机械原理课程设计说明书

机械原理课程设计说明书题目：码头吊车机构的设计及解析班级：机械0908姓名：学号：指导教师：成绩：2011年9月23日文档目录1.设计题目................................................................................................21.1机构简图........................................................................................21.2已知条件........................................................................................21.3设计要求........................................................................................32.运动方案及机构设计..............................................................................42.1连架杆O3C摇动范围的确定.............................................................42.2曲柄摇杆机构尺寸的设计.................................................................73.运动解析计算及动向静力解析..................................................................83.1整体机构运动解析...........................................................................8实虚参比较表.........................................................................8程序......................................................................................8运行结果.............................................................................10线图....................................................................................103.2整体机构动向静力解析..................................................................11实虚参比较表.......................................................................11程序....................................................................................12线图....................................................................................14运行结果.............................................................................154.主要收获..........................................................................................18文档码头吊车机构的设计及分析一、题目说明图示为某码头吊车机构简图。它是由曲柄摇杆机构与双摇杆机构串通成的。已知：lo1x=2.86m,lo1y=4m,lo4x=5.6m,lo4y=8.1m,l3=4m,l3'=28.525m,a3'=0.25,°l3′=8.5m,a3′=7°,l4=3.625m,l4′=8.35m,a4'=184°，l4′=1m,a4′=95°,l5=25.15m,文档l5'=2.5m,a5'=24°。图中S3、S4、S5为构件3、4、5的质心，构件质量分别为：m3=3500kg,m4=3600kg,m5=5500kg,K点向左运动时载重Q为50kN，向右运动时载重为零，曲柄01A的转速n3=1.06r/min。二、内容要求与作法对双摇杆机构O3CDO4进行运动解析，以O3C为主动件，取步长为1°计算K点地址，依照K点的近似水平运动要求，依照其纵坐标值决定O3C的摇动范围。按O3C的摇动范围设计曲柄摇杆机构O1ABO3，使摇杆O3B的两个极限地址对应于选定是K点轨迹范围。对整个机构进行运动解析，绘出K点水平方向的位移、速度和加速度线图。只计构件3、4、5的质量，进行机构的动向静力解析，绘制固定铰链处反力矢端图及平衡力矩Td线图。文档上机前认真读懂所用的子程序，自编主程序，初始地址取K点的右极限地址。主程序中打开一数据文件“DGRAPS”，写入需要显示图形的数据。