机械原理大作业1连杆(共11页)

1、机械原理(yunl)大作业一课程名称： 机械(jxi)原理 设计(shj)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(jgu)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(zhun s)为n1=225r/min。试求滑块5上点F的位移、速度和加速度。机构的自由度计算(j sun)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

2、=7，高副数目PH=0，故该牛头刨床机构的自由度为 F=3n-2PL-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(yndng)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(wiy)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 = lABcos yB = lABsin 图二为二级杆组： xE = lCEcos1 yE = lCEsin1 1 =

3、 arctan（H1+lAbsin）/lABcos 图三为二级杆组： xF = xE - lEFcos2 2 = arcsin（H - yE）/lEF3、数学(shxu)建模（1）、位移图2、速度图3、加速度图4、计算(j sun)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 StartUpPosition =

4、 3 窗口(chungku)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.PictureBox

5、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 Height = 495

6、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(zhunjio)Private xB0(3600) As Double Private yB0(3600) As Doub

7、le 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(3600) As Double Private f

8、3(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 rprDim RRP1 As rrpSet RR

9、1 = 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 主动(zhdng)件转角/度 X表示 Picture1.Curren

10、tX = 10: Picture1.CurrentY = 960 Picture1.Print 滑块位移(wiy)S /mm Y表示 For j = 30 To 390 Step 30 X轴坐标(zubio) 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 Picture1.Line (0, j)-(5, j) Picture1.CurrentX = -20: Picture1.C

11、urrentY = 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.DrawWidth = 1Picture2.Scale (-20, 8000)-(390, -4000) Picture2.Line (-2

12、0, 0)-(380, 0) X Picture2.Line (0, 8000)-(0, -4000) Y Picture2.CurrentX = 340: Picture2.CurrentY = 400 Picture2.Print 主动(zhdng)件转角/度 Picture2.CurrentX = 10: Picture2.CurrentY = 2400 Picture2.Print 滑块速度(sd)V mm/s For j = 30 To 390 Step 30 X轴坐标(zubio) Picture2.Line (j, 5)-(j, 0) Picture2.CurrentX = j

13、- 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.DrawStyle = 2 For j = -4000 To 8000 Step 800 Picture2.Line (-20, j)-(390, j), vbBlack 横向网格 Next j For

14、 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.Line (0, 150000)-(0, -200000) Y Picture3.CurrentX = 300: Picture3.CurrentY = 10000 Picture3.Print 主动件转角/度 Pictur

15、e3.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: 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: P

16、icture3.CurrentY = j + 7 Picture3.Print j Next j Picture3.DrawStyle = 2 For j = -200000 To 150000 Step 10000 Picture3.Line (-200000, j)-(150000, j), vbBlack 横向(hn xin)网格 Next j For j = 0 To 390 Step 30 Picture3.Line (j, -200000)-(j, 150000), vbBlack 纵向(zn xin)网格 Next j 主程序For i = 0# To 3600# Step 0.

17、1 主动(zhdng)件转角0-360,步长0.01RR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.vyA = 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.ayBRPR类模块属

18、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(zhxng)RPR类模块方法xE0(i) = RPR1.xEyE0(i) = RPR1.yEvxE0(i) = RPR1.vxEvyE0(i) = RPR1.vyEaxE0(i) = RPR1.axEayE0