机械原理大作业1连杆

1、机械原理大作业一课程名称： 机械原理 设计题目： 连杆机构设计 院 系： 机电工程学院 班 级： 完 成 者： 学 号： 指导教师： 设计时间： 5月10日-5月19日 哈尔滨工业大学（13）在图1-13所示的牛头刨床机构中，已知各个构建尺寸为：LAB=108mm，LCE=620mm，LEF=300mm，H1=350mm，H=635mm，曲柄1以等角速度转动，转速为n1=225r/min。试求滑块5上点F的位移、速度和加速度。1. 机构的自由度计算及基本杆组划分（1）自由度计算 该机构为平面机构，活动构件的数目为n=5，低副PL=7，高副数目PH=0，故该牛头刨床机构的自由度为 F=3n-2P

2、L-PH=3*5-2*7-0=1（2）基本杆组的划分 构件1为原动件，故先移除，然后按照拆分法拆分杆组。杆3与滑块2组成RPRII级杆组，杆4与滑块5组成RPRII级杆组。拆分结果如下：2、各基本杆组的运动分析 以C点为坐标原点建立直角坐标系，通过求出B点坐标求出E点坐标，进而推出F点坐标，其与时间的函数即为位移方程，对其求一次导得速度方程，求二阶导得加速度方程。 图一为一级杆组： xB = lAB·cos yB = lAB·sin 图二为二级杆组： xE = lCE·cos1 yE = lCE·sin1 1 = arctan（H1+lAb·s

3、in）/lAB·cos 图三为二级杆组： xF = xE - lEF·cos2 2 = arcsin（H - yE）/lEF3、数学建模（1）、位移图2、速度图3、加速度图4、计算程序Begin VB.Form 牛头刨连杆机构 Caption = "Form1" ClientHeight = 3030 ClientLeft = 120 ClientTop = 450 ClientWidth = 4560 LinkTopic = "Form1" ScaleHeight = 3030 ScaleWidth = 4560 StartUpPo

4、sition = 3 '窗口缺省 Begin VB.PictureBox Picture4 Height = 6495 Left = 2760 ScaleHeight = 6435 ScaleWidth = 11235 TabIndex = 4 Top = 120 Width = 11295 End Begin VB.PictureBox Picture3 Height = 6255 Left = 1680 ScaleHeight = 6195 ScaleWidth = 75 TabIndex = 3 Top = 240 Width = 135 End Begin VB.Picture

5、Box Picture2 Height = 6255 Left = 2280 ScaleHeight = 6195 ScaleWidth = 75 TabIndex = 2 Top = 0 Width = 135 End Begin VB.PictureBox Picture1 Height = 6255 Left = 960 ScaleHeight = 6195 ScaleWidth = 195 TabIndex = 1 Top = 120 Width = 255 End Begin VB.CommandButton Command1 Caption = "Command1&quo

6、t; Height = 495 Left = 120 TabIndex = 0 Top = 120 Width = 495 EndEndAttribute VB_Name = "牛头刨连杆机构"Attribute VB_GlobalNameSpace = FalseAttribute VB_Creatable = FalseAttribute VB_PredeclaredId = TrueAttribute VB_Exposed = FalsePrivate f1(3600) As Double '1杆的转角Private xB0(3600) As Double P

7、rivate yB0(3600) As Double Private vxB0(3600) As Double Private vyB0(3600) As Double Private axB0(3600) As Double Private ayB0(3600) As Double Private xE0(3600) As Double Private yE0(3600) As Double Private vxE0(3600) As Double Private vyE0(3600) As Double Private axE0(3600) As Double Private ayE0(3

8、600) As Double Private f3(3600) As Double Private w3(3600) As Double Private e3(3600) As Double Private s5(3600) As Double Private vs5(3600) As Double Private as5(3600) As Double Private pi As DoublePrivate pa As DoublePrivate Sub Command1_Click()Dim i As DoubleDim j As LongDim RR1 As rrDim RPR1 As

9、rprDim RRP1 As rrpSet RR1 = New rrSet RPR1 = New rprSet RRP1 = New rrppi = 4 * Atn(1)pa = pi / 180Picture1.DrawWidth = 1Picture1.Scale (-20, 1000)-(390, -40) Picture1.Line (-20, 0)-(390, 0) 'X Picture1.Line (0, 1000)-(0, -40) 'Y Picture1.CurrentX = 330: Picture1.CurrentY = 40 Picture1.Print