三、课程设计说明书内容上机结束后，每位学生整理课程设计说明书一份，其内容应包括：机构简图和已知条件连架杆O3C摇动范围的确定方法及曲柄摇杆机构尺寸的设计过程。杆组的拆分方法及所调用的杆组子程序中虚参加实参比较表。自编程序中主要表记符说明。主程序框图。自编程序及计算结果清单。各种线图：①K点坐标地址；②K点水平位移、速度和加速度线图；③平衡力矩线图；④固定铰链处反力矢端图。以一个地址为例，用图解法对机构进行运动解析，与解析法计算结果比较误差。主要收获与建议。指导教师参照上述内容提出详尽要求，学生按指导教师的要求书写并装订成册。一、题目说明：11点向左运动时载重Q为50kN,向右运动时载重为零，曲柄Ⅰ的转速n3=1.06r/min已知尺寸：固定铰链坐标：P4x=P4y=0,P1x=2.86m,P1y=4m,P7x=5.6m,P7y=8.1m,杆长：r45=28.525;r56=3.625;r67=25.15;r43=4.0;r511=8.35;r48=8.5;r59=1.0;r710=2.5;构件质量：m3=3500kg,m4=3600kg,m5=5500kg,99IVIV565611115文档VVIII7III78II2108II210332II1144机构简图拆分杆组二运动方案及机构设计：①以构件3为主动件：调用bark函数求5点的运动参数形参n1n23kr1r2gamtwepvpapn实参4503r450.00.0twepvpap调用rrrk函数求6点的运动参数形参mn1n2n3k1k2r1r2twepvpap实参157645r56r67twepvpap调用bark函数求4构件的地址角，角速度，角加速度和11点的地址，速度，加速度形参n1n2n3kr1r2gamtwepvpap实参501140.0r511gam1twepvpap程序–对11点的运动轨迹解析#include"graphics.h"#include"subk.c"/*运动解析子程序*/#include"draw.c"/*绘图子程序*/main(){staticdoublep[20][2],vp[20][2],ap[20][2],del;staticdoublet[10],w[10],e[10],pdraw[370],vpdraw[370],apdraw[370];staticintic;/*定义静态变量*/doubler45,r56,r511,r67;doublegam1;doublepi,dr;文档doubler2,vr2,ar2;inti;/*定义局部变量*/FILE*fp;/*定义文件指针变量*/r45=28.525;r56=3.625;r511=8.35;r67=25.15;gam1=-184.0;del=1.0;/*赋值*/t[4]=0.0;w[4]=0.0;e[4]=0.0;w[1]=0.0;e[1]=0.0;pi=4.0*atan(1.0);dr=pi/180.0;/*求弧度*/gam1=gam1*dr;p[4][1]=0.0;p[4][2]=0.0;w[3]=1.06*2*pi/60；p[7][1]=5.6;p[7][2]=8.1;/*赋值*/printf("\nTheKinematicParametersofPoint11\n");printf("NoTHETA1S11V11A11\n");printf("degmm/sm/s/s\n");/*在屏幕上写表头*/if((fp=fopen("file1","w"))==NULL){printf("Can'topenthisfile.\n");exit(0);}fprintf(fp,"\nTheKinematicParametersofPoint11\n");fprintf(fp,"NoTHETA1S11V11A11\n");fprintf(fp,"degmm/sm/s/s");/*在文件filel中写表头*/ic=(int)(360.0/del);for(i=0;i<=ic;i++){t[3]=(i)*del*dr;bark(4,5,0,3,r45,0.0,0.0,t,w,e,p,vp,ap);rrrk(1,5,7,6,4,5,r56,r67,t,w,e,p,vp,ap);bark(5,0,11,4,0.0,r511,gam1,t,w,e,p,vp,ap);printf("\n%2d%12.3f%12.3f%12.3f%12.3f",i+1,t[3]/dr,p[11][2],vp[11][1],ap[11][1]);fprintf(fp,"\n%2d%12.3f%12.3f%12.3f%12.3f",i+1,t[3]/dr,p[11][2],vp[11][1],ap[11][1]);文档pdraw[i]=p[11][2];vpdraw[i]=vp[11][1];apdraw[i]=ap[11][1];if((i%10)==0){getch();}}fclose(fp);getch();draw1(del,pdraw,vpdraw,apdraw,ic);getch();}数据--随主动件3演变的11点运动参数（从全部数据中精选出的数据）TheKinematicParametersofPoint11NoTHETA1S11V11A11degmm/sm/s/s9392.00029.651-6.540-17.0879493.00020.156-14.10987.0449594.00020.127-8.76314.5309695.00020.176-7.2396.5749796.00020.244-6.4443.9149897.