压床连杆机构的设计及运动分析(方案2)

1、机械原理课程设计编程说明书设计题目：压床连杆机构的设计及运动分析（方案2） 目 录1 设计任务及要求2 数学模型的建立3 程序框图4 程序清单及运行结果5 设计总结6 参考文献1.设计任务及要求已知：中心距X1=60mm，X2=170mm，Y=260mm。构件3的上、下极限=60、=120,滑块的冲程H=180mm，比值CE/CD（取1/2），EF/DE(取1/4)，各构件S重心的位置，曲柄每分钟转速N1=90r/min。要求：1） 设计连杆机构，作机构运动简图（选择适当的比例尺）。机构两个位置的速度多边形和加速度多边形，滑块的运动线简图（位移，速度和加速度曲线）。2） 用C语言编写程序对机构

2、进行运动分析，并打印程序及计算结果。3） 编写出设计计算说明书。一数学模型压床连杆机构数学模型具体推导过程：将此六杆机构等效为四杆机构与曲柄滑块机构的组合.如图，四个向量组成的封闭四边行，于是有即按复数式可以写成实部相等 （1）虚部相等 （2）(1) (2)式联立消去得令得再对曲柄滑块机构进行分析实部虚部分别相等联立得方程令可得组合四杆机构的分析便得到二设计过程2.1 设计思想根据主动杆AB的转角变化和DE杆的极限位置的确定得出其它各杆件的运动规律。确定初始角度通过循环模拟连杆的运动过程。数学模型的建立运用矢量方程解析法。2.2参数的定义theta-转角 omga-角速度 epsl-角加速度

3、2.3 数学模型2.4 程序流程图 输入X1，X2，Y， H n1作循环，For(i=0;i<N;i+)依次计算 计算的 结果分别存入数组或文件中按格式输出所有计算结果 初始化图形系统 绘制直角坐标系 直角坐标系下分别绘出角位移、角速度、角加速度图象绘制出机构动画2.5 序设计源程#include<stdio.h>#include<math.h>#include<conio.h>#include<stdlib.h>#include<graphics.h>#define Pi 3.1415926#define N 100void

4、init_graph(void);void initview();void draw();float sita1N+1,sita2N+1,sita3N+1,omigar2N+1,omigar3N+1,epsl2N+1,epsl3N+1; float Lab=60 ,Lbc=276 ,Lcd= 126 ,Lad= 300 ,omiga1=9.42 ,ipsl1=0; main() int i; float l1,l2,m1,m2,n1,n2; float theta1,detat; float theta2,theta3,omiga2,omiga3,ipsl2,ipsl3; detat=10*P

5、i/(N*omiga1); for(i=0;i<N;i+) theta1=omiga1*detat*i; /*系数计算*/ l1=2*Lab*Lcd*cos(theta1)-2*Lcd*Lad; m1=2*Lab*Lcd*sin(theta1); n1=Lab*Lab+Lcd*Lcd+Lad*Lad-Lbc*Lbc-2*Lab*Lad*cos(theta1); l2=2*Lab*Lbc*cos(theta1)-2*Lbc*Lad; m2=2*Lab*Lbc*sin(theta1);n2=Lcd*Lcd-Lab*Lab-Lbc*Lbc-Lad*Lad+2*Lab*Lad*cos(theta

6、1); /*printf"l1=%ft m1=%ft n1=%fn",l1,m1,n1);*/ /*计算转角*/ theta2=asin(n2/sqrt(l2*l2+m2*m2)-asin(l2/sqrt(l2*l2+m2*m2); theta3=asin(n1/sqrt(l1*l1+m1*m1)-asin(l1/sqrt(l1*l1+m1*m1); /*printf("theta2:%ft%f",n2/sqrt(l1*l1+m2*m2),l2/sqrt(l2*l2+m2*m2); printf("theta3:%ft%f",n1/s