10、"主动件转角/度" 'X表示 Picture1.CurrentX = 10: Picture1.CurrentY = 960 Picture1.Print "滑块位移S /mm" 'Y表示 For j = 30 To 390 Step 30 'X轴坐标 Picture1.Line (j, 5)-(j, 0) Picture1.CurrentX = j - 5: Picture1.CurrentY = 0 Picture1.Print j Next j For j = 0 To 1000 Step 80 'Y轴坐标 Pict

11、ure1.Line (0, j)-(5, j) Picture1.CurrentX = -20: Picture1.CurrentY = j + 2 Picture1.Print j Next j Picture1.DrawStyle = 2 For j = 0 To 1000 Step 80 Picture1.Line (-20, j)-(390, j), vbBlack '横向网格 Next j For j = 0 To 390 Step 30 Picture1.Line (j, -20)-(j, 1000), vbBlack '纵向网格 Next j Picture2.D

12、rawWidth = 1Picture2.Scale (-20, 8000)-(390, -4000) Picture2.Line (-20, 0)-(380, 0) 'X Picture2.Line (0, 8000)-(0, -4000) 'Y Picture2.CurrentX = 340: Picture2.CurrentY = 400 Picture2.Print "主动件转角/度" Picture2.CurrentX = 10: Picture2.CurrentY = 2400 Picture2.Print "滑块速度V mm/s&qu

13、ot; For j = 30 To 390 Step 30 'X轴坐标 Picture2.Line (j, 5)-(j, 0) Picture2.CurrentX = j - 5: Picture2.CurrentY = 0 Picture2.Print j Next j For j = -4000 To 8000 Step 800 'Y轴坐标 Picture2.Line (0, j)-(5, j) Picture2.CurrentX = -10: Picture2.CurrentY = j + 7 Picture2.Print j Next j Picture2.DrawSt

14、yle = 2 For j = -4000 To 8000 Step 800 Picture2.Line (-20, j)-(390, j), vbBlack '横向网格 Next j For j = 30 To 390 Step 30 Picture2.Line (j, -4000)-(j, 8000), vbBlack '纵向网格 Next j Picture3.DrawWidth = 1Picture3.Scale (-20, 150000)-(380, -200000) Picture3.Line (-20, 0)-(390, 0) 'X Picture3.Li

15、ne (0, 150000)-(0, -200000) 'Y Picture3.CurrentX = 300: Picture3.CurrentY = 10000 Picture3.Print "主动件转角/度" Picture3.CurrentX = 10: Picture3.CurrentY = 80000 Picture3.Print "滑块加速度a mm/S2" For j = 30 To 390 Step 30 'X轴坐标 Picture3.Line (j, 5)-(j, 0) Picture3.CurrentX = j - 5

16、: Picture3.CurrentY = 0 Picture3.Print j Next j For j = -200000 To 150000 Step 10000 'Y轴坐标 Picture3.Line (0, j)-(5, j) Picture3.CurrentX = -20: Picture3.CurrentY = j + 7 Picture3.Print j Next j Picture3.DrawStyle = 2 For j = -200000 To 150000 Step 10000 Picture3.Line (-200000, j)-(150000, j), vb

17、Black '横向网格 Next j For j = 0 To 390 Step 30 Picture3.Line (j, -200000)-(j, 150000), vbBlack '纵向网格 Next j '主程序For i = 0# To 3600# Step 0.1 '主动件转角0-360,步长0.01'RR类模块属性赋值f1(i) = i * pa / 10RR1.f = f1(i)RR1.L = 108RR1.w = 205 * 2 * pi / 60RR1.e = 0RR1.xA = 0RR1.yA = 0RR1.vxA = 0RR1.vy

18、A = 0RR1.axA = 0RR1.ayA = 0RR1.calRR '执行RR类模块方法xB0(i) = RR1.xByB0(i) = RR1.yBvxB0(i) = RR1.vxBvyB0(i) = RR1.vyBaxB0(i) = RR1.axBayB0(i) = RR1.ayB'RPR类模块属性赋值RPR1.Li = 0RPR1.Lj = 620RPR1.Lk = 0RPR1.xB = xB0(i)RPR1.yB = yB0(i)RPR1.vxB = vxB0(i)RPR1.vyB = vyB0(i)RPR1.axB = axB0(i)RPR1.ayB = ayB0(i)RPR1.xD = 0RPR1.yD = -350RPR1.vxD = 0RPR1.vyD = 0RPR1.axD = 0RPR1.ayD = 0RPR1.calRPR '执行RPR类模块方法xE0(i) = RPR1.xEyE0(i) = RPR1.yEvxE0(i) = RPR1.vxEvyE0(i) = RPR1.vyEaxE0(i) =