00020.315-5.9382.6609998.00020.385-5.5801.95510099.00020.451-5.3091.515101100.00020.511-5.0961.219102101.00020.565-4.9211.011103102.00020.612-4.7750.859104103.00020.653-4.6490.744105104.00020.686-4.5400.655106105.00020.713-4.4420.586107106.00020.733-4.3550.531108107.00020.747-4.2750.487109108.00020.755-4.2010.451110109.00020.756-4.1320.422111110.00020.752-4.0680.399112111.00020.742-4.0070.380113112.00020.727-3.9480.364114113.00020.708-3.8920.352115114.00020.684-3.8380.343116115.00020.656-3.7840.336117116.00020.625-3.7320.331118117.00020.591-3.6800.328文档119118.00020.555-3.6290.328120119.00020.517-3.5770.329121120.00020.478-3.5250.333122121.00020.439-3.4720.338123122.00020.401-3.4180.347124123.00020.364-3.3630.358125124.00020.331-3.3050.373126125.00020.302-3.2450.393127126.00020.280-3.1810.419128127.00020.266-3.1130.454129128.00020.263-3.0380.500130129.00020.275-2.9550.564131130.00020.306-2.8590.655132131.00020.361-2.7460.791133132.00020.450-2.6061.006134133.00020.586-2.4221.380135134.00020.791-2.1542.124所以3°~134°OC的摇动范围为93②计算主动件和连杆杆长:程序:#include"math.h"#include"stdio.h"main(){staticdoublel1,l2,l3,l4,max,min;staticdoublelx,ly;staticdoublethea0,thea1,thea2,pi,dr;/*弧度率*/pi=4.0*atan(1.0);dr=pi/180.0;/*赋值*/l3=4.0;l4=sqrt(2.86*2.86+4*4);lx=2.86;ly=4.0;thea0=atan2(ly,lx)+25.0*dr;thea1=93.0*dr-thea0;thea2=134.0*dr-thea0;/*计算两杆长度*/min=sqrt(l3*l3+l4*l4-2*l3*l4*cos(thea1));max=sqrt(l3*l3+l4*l4-2*l3*l4*cos(thea2));l2=(max+min)/2;l1=(max-min)/2;printf("\n\nl1=%12.3fl2=%12.3f",l1,l2);}数据:l1=1.388l2=2.780文档三、运动解析计算及动向静力解析1.以构件1为主动件对整体运动解析：调用bark函数求2点的运动参数形参n1n2n3kr1r2gamtwepvpap实参1201r120.00.0twepvpap调用rrrk函数求3点的运动参数形参mn1n2n3k1k2r1r2twepvpap实参142332r34r23twepvpap调用bark函数求5点的运动参数形参n1n23kr1r2gamtwepvpapn实参40530.0r45gam1twepvpap调用rrrk函数求6点的运动参数形参mn1n2n3k1k2r1r2twepvpap实参157645r56r67twepvpap调用bark函数求11点的运动参数形参n1n23kr1r2gamtwepvpapn实参501140.0r511gam2twepvpap程序--对11点地址，速度，加速度解析:#include"graphics.h"#include"subk.c"#include"draw.c"main(){/*定义静态数组*/staticdoublep[20][2],vp[20][2],ap[20][2];staticdoublet[10],w[10],e[10];staticdoublepdraw[370],vpdraw[370],apdraw[370];/*定义变量*/staticintic;doubledel,pi,dr;doubler45,r56,r67,r511,r34,r12,r23;doublegam1,gam2;inti;FILE*fp;/*按序次赋值*/del=10.0;pi=4.0*atan(1.0);dr=pi/180.0;p[4][1]=0.0;p[4][2]=0.0;p[7][1]=5.6;p[7][2]=8.1;p[1][1]=2.86;p[1][2]=4.0;t[1]=0.0;w[1]=1.06*2*pi/60;r45=28.525;r56=3.625;文档r67=25.15;r511=8.35;r34=4.0;r12=1.388;r23=2.780;gam1=25.0*dr;gam2=176.0*dr;/*打印标题*/printf("\nTheKinematicParametersofPoint11\n");printf("No.THETA1S11yS11xV11A11\n");printf("degmmm/sm/s/s\n");if((fp=fopen("file_MO2.c","w"))==NULL){printf("Can'topenthisfile.