计一、运动分析题目如图所示机构，已知机构各构件的尺寸为BF=200mm,EF=1.25BF,DE=1.13BF,EH=0.85BF,HF=0.65BF,CH=0.81BF, GC=1.56BF,BD=0.58BF,BG=1.85BF,GD=1.6BF,构件1的角速度为W1=10rad/s，试求构件2上点H的轨迹及构件5的角位移，角速度，角加速度，并对计算结果进行分析。机构结构分析：二、机构的结

2、构分析及基本杆组划分机构各构件都在同一平面内运动，活动构件数 n=5，PL=7，PH=0则机构的自由度为:F=3×n-2×PL-1×PH=3×5-2×7-0=12.基本杆组划分（1）去除虚约束和局部自由度本机构中无虚约束或局部自由度。（2）拆杆组。从远离原动件（即杆1）进行拆分，就可以得到由杆 4,5 组成的 RRR级杆组GCH， 2,3 组成的 RRR级杆组EDF，最后剩下级机构杆1。（3）确定机构的级别由（2）知，机构为级机构三、各基本杆组的运动分析数学模型1）级杆组BF（原动件）在级杆组BF中，即已知构件上B点的运动参数，求同一构件上F点

3、（回转副）的运动参数。调用级机构子程序即可求解位置分析 由图可得F点的矢量方程x,y轴上的投影坐标方程为 （1）速度和加速度分析 将式（1）对时间t求导即可得出速度方程： （2） （3）其中因为设B为原点：=0；=0 ；=0 ；=0 ；=0 ；=0 由上（1）（2）（3）方程可求出F点的位移，速度，加速度2）RRR级杆组DEF分析，求出F点的角位移，角速度，角加速度上面1）中已求得F点的位移，速度，加速度。由点D为固定点，有D点的位移，速度，加速度均为0。 位置方程 内运动副E的矢量方程 （4）其在x,y轴上的投影，可得内运动副E的位置方程 （5）将（5）式移项后分别平方相加消去得 （5）式中

4、由于F-E-D为逆时针解出 =代入（5）可求得，。=角速度方程, (6) 其中 两杆的角加速度， (8)式中： 3）H点是DEF杆（同一构件）上的点，求其位移，速度，加速度在已知B点的运动参数的情况下，可求出H点的运动参数。位置分析 由图可得H点的矢量方程x,y轴上的投影坐标方程为 （10）速度和加速度分析 将式（1）对时间t求导即可得出速度方程： (11） （12）其中4）RRR级杆组GCH分析，求GC杆的角位移，角速度，角加速度求法与RRR级杆组DEF相同。y四、建立坐标系x五、计算编程（1）主程序：%主程序w = 10;t =0:0.01:6*pi/10;L = length(t)xf,

5、yf,vxf,vyf,axf,ayf = Igan(w,t);%求F点的位移，速度，加速度for o=1:L %求DEF杆组的F点的角位移，角速度，角加速度 ff1,wf1,aaf1,fd1=IIganDEF2(xf(o),yf(o),vxf(o),vyf(o),axf(o),ayf(o); ff(o)=ff1;wf(o)=wf1;aaf(o)=aaf1;fd(o)=fd1;endxh,yh,vxh,vyh,axh,ayh=IIganH(xf,yf,vxf,vyf,axf,ayf,ff,wf,aaf);for o=1:L %求GCH杆组的构件5的角位移，角速度，角加速度 fcg1,wcg1,a

6、acg1=IIganGCH(xh(o),yh(o),vxh(o),vyh(o),axh(o),ayh(o); fcg(o) = fcg1;wcg(o) = wcg1;aacg(o) = aacg1;endfigure(1)%画图subplot(3,1,1);plot(t,fcg),grid onxlabel('时间');ylabel('角位移');subplot(3,1,2);plot(t,wcg),grid onxlabel('时间');ylabel('角速度');subplot(3,1,3);plot(t,aacg),grid

