哈尔滨工业大学机械原理大作业-连杆26题

1、精选优质文档-倾情为你奉上1.运动分析题目如图所示机构，已知机构各构件的尺寸为AB=108mm，EF=320mm，BC=CE=CD=200mm，FG=162mm，AD=258mm，AG=514mm，DG=384mm， =80º，构件1的角速度为1=10rad/s，试求构件2上点E的轨迹及构件5的角位移、角速度和角加速度，并对计算结果进行分析。2.机构的结构分析，组成机构的基本杆组划分3.各基本杆组的运动分析数学模型（1）RR基本杆组：delt=0xB = xA + AB * Cos(f + delt)yB = yA + AB* Sin(f + delt)vxB = vxA - w *

2、 AB * Sin(f + delt)vyB = vyA + w * AB* Cos(f + delt)axB = axA - w 2 * AB * Cos(f + delt):ayB = ayA - w 2 * AB* Sin(f + delt) (2)RRR基本杆组Ci = lbc * Cos(fbc)Si = lbc * Sin(fbc)Cj = lcd * Cos(fcd)Sj = lcd * Sin(fcd)G1 = Ci * Sj - Cj * Siwbc = (Cj * (vxD - vxB) + Sj * (vyD - vyB) / G1wcd = (Ci * (vxD - v

3、xB) + Si * (vyD - vyB) / G1vxC = vxB - wbc * lbc * Sin(fbc)vyC = vyB + wbc * lbc * Cos(fbc)G2 = axD - axB + wbc 2 * Ci - wcd 2 * CjG3 = ayD - ayB + wbc 2 * Si - wcd 2 * Sjebc = (G2 * Cj + G3 * Sj) / G1ecd = (G2 * Ci + G3 * Si) / G1axC = axB - ebc * lbc * Sin(fbc) - wbc 2 * lbc * Cos(fbc)ayC = ayB +

4、ebc * lbc * Cos(fbc) - wbc 2 * lbc * Sin(fbc)EB = 2 * BC * Cos(febc)xE = xB + EB* Cos(fbc + febc)yE = yB + EB * Sin(fbc + febc)vxE = vxB wbc * EB* Sin(fbc + febc)vyE = vyB + wbc * EB* Cos(fbc + febc)axE = axB - wbc 2 * EB * Cos(fbc + delt) - ebc * EB * Sin(fbc + febc)ayE = ayB - wbc 2 * leb * Sin(fb

5、c + delt) + ebc * leb * Sin(fbc + febc)Ci = lef * Cos(fef)Si = lef * Sin(fef)Cj = lfg * Cos(ffg)Sj = lfg * Sin(ffg)G1 = Ci * Sj - Cj * Siwef = (Cj * (vxG - vxE) + Sj * (vyG - vyE) / G1wfg = (Ci * (vxG - vxE) + Si * (vyG - vyE) / G1vxF = vxE - wef * lef * Sin(fef)vyF = vyE + wef * lef * Cos(fef)G2 =

6、axG - axE + wef 2 * Ci - wfg 2 * CjG3 = ayG - ayE + wef 2 * Si - wfg 2 * Sjeef = (G2 * Cj + G3 * Sj) / G1efg = (G2 * Ci + G3 * Si) / G1axF = axE - eef * lef * Sin(fef) - wef 2 * lef * Cos(fef)ayF = ayE + eef * lef * Cos(fef) - wef 2 * lef * Sin(fef) 4.计算编程Dim xA As DoubleDim yA As DoubleDim vxA As D

7、oubleDim vyA As DoubleDim axA As Double 'A '点加速度x轴分量Dim ayA As Double 'A '点加速度y轴分量Dim xB As Double 'B'点 'x轴坐标Dim yB As Double 'B点y轴坐标Dim vxB As Double 'B点速度x轴分量Dim vyB As Double 'B点速度y轴分量Dim axB As Double 'B点加速度x轴分量Dim ayB As Double 'B点加速度y轴分量Dim xC As

8、 Double 'C点x轴坐标Dim yC As Double C'点y轴坐标Dim vxC As Double 'C点速度x轴分量Dim vyC As Double 'C点速度y轴分量Dim axC As Double 'C点加速度x轴分量Dim ayC As Double 'C点加速度y轴分量Dim xD As Double 'D点x轴坐标Dim yD As Double 'D点y轴坐标Dim vxD As Double 'D点速度x轴分量Dim vyD As Double 'D点速度y轴分量Dim axD A