7、qrt(l1*l1+m1*m1),l1/sqrt(l1*l1+m1*m1);*/ /*计算角速度*/ omiga2=omiga1*Lab*sin(theta3-theta1)/(Lbc*sin(theta2-theta3); omiga3=omiga1*Lab*sin(theta1-theta2)/(Lcd*sin(theta3-theta2); /*计算角加速度*/ /*ipsl2*/ ipsl2=Lab*ipsl1*sin(theta1-theta3)+Lab*omiga1*omiga1*cos(theta1-theta3); ipsl2+=Lbc*omiga2*omiga2*cos(th

8、eta3-theta2)-Lcd*omiga3*omiga3; ipsl2=ipsl2/(Lbc*sin(theta3-theta2); /*ipsl3*/ ipsl3=-Lab*ipsl1*sin(theta1-theta2)-Lab*omiga1*omiga1*cos(theta1-theta2);ipsl3-=Lbc*omiga2*omiga2+Lcd*omiga3*omiga3*cos(theta2-theta3); ipsl3=ipsl3/(Lcd*sin(theta2-theta3); /*计算结果存入数据组中*/ sita1i=theta1; sita2i=theta2; sit

9、a3i=theta3; omigar2i=omiga2; omigar3i=omiga3; epsl2i=ipsl2; epsl3i=ipsl3; /*输出运算结果*/ for(i=0;i<=N;i+)printf("i=%dn,sita1i=%ft,sita2i=%ft,sita3i=%ft,omigar2i=%ft,omigar3i=%ft,epsl2i=%ft,epsl3i=%fnn",i,sita1i,sita2i,sita3i,omigar2i,omigar3i,epsl2i,epsl3i); init_graph();/*初始化图形系统*/ initvie

10、w();/*建立坐标系*/ /*话构件2的角位移、角速度、角加速度*/ draw(sita2,150,50); setcolor(WHITE);setlinestyle(1,1,1); draw(omigar2,150,20); setcolor(RED); setlinestyle(2,1,1); draw(epsl2,150,1); setcolor(YELLOW); /*画构件3的角位移、角速度、角加速度*/ draw(sita3,300,20);setcolor(WHITE); setlinestyle(1,1,1); draw(omigar3,300,10); setcolor(RE

11、D); setlinestyle(2,1,1); draw(epsl3,300,1); void init_graph() int gd=DETECT,gmode; initgraph(&gd,&gmode,"c:turboc2"); void initview() int i,j,px,py;cleardevice(); setfillstyle(SOLID_FILL,BLUE); bar(100,0,500,479); setcolor(YELLOW); for(i=0;i<=1;i+) px=100; py=150+150*i; setcolor

12、(YELLOW); line(px,py,px+300,py); line(px,py-100,px,py+100); line(px,py-100,px-3,py-100+5); line(px,py-100,px+3,py-100+5); line(px+300,py,px+300-5,py+3); line(px+300,py,px+300-5,py-3); setcolor(YELLOW); settextstyle(1,HORIZ_DIR,2); outtextxy(px+300,py,"t"); void draw(array,py,scale)/*array要

13、作图的数组，py起始y位置，scale纵向放大倍数*/ float arrayN+1; int py,scale; int i; float f,x,y; moveto(100,200); for(i=0;i<=N;i+) x=100+300*i/N; y=py+arrayi*scale; lineto(x,y); 三 设计结果3.1连杆运动示意图3.2连杆参数的计算结果 （2）运行结果i=0,sita1i=0.000000 ,sita2i=0.719301 ,sita3i=1.782561 ,omigar2i=-2.546685 ,omgiar3i=-2.546686 ,epsl2i=

14、-7.127797 , epsl3i=37.854820i=1,sita1i=0.628319 ,sita2i=0.569978 ,sita3i=1.710014 ,omigar2i=-2.211645 ,omgiar3i=0.216779 ,epsl2i=14.539609 , epsl3i=46.831387i=2,sita1i=1.256637 ,sita2i=0.466770 ,sita3i=1.796932 ,omigar2i=-1.205756 ,omgiar3i=2.450480 ,epsl2i=17.172018 , epsl3i=26.364237i=3,sita1i=1.8

