哈工大机械原理大作业1连杆机构运动分析

1、哈尔滨工业大学机械原理课程设计机械原理大作业（一）作业名称： 连杆机构运动分析 设计题目： 12题 院 系： 班 级： 设 计 者： 学 号： 指导教师： 设计时间： 哈尔滨工业大学机械设计1、运动分析题目如图所示的六杆机构中，各构件的尺寸分别为：lAB=100mm ，lBC=500mm ，lCD=800mm ,xF=400mm ，xD=350mm ，yD=350mm ，=100rads ，求构件5上点F的位移，速度和加速度。2、建立坐标系建立以点A为原点的固定平面直角系A-x,y3、对机构进行结构分析该机构由I级杆组RR（原动件1）、II级杆组RRR（杆2、杆3）和II级杆组PRP（滑块4及

2、滑块5）组成。I级杆组RR，如图2所示；II级杆组RRR，如图2所示；II级杆组PRP，如图3所示。4、确定已知参数和求解流程图1所示，规定当=10° 时，F点纵坐标为0（1）如图2所示，已知原动件杆1的转角，=0360° xB=lAB×cosyB=lAB×sin（2）如图3所示，已知B，D两点坐标 lAB lCD利用方程组（x-xB）2+(y-yB)2=lAB2(x-(xD+xF)2+(y-yF)2=lCD2 可以求解出C点坐标（3）如图4所示，已知C点坐标、xF 、xD 、yD ,利用几何关系可以求解出E点坐标。同时，当=10° 时，可以求

3、出杆EF长，记为 lEF，进而，可以求出F点坐标，即F点位移（4）利用导数的定义与其物理意义vn=sn+h-sn-h2han=sn+h-2sn+sn-hh2利用上述公式，选取适当的步长h，利用F点位移就可以得出速度与加速度5、用VC编程#include <stdio.h>#include <math.h>#define pi 3.14159265358979323846/定义全局变量double Lab,Lbc,Lcd,Xf,Xd,Yd;/定义已知位置量double Wab;/定义角速度量/定义被调用函数void Ccorner (double *a,double *b

4、,double c);/声明C点坐标函数求解函数void Pcorner (double *a,double *b,double c,double d,double e);/声明P点坐标函数求解函数double Kcd (double a,double b);/声明CD直线倾斜角求解函数/主函数main () Lab=0.200;Lbc=0.500;Lcd=0.800;Xf=0.400;Xd=0.350;Yd=0.350;/赋位置量值 Wab=100;/赋角速度值 /未知几何与位置参量 double Xb,Yb;/定义B点坐标 double Xc,Yc;/定义C点坐标 double Ye;/定

5、义E点纵坐标 double Xp,Yp;/定义瞬心p点坐标 double Lef;/定义bp,cp,ef,bd杆长 double Yf720;/定义F点纵坐标 /未知速度参量 double Vf720;/定义EF杆速度 /未知加速度参量 double Af720;/定义加速度 /其余参量 double o=10*pi/180,k,k1;/主动杆角度变量与CD杆倾斜角 double t=1*pi/180/100;/时间参量，用定义法求速度与加速度 int i;/循环控制变量 /主函数主体 /求位移量 for (i=0;i<=361;i+) Xb=Lab*cos(o), Yb=Lab*sin

6、(o); Ccorner (&Xc,&Yc,o);/求C点坐标 Pcorner (&Xp,&Yp,Xc,Yc,o);/求瞬心P点坐标 k=Kcd (Xp,Yp);/求CD杆倾斜角 /求解位移量（规定主动杆10度为Yf零点） if (i=0) k1=k; Lef=tan(k1)*Xd+Yd;/ef杆长 Ye=tan(k)*Xd+Yd; Yfi=Ye-Lef; o=o+1*pi/180; /用定义求速度 for (i=1;i<=361;i+) Vfi=(Yfi+1-Yfi-1)/(2*t); /用定义求加速度 for (i=1;i<=361;i+) Af

7、i=(Yfi+1-2*Yfi+Yfi-1)/pow(t,2); /输出语句 for (i=1;i<=180;i+) printf ("%d,%lf,%lf,%lf,t",i+10,Yfi*1000,Vfi,Afi); printf ("%d,%lf,%lf,%lfn",i+190,Yfi+180*1000,Vfi+180,Afi+180); /C点坐标值函数void Ccorner(double *a,double *b,double c)/&Xc,&Yc,o double i,j,x,y,z;/中间参数 i=(pow(Lcd,2)