7、 onxlabel('时间');ylabel('角加速度');figure(2)plot(xh,yh)（2）求点F位移，速度，加速度的函数%一级杆组 I gan 输出点F的位移，速度，加速度function xf,yf,vxf,vyf,axf,ayf = Igan(w,t)%xf:x方向位移；yf:y方向位移；%vxf:x方向速度；vyf:y方向速度；%axf:x方向加速度；ayf:y方向加速度；%w:原动件转动角速度；xf = 200.*cos(w.*t);yf = 200.*sin(w.*t);vxf = -w.*200.*sin(w.*t);vyf = w

8、.*200.*cos(w.*t);axf = -w.2.*200.*cos(w.*t);ayf = -w.2.*200.*sin(w.*t);end（3）DEF杆组分析函数：求点F角位移，角速度，角加速度%2级杆组DEF 输出点F的角位置，角速度，角加速度function ff,wf,aaf,fd=IIganDEF2(xf,yf,vxf,vyf,axf,ayf)%ff:EF在点F的转角；wf：转角的导数，即角速度；aaf:角加速度xd = 0;yd = -0.58*200;a = 2*1.25*200*(xd-xf);b = 2*1.25*200*(yd-yf);c = (1.25*200)2

9、+(xd-xf)2+(yd-yf)2-(1.13*200)2;z1 = a2+b2-c2;zz = a+c;z2 = (b-(z1)0.5)/(a+c);ff = 2*atan(b-(z1)0.5)/(a+c);if ff<0 ff = ff+2*pi;endxe = xf+1.25*200*cos(ff);ye = yf+1.25*200*sin(ff);fd = atan(ye-yd)/(xe-xd);if xe<0&&ye>yd fd = fd+pi;elseif xe<0&&ye<yd fd = fd+pi;elseif x

10、e>0&&ye<yd fd = fd+2*pi;else fd = fd;endcd = 1.13*200*cos(fd);sd = 1.13*200*sin(fd);cf = 1.25*200*cos(ff);sf = 1.25*200*sin(ff);g1 = cf*sd-cd*sf;wf = (cd*(-vxf)+sd*(-vyf)/g1;wd = (cf*(-vxf)+sf*(-vyf)/g1;g2 = -axf+(wf2)*cf-(wd2)*cd;g3 = -ayf+(wf2)*sf-(wd2)*sd;aaf = (g2*cd+g3*sd)/g1;（4）求

11、H点的位移，速度，加速度的函数%2级杆组DEF 输出点H的位置，速度，加速度function xh,yh,vxh,vyh,axh,ayh=IIganH(xf,yf,vxf,vyf,axf,ayf,ff,wf,aaf)%xh:x方向位移；yh:y方向位移；%vxh:x方向速度；vyh:y方向速度；,%axh:x方向加速度；ayh:y方向加速度；f = acos(1.252+0.652-0.852)/(2*1.25*0.65);xh = xf+0.65.*200.*cos(f+ff);yh = yf+0.65.*200.*sin(f+ff);vxh = vxf-wf.*0.65.*200.*sin

12、(f+ff);vyh = vyf+wf.*0.65.*200.*cos(f+ff);axh = axf-(wf.2).*0.65.*200.*cos(f+ff)-aaf.*0.65.*200.*sin(f+ff);ayh = ayf-(wf.2).*0.65.*200.*sin(f+ff)+aaf.*0.65.*200.*cos(f+ff);end（5）GCH杆组分析函数：求C点的角位移，角速度，角加速度%二级杆组GCH 求GC杆角位移，角速度，角加速度function fcg,wcg,aacg,fch=IIganGCH(xh,yh,vxh,vyh,axh,ayh)%fcg:c点的角位移；wc

13、g：c点的角速度；aaf:c点的角加速度fb = acos(1.852+0.582-1.62)/(2*1.85*0.58);xg = -1.85*200*sin(fb);yg = -1.85*200*cos(fb);a = 2*0.81*200*(xg-xh);b = 2*0.81*200*(yg-yh);c = (0.81*200)2+(xg-xh)2+(yg-yh)2-(1.56*200)2;zzz = (b+(a2+b2-c2)0.5)/(a+c);fch = 2*atan(b+(a2+b2-c2)0.5)/(a+c);if fch<0 fch = fch+2*pi;endxc =