9、s Double 'D点加速度x轴分量Dim ayD As Double 'D点加速度y轴分量Dim xE As Double 'E点x轴坐标Dim yE As Double 'E点y轴坐标Dim vxE As Double 'E点速度x轴分量Dim vyE As Double 'E点速度y轴分量Dim axE As Double 'E点加速度x轴分量Dim ayE As Double 'E点加速度y轴分量Dim xF As Double 'F点x轴坐标Dim yF As Double 'F点y轴坐标Dim vxF

10、 As Double 'F点速度x轴分量Dim vyF As Double 'F点速度y轴分量Dim axF As Double 'F点加速度x轴分量Dim ayF As Double 'F点加速度y轴分量Dim xG As Double 'G点x轴坐标Dim yG As Double 'G点y轴坐标Dim vxG As Double 'G点速度x轴分量Dim vyG As Double 'G点速度y轴分量Dim axG As Double 'G点加速度x轴分量Dim ayG As Double 'G点加速度y轴分

11、量Dim delt As Double ' AB杆初始转角Dim lab As Double 'AB杆长Dim lbc As Double 'BC杆长Dim lcd As Double ' CD杆长Dim lce As Double 'CE杆长Dim lef As Double 'EF杆长Dim lfg As Double 'FG杆长Dim leb As Double 'ED杆长Dim f As Double 'AB杆转角Dim fbc As Double 'BC杆转角Dim fcd As Double '

12、CD杆转角Dim fce As Double 'CE杆转角Dim fef As Double 'EF杆转角Dim ffg As Double 'FG杆转角Dim fge As Double 'ge杆转角Dim w As Double 'AB杆角速度Dim wbc As Double ' BC角速度Dim wcd As Double 'CD角速度Dim wce As Double 'CE角速度Dim wef As Double 'EF角速度Dim wfg As Double 'FG角速度Dim e As Double

13、 'AB杆角加速度Dim ebc As Double ' BC杆角加速度Dim ecd As Double 'CD杆角加速度Dim ece As Double 'CE杆角加速度Dim eef As Double 'EF杆角加速度Dim efg As Double 'FG杆角加速度Dim LBD As Double 'BD距离Dim leg As Double 'EG距离Dim JCBD As Double '角CBDDim jfeg As Double '角FEGDim fBD As Double 'BD转

14、角Dim feg As Double 'EG转角Dim Ci As DoubleDim Cj As DoubleDim Si As DoubleDim Sj As DoubleDim G1 As DoubleDim G2 As DoubleDim G3 As DoubleDim val As DoubleDim pi As DoubleDim pa As DoubleDim febc As Double '角EBCDim i As DoubleDim fj1 As DoublePrivate Sub Command1_Click() '求点E的轨迹Picture1.Sc

15、ale (-300, 400)-(10, -15)Picture1.Line (-300, 0)-(10, 0) 'XPicture1.Line (0, 400)-(0, -15) 'YFor i = -300 To 0 Step 50 'X轴坐标 Picture1.DrawStyle = 2 Picture1.Line (i, 400)-(i, 0) Picture1.CurrentX = i - 10: Picture1.CurrentY = 0 Picture1.Print i Next iFor i = 0 To 350 Step 50 'Y轴坐标 Pi

16、cture1.DrawStyle = 2 Picture1.Line (0, i)-(-400, i) Picture1.CurrentX = -20: Picture1.CurrentY = i + 7 Picture1.Print i Next iFor fj1 = 0 To 360 Step 0.01 f = fj1 * pa Call RR1 Call RRR1 Call RR2 Picture1.PSet (xE, yE) Next fj1End SubPrivate Sub Command2_Click() '求构件5的角位移Picture2.Scale (-20, 5)-

17、(380, -0.5)Picture2.Line (-20, 0)-(380, 0) 'XPicture2.Line (0, 3)-(0, -0.5) 'YFor i = 0 To 360 Step 30 'X轴坐标 Picture2.DrawStyle = 2 Picture2.Line (i, 3)-(i, 0) Picture2.CurrentX = i - 10: Picture2.CurrentY = 0 Picture2.Print i Next iFor i = -0.5 To 3 Step 0.5 'Y轴坐标 Picture2.Line (0,