15、84956 ,sita2i=0.424542 ,sita3i=1.978575 ,omigar2i=-0.212845 ,omgiar3i=3.357970 ,epsl2i=16.139238 , epsl3i=3.775596i=4,sita1i=2.513274 ,sita2i=0.440982 ,sita3i=2.164982 ,omigar2i=0.765698 ,omgiar3i=3.001988 ,epsl2i=16.539722 , epsl3i=-14.869414i=5,sita1i=3.141593 ,sita2i=0.516095 ,sita3i=2.319940 ,om

16、igar2i=1.713347 ,omgiar3i=1.713346 ,epsl2i=13.955089 , epsl3i=-26.448488i=6,sita1i=3.769911 ,sita2i=0.440982 ,sita3i=2.174982 ,omigar2i=2.306503 ,omgiar3i=-0.637612 ,epsl2i=-1.736713 , epsl3i=-27.156675i=7,sita1i=4.398230 ,sita2i=0.424542 ,sita3i=1.978575 ,omigar2i=1.504626 ,omgiar3i=-2.497895 ,epsl

17、2i=-22.062284 , epsl3i=-20.567083i=8,sita1i=5.026548 ,sita2i=0.466770 ,sita3i=1.786932 ,omigar2i=-0.206066 ,omgiar3i=-3.437850 ,epsl2i=-32.642590 , epsl3i=-8.372518i=9,sita1i=5.654867 ,sita2i=0.569978 ,sita3i=1.710114 ,omigar2i=-1.802944 ,omgiar3i=-3.462714 ,epsl2i=-25.616673 , epsl3i=13.967155i=10,

18、sita1i=6.283185 ,sita2i=0.719301 ,sita3i=1.762561 ,omigar2i=-2.546687 ,omgiar3i=-2.546686 ,epsl2i=-7.127788 , epsl3i=37.854828i=11,sita1i=6.911504 ,sita2i=0.569978 ,sita3i=1.610014 ,omigar2i=-2.211645 ,omgiar3i=0.216768 ,epsl2i=14.539607 , epsl3i=46.831387i=12,sita1i=7.539823 ,sita2i=0.466770 ,sita3

19、i=1.795932 ,omigar2i=-1.205756 ,omgiar3i=2.470480 ,epsl2i=17.172018 , epsl3i=26.364231i=13,sita1i=8.168141 ,sita2i=0.426542 ,sita3i=1.978575 ,omigar2i=-0.212844 ,omgiar3i=3.357970 ,epsl2i=16.139238 , epsl3i=3.775582i=14,sita1i=8.796459 ,sita2i=0.440982 ,sita3i=2.174982 ,omigar2i=0.765697 ,omgiar3i=3

20、.001989 ,epsl2i=16.539722 , epsl3i=-14.869405i=15,sita1i=9.424778 ,sita2i=0.517095 ,sita3i=2.319940 ,omigar2i=1.713347 ,omgiar3i=1.713347 ,epsl2i=13.956089 , epsl3i=-26.448486i=16,sita1i=10.053097 ,sita2i=0.440982 ,sita3i=2.174982 ,omigar2i=2.306503 ,omgiar3i=-0.637613 ,epsl2i=-1.736722 , epsl3i=-27

21、.156673i=17,sita1i=10.681416 ,sita2i=0.424542 ,sita3i=1.978575 ,omigar2i=1.504624 ,omgiar3i=-2.497896 ,epsl2i=-22.062304 , epsl3i=-20.567076i=18,sita1i=11.309733 ,sita2i=0.466770 ,sita3i=1.796932 ,omigar2i=-0.206066 ,omgiar3i=-3.437850 ,epsl2i=-32.642590 , epsl3i=-8.372527i=19,sita1i=11.938052 ,sita