14、 xh+0.81*200*cos(fch);yc = yh+0.81*200*sin(fch);fcg = atan(yc-yg)/(xc-xg);cg = 1.56*200*cos(fcg);sg = 1.56*200*sin(fcg);ch = 0.81*200*cos(fch);sh = 0.81*200*sin(fch);g1 = ch*sg-cg*sh;wch = (cg*(-vxh)+sg*(-vyh)/g1;wcg = (ch*(-vxh)+sh*(-vyh)/g1;g2 = -axh+(wch2)*ch-(wcg2)*cg;g3 = -ayh+(wch2)*sh-(wcg2)*

15、sg;aacg = (g2*ch+g3*sh)/g1;end六、计算结果构件5的角位移，角速度，角加速度H点的轨迹图计算结果构件5角位移(rad)角速度(r/s)角加速度(r/s2)10.0985364623.19783750313.5404248520.1310746283.2978552716.37607889230.1642460813.323635938-1.30222337940.1972837073.270379137-9.40384584850.2293795973.135033835-17.6540793960.2597131692.91854773-25.5205737770

16、.2875042762.628463594-32.2322662880.312088762.280528204-36.9654645190.3329980251.89765293-39.16839751100.3500118521.505688408-38.83237698110.3631592251.127702703-36.49691726120.3726666620.779654872-32.98831402130.3788783210.469171714-29.10110749140.3821781260.196949608-25.41023432150.382932466-0.040

17、799078-22.24292117160.381456937-0.250133688-19.73954683170.378001635-0.437915336-17.93233785180.372747408-0.611056302-16.80776689190.365806883-0.776280383-16.34674367200.357226177-0.940195635-16.54813923210.346984897-1.10954939-17.44279857220.334992976-1.291599028-19.10336273230.321083336-1.49457291

18、2-21.65273825240.304999539-1.728210811-25.27124837250.286377732-2.004354144-30.19822393260.264722847-2.337477278-36.71547854270.239380922-2.744851375-45.08343686280.209514438-3.245602845-55.37086465290.174098512-3.857144647-67.0809784300.131976187-4.586423475-78.48005879310.082039233-5.413247506-85.

19、74196597320.023613798-6.266921877-82.6703728233-0.042934901-7.009372863-62.5505328534-0.115571016-7.451382867-22.7659150535-0.190363115-7.41685402531.1290260136-0.262025098-6.82187831287.1233172337-0.325056788-5.706838429133.598624738-0.374859563-4.201932414164.676040139-0.408323904-2.464824289180.3

20、98543440-0.42385133-0.635155735183.752100341-0.4210822121.178617948177.546140242-0.4006322732.886051523162.306931243-0.3640495974.385375615135.135650444-0.3141028585.52897156490.0345656545-0.2553469166.10901973422.2136747546-0.1945084165.919087475-61.047941147-0.1396748184.928398754-131.993310848-0.

21、0976650573.42748275-159.597753449-0.0712171381.894005413-140.888948850-0.0586602560.689076628-98.2431549451-0.055914543-0.064856044-53.3564547452-0.058574244-0.405518759-16.4444418853-0.062964178-0.42790122110.3175965654-0.066398248-0.2294902328.0038635255-0.0670917720.10823292138.5031825656-0.06397

22、94670.52275927843.647414657-0.0565341760.96845925144.9632964158-0.0446144861.41323531443.6315065359-0.0283464151.83516659240.5138981660-0.0080368072.21956021936.20321949610.0158863962.55653101231.07707651620.0429123332.83910570525.34811992630.072468863.06180029919.10859673640.1039321213.21962518712.