\n");exit(0);}fprintf(fp,"\nTheKinematicParametersofPoint11\n");fprintf(fp,"No.THETA1S11yS11xV11A11\n");fprintf(fp,"degmmm/sm/s/s\n");/*加入1,3点运动解析*/ic=(int)(360.0/del);for(i=0;i<=ic;i++){t[1]=(i)*del*dr;bark(1,2,0,1,r12,0.0,0.0,t,w,e,p,vp,ap);rrrk(1,4,2,3,3,2,r34,r23,t,w,e,p,vp,ap);bark(4,0,5,3,0.0,r45,gam1,t,w,e,p,vp,ap);rrrk(1,5,7,6,4,5,r56,r67,t,w,e,p,vp,ap);bark(5,0,11,4,0.0,r511,gam2,t,w,e,p,vp,ap);printf("\n%2d%12.3f%12.3f%12.3f%12.3f%12.3f",i+1,t[1]/dr,p[11][2],p[11][1],vp[11][1],ap[11][1]);fprintf(fp,"\n%2d%12.3f%12.3f%12.3f%12.3f%12.3f",i+1,t[1]/dr,p[11][2],p[11][1],vp[11][1],ap[11][1]);pdraw[i]=p[11][1];vpdraw[i]=vp[11][1];apdraw[i]=ap[11][1];if((i%4)==0){getch();}}fclose(fp);getch();draw1(del,pdraw,vpdraw,apdraw,ic);}线图--11点水平位移，速度，加速度线图文档数据–随主动件1演变的11点运动参数TheKinematicParametersofPoint11No.THETA1S11yS11xV11A11degmmm/sm/s/s10.00020.132-1.4080.471-0.155210.00020.156-0.9210.106-0.312320.00020.142-1.158-0.399-0.285430.00020.122-2.089-0.756-0.181540.00020.158-3.481-1.004-0.140650.00020.266-5.224-1.207-0.119760.00020.422-7.259-1.375-0.093870.00020.583-9.522-1.495-0.060980.00020.705-11.932-1.561-0.0231090.00020.756-14.400-1.5700.01111100.00020.725-16.842-1.5270.04212110.00020.625-19.179-1.4390.06913120.00020.486-21.347-1.3120.09214130.00020.351-23.288-1.1510.11315140.00020.270-24.951-0.9600.13116150.00020.286-26.292-0.7420.14517160.00020.419-27.276-0.5070.15218170.00020.627-27.887-0.2730.143文档19180.00020.781-28.147-0.0610.12920190.00020.735-28.0800.1510.14721200.00020.525-27.6440.4140.18722210.00020.328-26.7530.7220.19923220.00020.263-25.3781.0210.17624230.00020.333-23.5731.2610.12625240.00020.478-21.4591.4120.06426250.00020.625-19.1851.4660.00727260.00020.724-16.8911.441-0.03528270.00020.756-14.6801.365-0.05929280.00020.727-12.6121.264-0.06830290.00020.651-10.7101.157-0.06731300.00020.547-8.9711.056-0.06132310.00020.432-7.3840.965-0.05533320.00020.319-5.9320.884-0.04934330.00020.223-4.6010.810-0.04635340.00020.154-3.3850.735-0.05136350.00020.123-2.2980.640-0.07537360.00020.132-1.4080.471-0.155对整体机构动向静力解析调用bark函数求2点的运动参数形参n1n2n3kr1r2gamtwepvpap实参1201r120.00.0twepvpap调用rrrk函数求3点的运动参数形参mn1n2n3k1k2r1r2twepvpap实参142332r34r23twepvpap调用bark函数求5点的运动参数形参n1n23kr1r2gamtwepvpapn实参40530.0r45gam1twepvpap(4)调用bark函数求8点的运动参数形参n1n2n3kr1r2gamtwepvpap实参40830.0r48gam9twepvpap(5)调用rrrk函数求6点的运动参数形参mn1n2n3k1k2r1r2twepvpap实参157645r56r67twepvpap(6)调用bark函数求9点的运动参数形参n1n2n3kr1r2gamtwepvpap实参50940.0.r59gam10twepvpap(7)调用bark函数求11点的运动参数形参n1n2n3kr1r2gamtwepvpap实参501140.0r511gam5twepvpap(8)调用bark函数求10点的运动参数文档形参n1n2n3kr1r2gamtwepvpap实参701050.0.r710gam11twepvpap调用rrrf函数求各运动副中的反力形参n1n2n3ns1ns2nn1nn2nexfk1k1pvpaptwefr实参5769101101145pvpaptwefr调用rrrf函数求各运动副中的反力形参n1n2n3ns1ns2nn1nn2nexfk1k1pvpaptwefr实参4238250032pvpaptwefr调用barf函数求1点运动副反力及平衡力矩形参n1ns1nn1k1papefrtb实参1121papefr&tb程序–加入对质心的运动解析，对固定铰链的静态动力解析，主动件反力偶include"graphics.h"include"subk.c"include"draw.c"include"subf.c"main(){/*定义静态数组*/staticdoublep[20][2],vp[20][2],ap[20][2];staticdoublet[10],w[10],e[10];staticdoubletbdraw[370],tb1draw[370],fr[20][2],fe[20][2];staticdoublesita4[370],fr4draw[370],sita7[370],fr7draw[370],sita1[370],fr1draw[370];/*定义变量*/staticintic;doubledel,pi,dr;doubler45,r56,r67,r34,r511,r12,r23,r48,r59,r710;doublegam1,gam5,gam9,gam10,gam11;doublefr4,fr7,fr1,bt4,bt7,bt1,we8,we9,we10,tb,tb4;inti;FILE*fp;/*按序次赋值*/del=10.0;pi=4.0*atan(1.0);dr=pi/180.0;p[4][1]=0.0;p[4][2]=0.0;/*点地址*/p[7][1]=5.6;p[7][2]=8.1;p[1][1]=2.86;p[1][2]=4.0;t[1]=0.0;w[1]=1.06*2*pi/60.;/*主动件角速度*/sm[3]=3500.0;sm[4]=3600.0;sm[5]=5500.0;/*构件质量*/r45=28.525;r56=3.625;r67=25.15;r34=4.0;r511=8.35;r12=1.388;r23=2.780;r48=8.5;r59=1.0;r710=2.5;gam1=25.0*dr;gam5=176.*dr;gam9=18.0*dr;gam10=95.0*dr;文档gam11=-156.0*dr;/*打印标题*/printf("\nTheKineto-staticAnalysisofEight-barLinkase\n");printf("No.THETA1Fr4Bt4Fr7Bt7Fr1Bt1TbTb4\n");printf("degNdegNdegNdegdegdeg\n");if((fp=fopen("file_For.c","w"))==NULL){printf("Can'topenthisfile.\n");exit(0);}fprintf(fp,"\nTheKineto-staticAnalysisofEight-barLinkase\n");fprintf(fp,"No.THETA1Fr4Bt4Fr7Bt7Fr1Bt1TbTb4\n");fprintf(fp,"degNdegNdegNdegdegdeg\n");/*主动件整周转动*/ic=(int)(360.0/del);for(i=0;i<=ic;i++){t[1]=(double)(i)*del*dr;/*质心运动解析*/bark(1,2,0,1,r12,0.0,0.0,t,w,e,p,vp,ap);rrrk(1,4,2,3,3,2,r34,r23,t,w,e,p,vp,ap);bark(4,0,5,3,0.0,r45,gam1,t,w,e,p,vp,ap);bark(4,0,8,3,0.0,r48,gam9,t,w,e,p,vp,ap);rrrk(1,5,7,6,4,5,r56,r67,t,w,e,p,vp,ap);bark(5,0,9,4,0.0,r59,gam10,t,w,e,p,vp,ap);bark(5,0,11,4,0.0,r511,gam5,t,w,e,p,vp,ap);bark(7,0,10,5,0.0,r710,gam11,t,w,e,p,vp,ap