8、-pow(Lbc,2)+pow(Lab*sin(c),2)-pow(Yd,2)+pow(Lab*cos(c),2)-pow(Xd+Xf),2)/(2*(Lab*cos(c)-Xd-Xf); j=(Lab*sin(c)-Yd)/(Lab*cos(c)-Xf-Xd); x=pow(j,2)+1; y=2*(Xf+Xd)*j-2*i*j-2*Yd; z=pow(i,2)-2*(Xf+Xd)*i+pow(Xf+Xd),2)+pow(Yd,2)-pow(Lcd,2); *b=(-y+sqrt(pow(y,2)-4*x*z)/(2*x); *a=i-j*(*b);/克拉默法求瞬心P点坐标函数void Pc

9、orner(double *a,double *b,double c,double d,double e)/&Xp,&Yp,Xc,Xp,o double a1,b1,c1,a2,b2,c2,i,j,k;/中间参量 a1=tan(e),a2=(d-Yd)/(c-Xd-Xf); b1=b2=-1; c1=0,c2=(c*(d-Yd)/(c-Xd-Xf)-d; i=a1*b2-b1*a2; j=c1*b2-b1*c2; k=a1*c2-c1*a2; *a=j/i; *b=k/i;/CD杆倾斜角double Kcd(double a,double b)/Xp,Yp double k1;

10、/中间参量 k1=-atan (b-Yd)/(a-Xd-Xf); return k1;6、计算结果（程序计算结果附在图像之后）6.1位移、速度、加速度的图像点F的位移线图如图5所示。（°-s（mm）点F的速度线图如图6所示。（°-v（m/s）点F的加速度线图如图7所示。（°-a（m/s2）6.2程序计算结果角度位移（mm）速度（m/s）加速度（m/s2）角度位移（mm）速度（mm/s）加速度（m/s2）111.87742410.809411602.318447191-16.405044-7.929395403.164163123.77319610.91262258

11、0.393892192-17.782844-7.858408410.290064135.68664811.011891557.140416193-19.148146-7.786195417.208490147.61707111.106984532.545785194-20.500739-7.712793423.920098159.56371711.197667506.601231195-21.840418-7.638237430.4255381611.52579411.283703479.301640196-23.166986-7.562564436.7254741713.50247211.3

12、64856450.645736197-24.480251-7.485809442.8205931815.49287811.440890420.636249198-25.780027-7.408008448.7116221917.49609611.511568389.280068199-27.066134-7.329197454.3993382019.51117311.576658356.588380200-28.338399-7.249411459.8845822121.53711211.635926322.576787201-29.596655-7.168684465.1682722223.

13、57287711.689145287.265408202-30.840742-7.087054470.2514142325.61739311.736089250.678956203-32.070504-7.004553475.1351122427.66954511.776540212.846797204-33.285792-6.921218479.8205822529.72818111.810281173.802977205-34.486464-6.837081484.3091572631.79211111.837106133.586249206-35.672384-6.752179488.6

14、022992733.86011111.85681392.240035207-36.843419-6.666544492.7016062835.93092011.86920949.812407208-37.999447-6.580210496.6088192938.00324611.8741116.356010209-39.140346-6.493211500.3258303040.07576611.871343-38.072020210-40.266005-6.405580503.8546873142.14712711.860742-83.410179211-41.376315-6.31734

15、9507.1975973244.21594611.842154-129.592730212-42.471176-6.228551510.3569303346.28081811.815438-176.549873213-43.550490-6.139217513.3352253448.34031211.780465-224.207929214-44.614167-6.049378516.1351883550.39297611.737120-272.489558215-45.662121-5.959067518.7596943652.43734011.685301-321.313991216-46

16、.694273-5.868312521.2117893754.47191611.624920-370.597287217-47.710549-5.777144523.4946853856.49520311.555906-420.252609218-48.710877-5.685593525.6117643958.50568811.478200-470.190519219-49.695195-5.593685527.5665724060.50185011.391762-520.319292220-50.663442-5.501451529.3628144162.48216311.296566-5

17、70.545237221-51.615563-5.408916531.0043554264.44509611.192604-620.773045222-52.551510-5.316109532.4952124366.38911911.079883-670.906136223-53.471235-5.223053533.8395464468.31270510.958430-720.847025224-54.374699-5.129776535.0416654570.21433210.828286-770.497687225-55.261865-5.036301536.1060074672.09