23、37219937650.1366282943.3075225595.120095121660.1698322033.320323629-2.639556408670.2027688013.253400545-10.79174801680.2346254573.104197164-19.02218785690.2645839552.874594517-26.75320071700.2918779352.573455309-333158708712.217894775-37.52071845720.3361334371.831687915-39.28069983730.3

24、524888471.440615279-38.55871507740.3650040751.066776704-35.96549575750.3739312960.724727996-32.34227282760.3796263850.420783332-28.45496966770.3824736420.154708624-24.83533184780.382832643-0.07780271-21.77372294790.381008608-0.283026004-19.38705081800.377240056-0.467866713-17.69611463810.371696235-0

25、.639211531-16.68418818820.364478491-0.803753513-16.33389821830.355621828-0.968102601-16.64867941840.345094463-1.139063335-17.66577624850.332794019-1.324021829-19.46570847860.318539403-1.531420835-22302057541-1.771311801-26.00087305880.282964327-2.055946292-31260739954-2.400

26、275169-37.98746125900.234701058-2.821994579-46.68266765910.203977892-3.340296223-57.26763383920.167517062-3.971632345-69.09312002930.124152519-4.719791527-80.1321699940.072815587-5.557800627-86.1434937950.012960194-6.404286812-80.6321500296-0.054806917-7.110128998-57.1967504797-0.128128582-7.4826957

27、6-14.4135736298-0.202785786-7.35641827440.759614599-0.273368565-6.66800382895.84948082100-0.334460745-5.476783215139.9614602101-0.381690412-3.921901756168.33102-0.412212737-2.160318685181.7346159103-0.42465973-0.326504119183.3258891104-0.4188502751.475595656175.6481821105-0.3955516743.155986042158.7

28、060902106-0.3564875184.607511131128.9929174107-0.3046833155.67222790380.24731696108-0.2450496566.135149278.790621108109-0.1846484995.80478722-74.8342556110-0.1315784934.699359303-140.2081974111-0.0921274653.15922524-159.2548319112-0.068228741.66224436-134.6756867113-0.0576367970.530450915-90.4326848

29、2114-0.056095747-0.148742988-46.4640933115-0.059276872-0.42875497-11.24230861116-0.063667388-0.40752388813.87765943117-0.066743473-021911167118-0.066854771069680202119-0.0630385340.59654617644.1000013120-0.0548422011.04401823944.89732378121-0.0421766851.48625523643.21298112

30、2-0.025203671.90274407239.85983027123-0.0042538862.27975480235.390711441240.0202286232.6080108430.152142461250.0477215592.88087678724.333546311260.0776436813.09301001418.011025381270.1093627563.23943624611.189338091280.1421964323.3150656583.8495221231290.1754108593.314752789-3.988450371300.208223383

31、3.234085551-12.182497881310.2398175383.071070981-20.37673891320.2693791092.828598888-27.949201761330.2961577772.516892039-34.081247531340.3195469152.154389914-38.0018021350.3391578071.765594403-39.321556921360.3548568361.376047771-38.231618871370.3667472451.006769144-35.405179181380.375104490.670893

32、648-31.689351061390.3802939950.373474831-27.816973771400.3826989360.113420844-24.276604581410.382671253-0.114033588-21.323820621420.380505461-0.315342219-19.054304581430.376428441-0.497437041-17.479086131440.370597886-0.667174659-16.579266091450.363103913-0.831220774-16.33977821460.353970403-0.99619

33、5194-16.768977131470.343154077-1.168970649-17.910768871480.330540019-1.357075432-19.853788241490.31593275-1.569182361-22.739585371500.29904202-1.815671547-26.768676411510.279462769-2.109219565-32.198048151520.256649645-2.465256881-39.313150081530.229889194-2.90187306-48.336729291540.198279421-3.438211785-59.202559391550.160740266-4.089491084-71.088284041560.116102322-4.855826729-81.64806021570.063348462-5.702760652-86.22005971580.002078737-6.537792154-78.07542829159-0.066840513-7.201403192-51.274385