);/*固定铰链动向静力解析*/rrrf(5,7,6,9,10,11,0,11,4,5,p,vp,ap,t,w,e,fr);rrrf(4,2,3,8,2,5,0,0,3,2,p,vp,ap,t,w,e,fr);barf(1,1,2,1,p,ap,e,fr,&tb);//*固定铰链力矢量*/fr4=sqrt(fr[4][1]*fr[4][1]+fr[4][2]*fr[4][2]);bt4=atan2(fr[4][2],fr[4][1]);fr7=sqrt(fr[7][1]*fr[7][1]+fr[7][2]*fr[7][2]);bt7=atan2(fr[7][2],fr[7][1]);fr1=sqrt(fr[1][1]*fr[1][1]+fr[1][2]*fr[1][2]);bt1=atan2(fr[1][2],fr[1][1]);/*虚位移简单求平衡力偶*/extf(p,vp,ap,t,w,e,11,fe);we8=-(ap[8][1]*vp[8][1]+(ap[8][2]+9.81)*vp[8][2])*sm[3];文档we9=-(ap[9][1]*vp[9][1]+(ap[9][2]+9.81)*vp[9][2])*sm[4]+fe[11][2]*vp[11][2];we10=-(ap[10][1]*vp[10][1]+(ap[10][2]+9.81)*vp[10][2])*sm[5];tb4=-(we8+we9+we10)/w[1];printf("\n%3d%11.3f%11.3f%11.3f%11.3f%11.3f%11.3f%11.3f%11.3f",i+1,fr4,bt4/dr,fr7,bt7/dr,fr1,bt1/dr,tb,tb4);fprintf(fp,"\n%3d%11.3f%11.3f%11.3f%11.3f%11.3f%11.3f%11.3f%11.3f",i+1,fr4,bt4/dr,fr7,bt7/dr,fr1,bt1/dr,tb,tb4);tbdraw[i]=tb;tb1draw[i]=tb4;/*比较曲线校验*/sita4[i]=bt4;sita7[i]=bt7;sita1[i]=bt1;fr4draw[i]=fr4;fr7draw[i]=fr7;fr1draw[i]=fr1;/*固定铰链反力失端图*/if((i%4)==0){getch();}}fclose(fp);getch();draw2(del,tbdraw,tb1draw,ic);draw3(del,sita4,fr4draw,sita7,fr7draw,sita1,fr1draw,ic);}/*函数返回工艺阻力fe[][]*/extf(p,vp,ap,t,w,e,nexf,fe)doublep[20][2],vp[20][2],ap[20][2],t[10],w[10],e[10],fe[20][2];intnexf;{fe[nexf][1]=0.0;if(vp[nexf][1]<0){fe[nexf][2]=-50000.0;/*左移受力,右移不受*/}else{fe[nexf][2]=0.0;}}(13)线图--主动件1的平衡力偶线图;固定铰链受力失端线图文档数据--4,7,1点固定铰链力失;主动件平衡力偶TheKineto-staticAnalysisofEight-barLinkaseNo.THETA1Fr4Bt4Fr7Bt7Fr1Bt1TbTb4degNdegNdegNdegdegdeg1122516.20258.47229716.14265.76876942.228-174.117文档-10945.625-10945.6252147380.49455.85225130.92555.47299175.445-168.962-2493.449-2493.4493124045.79989.22651717.90585.0146842.897-164.070674.074674.0744190129.64672.61124046.56552.08676846.433-159.61217810.22417810.2245234177.03270.56621932.481-5.589109900.636-155.77341465.73941465.7396244476.84974.16429802.042-26.331105673.568-152.72356657.56756657.5677231619.14381.52636193.408-30.86875385.245-150.57653225.08953225.0898210065.61592.68241394.205-30.20030584.733-149.35426919.27226919.2729194098.933107.09346514.158-27.53318164.21931.003-19026.961-19026.96110192119.155122.17052307.075-24.28063344.63430.606-75673.726-75673.72611203626.525134.62059242.158-21.165100977.63612223165.641143.04267686.074-18.533129456.74613245543.987147.78378060.035-16.509148069.86314267271.371149.59090965.966-15.118155889.75415285876.000148.9821