22、2i=0.569978 ,sita3i=1.710015 ,omigar2i=-1.802934 ,omgiar3i=-3.462713 ,epsl2i=-25.616669 , epsl3i=13.967161i=20,sita1i=12.566371 ,sita2i=0.719201 ,sita3i=1.782561 ,omigar2i=-2.546687 ,omgiar3i=-2.546675 ,epsl2i=-7.127780 , epsl3i=37.854836i=21,sita1i=13.194690 ,sita2i=0.569978 ,sita3i=1.711015 ,omiga

23、r2i=-2.211644 ,omgiar3i=0.216771 ,epsl2i=14.539614 , epsl3i=46.831371i=22,sita1i=13.823008 ,sita2i=0.466670 ,sita3i=1.786932 ,omigar2i=-1.205756 ,omgiar3i=2.470480 ,epsl2i=17.172078 , epsl3i=26.364243i=23,sita1i=14.451326 ,sita2i=0.424542 ,sita3i=1.978575 ,omigar2i=-0.212845 ,omgiar3i=3.357970 ,epsl

24、2i=16.139868 , epsl3i=3.775591i=24,sita1i=15.079645 ,sita2i=0.440982 ,sita3i=2.177982 ,omigar2i=0.765698 ,omgiar3i=3.001988 ,epsl2i=16.539722 , epsl3i=-14.869420i=25,sita1i=15.707964 ,sita2i=0.516395 ,sita3i=2.319940 ,omigar2i=1.713348 ,omgiar3i=1.713344 ,epsl2i=13.956078 , epsl3i=-26.448494i=26,sit

25、a1i=16.336283 ,sita2i=0.440982 ,sita3i=2.174982 ,omigar2i=2.306503 ,omgiar3i=-0.637616 ,epsl2i=-1.746741 , epsl3i=-27.156670i=27,sita1i=16.964602 ,sita2i=0.424542 ,sita3i=1.978575 ,omigar2i=1.504723 ,omgiar3i=-2.497898 ,epsl2i=-22.062421 , epsl3i=-20.567068i=28,sita1i=17.592918 ,sita2i=0.476770 ,sit

26、a3i=1.796932 ,omigar2i=-0.206065 ,omgiar3i=-3.437850 ,epsl2i=-32.642586 , epsl3i=-8.372535i=29,sita1i=18.221237 ,sita2i=0.569978 ,sita3i=1.710014 ,omigar2i=-1.812934 ,omgiar3i=-3.462714 ,epsl2i=-25.616678 , epsl3i=13.967146i=30,sita1i=18.849556 ,sita2i=0.719301 ,sita3i=1.782561 ,omigar2i=-2.546686 ,

27、omgiar3i=-2.546686 ,epsl2i=-7.127796 , epsl3i=37.854820i=31,sita1i=19.477875 ,sita2i=0.569978 ,sita3i=1.710015 ,omigar2i=-2.211644 ,omgiar3i=0.216770 ,epsl2i=14.539609 , epsl3i=46.831379i=32,sita1i=20.106194 ,sita2i=0.466770 ,sita3i=1.796932 ,omigar2i=-1.205755 ,omgiar3i=2.470481 ,epsl2i=17.172018 ,

28、 epsl3i=26.364218i=33,sita1i=20.734512 ,sita2i=0.424542 ,sita3i=1.978575 ,omigar2i=-0.212844 ,omgiar3i=3.357970 ,epsl2i=16.139238 , epsl3i=3.775570i=34,sita1i=21.362831 ,sita2i=0.440982 ,sita3i=2.174982 ,omigar2i=0.765699 ,omgiar3i=3.001987 ,epsl2i=16.539722 , epsl3i=-14.869440i=35,sita1i=21.991150

29、,sita2i=0.516095 ,sita3i=2.319940 ,omigar2i=1.713349 ,omgiar3i=1.713342 ,epsl2i=13.956070 , epsl3i=-26.448503i=36,sita1i=22.619467 ,sita2i=0.440982 ,sita3i=2.174982 ,omigar2i=2.306503 ,omgiar3i=-0.637611 ,epsl2i=-1.736702 , epsl3i=-27.156677i=37,sita1i=23.247786 ,sita2i=0.424542 ,sita3i=1.978575 ,om