18、i)-(380, i) Picture2.CurrentX = -25: Picture2.CurrentY = i Picture2.Print i Next iFor fj1 = 0 To 360 Step 0.01 f = fj1 * pa Call RR1 Call RRR1 Call RR2 Call RRR2 Picture2.PSet (fj1, ffg) Next fj1End SubPrivate Sub Command3_Click() '求构件5的角速度Picture3.Scale (-20, 10)-(380, -10)Picture3.Line (-20, 0

19、)-(380, 0) 'XPicture3.Line (0, 10)-(0, -10) 'YFor i = 0 To 360 Step 30 'X轴坐标 Picture3.DrawStyle = 2 Picture3.Line (i, 10)-(i, -10) Picture3.CurrentX = i - 10: Picture3.CurrentY = 0 Picture3.Print i Next iFor i = -8 To 8 Step 2 'Y轴坐标 Picture3.Line (0, i)-(380, i) Picture3.CurrentX = -

20、20: Picture3.CurrentY = i Picture3.Print i Next iFor fj1 = 0 To 360 Step 0.01 f = fj1 * pa Call RR1 Call RRR1 Call RR2 Call RRR2 Picture3.PSet (fj1, wfg) Next fj1End SubPrivate Sub Command4_Click() '求构件5的角加速度Picture4.Scale (-20, 300)-(380, -200)Picture4.Line (-20, 0)-(380, 0) 'XPicture4.Line

21、 (0, 300)-(0, -200) 'YFor i = 0 To 360 Step 30 'X轴坐标 Picture4.DrawStyle = 2 Picture4.Line (i, 300)-(i, -200) Picture4.CurrentX = i - 10: Picture4.CurrentY = 0 Picture4.Print i Next iFor i = -200 To 300 Step 50 'Y轴坐标 Picture4.Line (0, i)-(380, i) Picture4.CurrentX = -25: Picture4.CurrentY

22、 = i + 5 Picture4.Print i Next iFor fj1 = 0 To 360 Step 0.01 f = fj1 * pa Call RR1 Call RRR1 Call RR2Call RRR2 Picture4.PSet (fj1, efg Next fj1End SubPrivate Sub Form_Load() '赋初值lab = 108lce = 200lbc = 200lcd = 200lef = 320lfg = 162w = 10e = 0delt = 0xA = 0yA = 0vxA = 0vyA = 0axA = 0ayA = 0xD =

23、-178.yD = 186.vxD = 0vyD = 0axD = 0ayD = 0xG = -514yG = 0vxG = 0vyG = 0axG = 0ayG = 0pi = 3.pa = pi / 180febc = pa * 50End SubPrivate Sub RR1() 'RR基本杆组xB = xA + lab * Cos(f + delt)yB = yA + lab * Sin(f + delt)vxB = vxA - w * lab * Sin(f + delt)vyB = vyA + w * lab * Cos(f + delt)axB = axA - w 2 *

24、 lab * Cos(f + delt) - e * lab * Sin(f + delt)ayB = ayA - w 2 * lab * Sin(f + delt) + e * lab * Sin(f + delt)End SubPrivate Sub RR2() 'RR基本杆组leb = 2 * lbc * Cos(febc)xE = xB + leb * Cos(fbc + febc)yE = yB + leb * Sin(fbc + febc)vxE = vxB - wbc * leb * Sin(fbc + febc)vyE = vyB + wbc * leb * Cos(f

25、bc + febc)axE = axB - wbc 2 * leb * Cos(fbc + delt) - ebc * leb * Sin(fbc + febc)ayE = ayB - wbc 2 * leb * Sin(fbc + delt) + ebc * leb * Sin(fbc + febc)End SubPrivate Sub RRR1() 'RRR基本杆组LBD = Sqr(xD - xB) 2 + (yD - yB) 2)If LBD > lbc + lcd And LBD < Abs(lbc - lcd) Then If MsgBox("RRR杆

26、组杆长不符合要求", vbOKOnly, "提示") = 1 Then End Else End IfElseEnd IfIf LBD < lbc + lcd And LBD > Abs(lbc - lcd) Then val = (lbc 2 + LBD 2 - lcd 2) / (2 * lbc * LBD) JCBD = Atn(-val / Sqr(-val * val + 1) + 2 * Atn(1) Else End If If LBD = lbc + lcd Then JCBD = 0 Else End If If LBD = Abs(

27、lbc - lcd) Then If lbc > lcd Then JCBD = 0 Else End If If lbc < lcd Then JCBD = pi Else End IfElseEnd IfIf xD > xB And yD >= yB Then '第一象限fBD = Atn(yD - yB) / (xD - xB)ElseEnd IfIf xD = xB And yD > yB ThenfBD = pi / 2ElseEnd IfIf xD < xB And yD >= yB Then '第二象限fBD = pi +

