哈工大机械原理大作业一连杆15题

1、 Harbin Institute of Technology 机械原理大作业一课程名称： 机械原理 设计题目： 连杆传动设计 院 系： 船舶与海洋工程学院 班 级： 1513102班 分 析 者： 刘康哲 学 号： 151310207 指导教师： 刘会英 设计时间： 2017.06.05 1.题目：如图所示机构，已知机构各构件的的尺寸为lAB=100mm,lBD=400mm,lAE=400mm,lBC=200mm,曲柄AB的角速度为w1=10rad/s,试求构件2上点D的轨迹，构件5的角位移、角速度和角加速度，并对结果进行分析。（题中构件尺寸满足lBD-lAB<lAE<lBD+l

2、AB）。2机构的结构分析及基本杆组划分机构各构件都在同一平面内运动，可拆分成一个原动件（构件1），一个RRP级基本杆组（构件2、3）和一个RPR 级基本杆组（构件4、5）。活动构件数n=5，PL，PH，因此，机构的自由度为 F=3*n-2* PL - PH =3*5-2*7=1原动件：RRP级基本杆组：RPR 级基本杆组:3坐标系的建立以A点为坐标原点，AE方向为x轴正方向，建立平面直角坐标系。4各基本杆组的运动分析数学模型（1）原动件：位置分析： XB = XA + LAB * cos(wt) YB = YA + LAB * sin(wt) 其中，XA = YA = 0 ，w = 10rad

3、/s , LAB = 100 mm速度分析： 将上式分别对时间求导，可得速度方程, VXB = VXA w*LAB*sin(wt)VYB = VYA + w*LAB*cos(wt) 其中，VXA = VYA = 0 加速度分析:将上式分别对时间求导，可得速度方程, aXA = aXA * LAB * sin(wt) w*w*LAB*cos(wt)aYA = aYA + * LAB * cos(wt) w*w*LAB*sin(wt) 其中，aXA = aYA = 0 = dw/dt（2）RRP级基本杆组:位置分析： XC = LAB*cos(wt)+ YC = 0可求得，= arcsin(YB

4、/ LBC)速度分析： 将上式分别对时间求导，可得速度方程,VXC =-w* LAB*cos(wt) ()-1/2 * sin(wt)*wVYC = 0加速度分析： 将上式分别对时间求导，可得加速度方程,（3）RPR 级基本杆组位置分析： XD = XC + LCD * cosYD = - LCD * sin可求得， = arctan (-YD / (LAE-XD) )速度分析： 将上式分别对时间求导，可得速度方程,5计算编程在MATLAB中编写如下程序：function XD,YD,Q,Q1,Q2 = calculate(t)%UNTITLED4 Summary of this functi

5、on goes here% Detailed explanation goes hereLab=100;Lbc=200;Lcd=200;Lae=400;w=10;XB=Lab*cos(w.*t);YB=Lab*sin(w.*t);P=asin(YB./Lbc);XC=sqrt(Lbc.2-YB.2)+XB;XD=Lcd.*cos(P)+XC;YD=-Lcd.*sin(P);Q=atan(YD./(Lae-XD);Q1=diff(Q);Q2=diff(Q1);end5计算结果t时间XDD点横坐标YDD点纵坐标Q构件5角度Q1构件5角速度Q2构件5角加速度0500000.10050.0030080

6、.01499.0018-9.983340.10050.1035080.0060270.02496.0283-19.86690.2040080.1095350.0089860.03491.1429-29.5520.3135430.118520.0116240.04484.4505-38.94180.4320630.1301450.0133840.05476.0958-47.94260.5622070.1435290.0133830.06466.2615-56.46420.7057360.1569120.0106760.07455.1653-64.42180.8626480.1675870.004

7、950.08443.0552-71.73561.0302350.172537-0.002760.09430.2044-78.33271.2027720.169781-0.010250.1416.9036-84.14711.3725540.159531-3.157070.11403.4517-89.12071.532085-2.997543.1238950.12390.1455-93.2039-1.465460.126353-0.017410.13377.267-96.3558-1.339110.108942-0.015610.14365.0708-98.545-1.230160.093336-

8、0.013140.15353.7727-99.7495-1.136830.080201-0.010530.16343.5394-99.9574-1.056630.069675-0.008030.17334.4828-99.1665-0.986950.06165-0.005720.18326.6576-97.3848-0.92530.055928-0.003620.19320.0638-94.63-0.869370.052312-0.001680.2314.6537-90.9297-0.817060.0506320.0001240.21310.3405-86.3209-0.766430.0507

9、570.001820.22307.0096-80.8496-0.715670.0525770.0034140.23304.5286-74.5705-0.66310.0559910.0048770.24302.7576-67.5463-0.60710.0608680.0061360.25301.5573-59.8472-0.546240.0670040.0070630.26300.7957-51.5501-0.479230.0740670.0074760.27300.3534-42.738-0.405170.0815440.0071710.28300.127-33.4988-0.323620.0

10、887150.0059930.29300.0319-23.9249-0.234910.0947080.0039350.3300.0038-14.112-0.14020.0986430.0012220.31300-4.15807-0.041560.099865-0.001710.32300.00015.8374140.0583080.098157-0.004340.33300.005915.774570.1564660.093821-0.006250.34300.041725.554110.2502870.087567-0.007280.35300.153835.078320.3378540.0

11、80286-0.007450.36300.410144.252040.4181390.072834-0.006940.37300.898452.983610.4909730.065896-0.005940.38301.72561.185790.556870.059953-0.004640.39303.011868.776620.6168230.05531-0.003150.4304.892375.680250.6721330.052157-0.001540.41307.506581.827710.724290.0506140.0001710.42310.993787.157580.774904

12、0.0507850.0019950.43315.483991.616590.8256890.052780.0039570.44321.087995.160210.878470.0567380.0060950.45327.886697.753010.9352070.0628320.0084330.46335.920499.36910.9980390.0712660.0109610.47345.180299.992331.0693050.0822260.0135710.48355.601899.616461.1515310.0957970.0159750.49367.06498.245261.24

13、73290.1117720.0175920.5379.391295.892431.3591010.129365-3.124070.51392.360492.581471.488466-2.99473.1564030.52405.711488.34547-1.506240.16170.0091050.53419.158883.22674-1.344540.1708050.0014090.54432.404877.27645-1.173730.172214-0.00610.55445.15170.55403-1.001520.166115-0.011350.56457.109163.12666-0.83540.154767-0.013550.57468.009755.06855-0.680640.141218-0.013180.58477.609546.46022-0.539420.128033-0.011220.59485.696537.38767-0.411390.116811-0.00850.6492.094127.