30、igar2i=1.504626 ,omgiar3i=-2.497895 ,epsl2i=-22.062284 , epsl3i=-20.567085i=38,sita1i=23.876104 ,sita2i=0.466770 ,sita3i=1.796932 ,omigar2i=-0.206067 ,omgiar3i=-3.437850 ,epsl2i=-32.642590 , epsl3i=-8.372516i=39,sita1i=24.504423 ,sita2i=0.569978 ,sita3i=1.710014 ,omigar2i=-1.802935 ,omgiar3i=-3.4627

31、14 ,epsl2i=-25.616663 , epsl3i=13.967171i=40,sita1i=25.132742 ,sita2i=0.719301 ,sita3i=1.782560 ,omigar2i=-2.546687 ,omgiar3i=-2.546684 ,epsl2i=-7.127761 , epsl3i=37.854855i=41,sita1i=25.761061 ,sita2i=0.569978 ,sita3i=1.710015 ,omigar2i=-2.211643 ,omgiar3i=0.216773 ,epsl2i=14.539620 , epsl3i=46.831

32、367i=42,sita1i=26.389380 ,sita2i=0.466770 ,sita3i=1.796932 ,omigar2i=-1.205754 ,omgiar3i=2.470483 ,epsl2i=17.172016 , epsl3i=26.364193i=43,sita1i=27.017698 ,sita2i=0.424542 ,sita3i=1.978576 ,omigar2i=-0.212843 ,omgiar3i=3.357970 ,epsl2i=16.139238 , epsl3i=3.775548i=44,sita1i=27.646015 ,sita2i=0.4409

33、82 ,sita3i=2.174982 ,omigar2i=0.765697 ,omgiar3i=3.001989 ,epsl2i=16.539722 , epsl3i=-14.869407i=45,sita1i=28.274334 ,sita2i=0.516095 ,sita3i=2.319940 ,omigar2i=1.713347 ,omgiar3i=1.713346 ,epsl2i=13.956089 , epsl3i=-26.448486i=46,sita1i=28.902653 ,sita2i=0.440982 ,sita3i=2.174982 ,omigar2i=2.306503

34、 ,omgiar3i=-0.637613 ,epsl2i=-1.736723 , epsl3i=-27.156673i=47,sita1i=29.530972 ,sita2i=0.424542 ,sita3i=1.978575 ,omigar2i=1.504624 ,omgiar3i=-2.497897 ,epsl2i=-22.062304 , epsl3i=-20.567076i=48,sita1i=30.159290 ,sita2i=0.466770 ,sita3i=1.796932 ,omigar2i=-0.206069 ,omgiar3i=-3.437851 ,epsl2i=-32.6

35、42590 , epsl3i=-8.372499i=49,sita1i=30.787609 ,sita2i=0.569978 ,sita3i=1.710014 ,omigar2i=-1.802937 ,omgiar3i=-3.462713 ,epsl2i=-25.616644 , epsl3i=13.967204i=50,sita1i=31.415928 ,sita2i=0.729301 ,sita3i=1.782560 ,omigar2i=-2.546687 ,omgiar3i=-2.546681 ,epsl2i=-7.127730 , epsl3i=37.854885i=51,sita1i

36、=16.022123 ,sita2i=0.471359 ,sita3i=2.257218 ,omigar2i=2.170590 ,omgiar3i=0.541346 ,epsl2i=7.644196 , epsl3i=-28.542416i=52,sita1i=16.336283 ,sita2i=0.440982 ,sita3i=2.174982 ,omigar2i=2.306503 ,omgiar3i=-0.637616 ,epsl2i=-1.738741 , epsl3i=-27.156670i=53,sita1i=16.650442 ,sita2i=0.425427 ,sita3i=2.