18、248910.689509-819.759939226-56.132700-4.942651537.0371414773.94567510.542178-868.535814227-56.987176-4.848850537.8397534875.77240410.386384-916.727944228-57.825268-4.754920538.5186464977.57120710.222239-964.239938229-58.646956-4.660882539.0787225079.34063810.049869-1010.976760230-59.452223-4.5667565

19、39.5249855181.0792739.869417-1056.845101231-60.241055-4.472562539.8625215282.7857159.681044-1101.753739232-61.013442-4.378318540.0964975384.4585959.484924-1145.613897233-61.769376-4.284041540.2321505486.0965789.281248-1188.339584234-62.508854-4.189749540.2747775587.6983629.070221-1229.847925235-63.2

20、31875-4.095458540.2297275689.2626828.852063-1270.059471236-63.938439-4.001181540.1023925790.7883158.627007-1308.898498237-64.628550-3.906933539.8981965892.2740768.395298-1346.293281238-65.302216-3.812727539.6225905993.7188268.157194-1382.176350239-65.959443-3.718575539.2810436095.1214737.912964-1416

21、.484723240-66.600243-3.624488538.8790296196.4809727.662890-1449.160115241-67.224628-3.530476538.4220246297.7963277.407259-1480.149125242-67.832612-3.436547537.9154966399.0665937.146372-1509.403390243-68.424209-3.342711537.36489964100.2908816.880533-1536.879723244-68.999438-3.248975536.77566265101.46

22、83526.610058-1562.540214245-69.558315-3.1553445365982266.335265-1586.352312246-70.100861-3.061825535.50283567103.6797776.056480-1608.288872247-70.627094-2.968420534.82993268104.7123375.774032-1628.328181248-71.137035-2.8751355346952955.488253-1646.453955249-71.630705-2.7819

23、72533.43751270106.6280995.199479-1662.655303250-72.108126-2.688931532.72837771107.5102554.908046-1676.926679251-72.569319-2.596014532.01744472108.3413304.614290-1689.267794252-73.014306-2.503222531.30974273109.1209464.318548-1699.683511253-73.443109-2.410552530.61023074109.8487874.021155-1708.183720

24、254-73.855748-2.318003529.92378975110.5245943.722445-1714.783185255-74.252244-2.225572529.25522376111.1481663.422747-1719.501377256-74.632619-2.133256528.60925277111.7193583.122388-1722.362281257-74.996891-2.041050527.99051578112.2380852.821689-1723.394192258-75.345080-1.948949527.40356079112.704314

25、2.520967-1722.629500259-75.677203-1.856948526.85284880113.1180682.220532-1720.104447260-75.993277-1.765040526.34275181113.4794251.920687-1715.858892261-76.293318-1.673216525.87754582113.7885151.621730-1709.936047262-76.577339-1.581469525.46141583114.0455161.323949-1702.382225263-76.845355-1.48979152

26、5.09845284114.2506601.027625-1693.246562264-77.097375-1.398171524.79265185114.4042250.733028-1682.580756265-77.333408-1.306598524.54791086114.5065350.440422-1670.438785266-77.553463-1.215063524.36803487114.5579610.150059-1656.876637267-77.757545-1.123553524.25672688114.558916-0.137818-1641.952039268

27、-77.945657-1.032057524.21759889114.509854-0.422977-1625.724182269-78.117801-0.940560524.25416090114.411269-0.705194-1608.253463270-78.273975-0.849051524.36982791114.263694-0.984260-1589.601220271-78.414176-0.757513524.56791792114.067697-1.259972-1569.829480272-78.538397-0.665934524.85164993113.82388

28、1-1.532141-1549.000720273-78.646631-0.574298525.22414694113.532879-1.800589-1527.177623274-78.738865-0.482588525.68843295113.195357-2.065146-1504.422863275-78.815086-0.390790526.24743596112.812007-2.325655-1480.798881276-78.875276-0.298885526.90398497112.383550-2.581972-1456.367691277-78.919416-0.20

29、6857527.66080998111.910729-2.833959-1431.190683278-78.947483-0.114688528.52054399111.394312-3.081492-1405.328447279-78.959450-0.022359529.485717100110.835086-3.324456-1378.840608280-78.9552880.070147530.558763101110.233858-3.562748-1351.785675281-78.9349640.162850531.742012102109.591452-3.796274-132

30、4.220898282-78.8984420.255770533.037690103108.908708-4.024949-1296.202141283-78.8456830.348926534.447922104108.186480-4.248699-1267.783775284-78.7766440.442338535.974723105107.425632-4.467459-1239.018569285-78.6912780.536026537.620003106106.627042-4.681172-1209.957608286-78.5895360.630013539.3855571

31、07105.791595-4.889792-1180.650215287-78.4713620.724318541.273071108104.920183-5.093280-1151.143884288-78.3367010.818964543.284109109104.013705-5.291604-1121.484232289-78.1854900.913971545.420118110103.073065-5.484742-1091.714955290-78.0176651.009362547.682418111102.099169-5.672678-1061.877796291-77.

32、8331561.105159550.072198112101.092927-5.855405-1032.012524292-77.6318911.201385552.590515113100.055247-6.032919-1002.156922293-77.4137941.298061555.23828511498.987041-6.205227-972.346785294-77.1787831.395211558.01627511597.889214-6.372339-942.615923295-76.9267731.492857560.92510011696.762674-6.53427

33、2-912.996175296-76.6576771.591022563.96521411795.608323-6.691047-883.517426297-76.3714021.689729567427058-6.842693-854.207638298-76.0678501.789002570.44026911993.219773-6.989239-825.092876299-75.7469221.888862573.87523612091.987354-7.130723-796.197348300-75.4085131.989334577.44152412190

34、.730681-7.267186-767.543447301-75.0525142.090439581450627-7.398670-739.151799302-74.6788122.192201584.96589712388.148058-7.525223-711.041307303-74.2872922.294642588.92233412486.823829-7.646896-683.229209304-73.8778312.397784593.00677212585.478788-7.763742-655.731132305-73.4503072.501651

35、597.21776412684.113772-7.875818-628.561149306-73.0045902.606264601.55358712782.729609-7.983181-601.731843307-72.5405492.711644606.01222712881.327116-8.085893-575.254362308-72.0580482.817812610.59136212979.907100-8.184014-549.138485309-71.5569472.924790615.28834013078.470356-8.277610-523.392686310-71

36、.0371043.032598620.10016813177.017669-8.366746-498.024195311-70.4983713.141256625.02348413275.549811-8.451487-473.039063312-69.9405983.250782630.05454113374.067543-8.531901-448.442227313-69.3636343.361196635571615-8.608057-424.237569314-68.7673203.472514640.42282913571.062764-8.680023-4

37、00.427984315-68.1514983.584753645.75043413669.541716-8.747868-377.015438316-67.5160053.697931651.16648113768.009182-8.811661-354.001028317-66.8606763.812061656.66494413866.465866-8.871472-331.385048318-66.1853453.927157662.23927013964.912455-8.927371-309.167039319-65.4898404.043232667.88234414063.34

38、9626-8.979426-287.345852320-64.7739904.160297673.58646714161.778044-9.027708-265.919703321-64.0376224.278362679.34332314260.198361-9.072284-244.886222322-63.2805604.397436685611219-9.113223-224.242512323-62.5026284.517526690.97872114457.017246-9.150593-203.985196324-61.7036464.638636696

39、.83729014555.417059-9.184461-184.110465325-60.8834384.760769702.70858514653.811264-9.214893-164.614128326-60.0418244.883927708.58076214752.200455-9.241955-145.491654327-59.1786265.008109714.44118514850.585214-9.265711-126.738218328-58.2936655.133312720.27638514948.966112-9.286226-108.348740329-57.38

40、67625.259530726.07203815047.343709-9.303563-90.317925330-56.4577425.386754731.81293015145.718555-9.317784-72.640303331-55.5064305.514974737.48292915244.091189-9.328950-55.310261332-54.5326535.644177743.06496015342.462138-9.337121-38.322080333-53.5362415.774344748.54097515440.831919-9.342356-21.66996

41、4334-52.5170275.905456753.89192915539.201040-9.344714-5.348072335-51.4748486.037489759.09775915637.569998-9.34425110.649453336-50.4095466.170416764939281-9.34102426.328460337-49.3209666.304207768.98857415834.309366-9.33508841.694762338-48.2089626.438826773.62816415932.680721-9.32649756.

42、754119339-47.0733926.574233778.03181716031.053804-9.31530471.512209340-45.9141226.710387782429066-9.30156085.974615341-44.7310256.847239786.02859116227.806947-9.285318100.146804342-43.5239856.984735789.56762816326.187879-9.266627114.034111343-42.2928937.122820792.76256616424.572284-9.245537127.641725344-41.0376527.261429795.58366916522.960578-9.222096140.974679345-39.7581767.400495798.00015516621.353165-9.196351154.037834346-38.4543917.539946799.98022116719.750445-9.168350166.835870347-37.1262387.679700801.49108