28、 Atn(yD - yB) / (xD - xB)ElseEnd IfIf xD < xB And yD < yB Then '第三象限fBD = pi + Atn(yD - yB) / (xD - xB)ElseEnd IfIf xD = xB And yD < yB ThenfBD = 3 * pi / 2ElseEnd IfIf xD > xB And yD <= yB Then '第四象限fBD = 2 * pi + Atn(yD - yB) / (xD - xB)ElseEnd Iffbc = fBD - JCBDxC = xB + lb

29、c * Cos(fbc)yC = yB + lbc * Sin(fbc)If xC > xD And yC >= yD Then '第一象限fcd = Atn(yC - yD) / (xC - xD)ElseEnd IfIf xC = xD And yC >= yD Thenfcd = pi / 2ElseEnd IfIf xC < xD And yC >= yD Then '第二象限fcd = pi + Atn(yC - yD) / (xC - xD)ElseEnd IfIf xC < xD And yC < yD Then '

30、;第三象限fcd = pi + Atn(yC - yD) / (xC - xD)ElseEnd IfIf xC = xD And yC < yD Thenfcd = 3 * pi / 2ElseEnd IfIf xC > xD And yC <= yD Then '第四象限fcd = 2 * pi + Atn(yC - yD) / (xC - xD)ElseEnd IfCi = lbc * Cos(fbc)Si = lbc * Sin(fbc)Cj = lcd * Cos(fcd)Sj = lcd * Sin(fcd)G1 = Ci * Sj - Cj * Siwbc

31、 = (Cj * (vxD - vxB) + Sj * (vyD - vyB) / G1wcd = (Ci * (vxD - vxB) + Si * (vyD - vyB) / G1vxC = vxB - wbc * lbc * Sin(fbc)vyC = vyB + wbc * lbc * Cos(fbc)G2 = axD - axB + wbc 2 * Ci - wcd 2 * CjG3 = ayD - ayB + wbc 2 * Si - wcd 2 * Sjebc = (G2 * Cj + G3 * Sj) / G1ecd = (G2 * Ci + G3 * Si) / G1axC =

32、 axB - ebc * lbc * Sin(fbc) - wbc 2 * lbc * Cos(fbc)ayC = ayB + ebc * lbc * Cos(fbc) - wbc 2 * lbc * Sin(fbc)End SubPrivate Sub RRR2() 'RRR基本杆组leg = Sqr(xG - xE) 2 + (yG - yE) 2)If leg > lef + lfg And leg < Abs(lef - lfg) Then If MsgBox("RRR杆组杆长不符合要求", vbOKOnly, "提示") =

33、 1 Then End Else End IfElseEnd IfIf leg < lef + lfg And leg > Abs(lef - lfg) Then val = (lef 2 + leg 2 - lfg 2) / (2 * lef * leg) jfeg = Atn(-val / Sqr(-val * val + 1) + 2 * Atn(1) Else End If If leg = lef + lfg Then jfeg = 0 Else End If If leg = Abs(lef - lfg) Then If lef > lfg Then jfeg =

34、 0 Else End If If lef < lfg Then jfeg = pi Else End If Else End IfIf xG > xE And yG >= yE Then '第一象限feg = Atn(yG - yE) / (xG - xE)ElseEnd IfIf xG = xE And yG > yE Thenfeg = pi / 2ElseEnd IfIf xG < xE And yG >= yE Then '第二象限feg = pi + Atn(yG - yE) / (xG - xE)ElseEnd IfIf xG

35、< xE And yG < yE Then '第三象限feg = pi + Atn(yG - yE) / (xG - xE)ElseEnd IfIf xG = xE And yG < yE Thenfeg = 3 * pi / 2ElseEnd IfIf xG > xE And yG <= yE Then '第四象限feg = 2 * pi + Atn(yG - yE) / (xG - xE)ElseEnd Iffef = feg - jfegxF = xE + lef * Cos(fef)yF = yE + lef * Sin(fef)If xF > xG And yF >= yG Then '第一象限ffg = Atn(yF - yG) / (xF - xG)ElseEnd IfIf xF = xG And yF >= yG Thenffg = pi / 2ElseEnd IfIf xF < xG And yF >= yG Then '第二象限ffg = pi + Atn(yF - yG) / (xF - xG