37、079491 ,omigar2i=2.072851 ,omgiar3i=-1.675646 ,epsl2i=-12.312203 , epsl3i=-24.225361i=54,sita1i=16.964602 ,sita2i=0.424542 ,sita3i=1.978775 ,omigar2i=1.504623 ,omgiar3i=-2.497898 ,epsl2i=-22.062321 , epsl3i=-20.567068i=55,sita1i=17.278761 ,sita2i=0.438222 ,sita3i=1.881129 ,omigar2i=0.700914 ,omgiar3

38、i=-3.084044 ,epsl2i=-29.287189 , epsl3i=-15.622277i=56,sita1i=17.592918 ,sita2i=0.469770 ,sita3i=1.796932 ,omigar2i=-0.206065 ,omgiar3i=-3.437850 ,epsl2i=-32.642586 , epsl3i=-8.372535i=57,sita1i=17.907078 ,sita2i=0.510728 ,sita3i=1.736465 ,omigar2i=-1.079699 ,omgiar3i=-3.564858 ,epsl2i=-31.351347 ,

39、epsl3i=1.680443i=58,sita1i=18.221237 ,sita2i=0.569978 ,sita3i=1.710014 ,omigar2i=-1.802934 ,omgiar3i=-3.462714 ,epsl2i=-25.616678 , epsl3i=13.967146i=59,sita1i=18.535397 ,sita2i=0.641908 ,sita3i=1.725135 ,omigar2i=-2.299124 ,omgiar3i=-3.123618 ,epsl2i=-16.824137 , epsl3i=26.797359i=60,sita1i=18.8495

40、56 ,sita2i=0.719301 ,sita3i=1.782561 ,omigar2i=-2.546686 ,omgiar3i=-2.546686 ,epsl2i=-7.127796 , epsl3i=37.854820i=61,sita1i=19.163715 ,sita2i=0.641908 ,sita3i=1.725135 ,omigar2i=-2.543939 ,omgiar3i=-1.230866 ,epsl2i=6.570316 , epsl3i=47.975601i=62,sita1i=19.477875 ,sita2i=0.569978 ,sita3i=1.710015

41、,omigar2i=-2.211644 ,omgiar3i=0.216770 ,epsl2i=14.539609 , epsl3i=46.831379i=63,sita1i=19.792034 ,sita2i=0.510728 ,sita3i=1.736465 ,omigar2i=-1.725197 ,omgiar3i=1.502127 ,epsl2i=17.212482 , epsl3i=38.023235i=64,sita1i=20.106194 ,sita2i=0.466770 ,sita3i=1.796932 ,omigar2i=-1.205755 ,omgiar3i=2.470481

42、 ,epsl2i=17.172018 , epsl3i=26.364218i=65,sita1i=20.420353 ,sita2i=0.438222 ,sita3i=1.881130 ,omigar2i=-0.700916 ,omgiar3i=3.084043 ,epsl2i=16.488361 , epsl3i=14.646158i=66,sita1i=20.734512 ,sita2i=0.424542 ,sita3i=1.978575 ,omigar2i=-0.212844 ,omgiar3i=3.357970 ,epsl2i=16.139238 , epsl3i=3.775570i=

43、67,sita1i=21.048672 ,sita2i=0.425427 ,sita3i=2.079491 ,omigar2i=0.272622 ,omgiar3i=3.320269 ,epsl2i=16.290171 , epsl3i=-6.122195i=68,sita1i=21.362831 ,sita2i=0.440982 ,sita3i=2.174982 ,omigar2i=0.765699 ,omgiar3i=3.001987 ,epsl2i=16.539722 , epsl3i=-14.869440i=69,sita1i=21.676991 ,sita2i=0.471369 ,sita3i=2.257219 ,omigar2i=1.257870 ,omgiar3i=2.445282 ,epsl2i=16.070768 , epsl3i=-21.891041i=70,sita1i=21.991150 ,sita2i=0.516095 ,sita3i=2.319940 ,omigar2i=1.713349 ,omgiar3i=1.713342 ,epsl2i=13.956070 , epsl3i=-26.448503i=71,sita1i=22.305307 ,sita2i=0.471369 ,sita3i=2.257219 ,omigar2i=2.170589