1、 i 129 i5 21-2m ABCrv1v1v1(a) 5 c ? # 21-1 9 m U“d ? 1 m OC=eC O O m ab 2 l m % r m b O O m bb 3 v A 1v M v B vM 2v /X v A 1m v B2m m cb 4 0v RX 9 m 0 m R 0 V j 4 0 m db 1a222222)(2)(2121OCCOemmeJJT +=+= 2a )38(12)2131(212122222222rlmmlmrmlJTOOO+=+= 3a )2()23(22222212211vvvmvmTTTBA+=+= 3)(2121222221
2、21vvmvmvmm += 4a2020220)2()()21(21421vmmRvmRvmT +=+= 21-2 m U v A1W V = v A 2W al ABbCX v 1v AB 1 b #LC H k p“d ?b ma BATTT += )2121(21222211CCJvgWvgW+= 21221121212211122cos22)2(22+=lgWllvlvlgWvgWcos31)(2111221222121 vlWlWvWWg+= 21-3 PF a r II rR 3= % = IM Yb IIYV wc OC 7b wc QF V j b k p5 21-1mi 13
3、0 i5 21-3m CCCvO(a) 5 21-4m xO1F11, Jz111ryO1FM1O1G7FrF(a) xO2F2GyO2F2r22,JzrF7F22OaPR2(b) ?b COCTTT += 2222)21(212121CCCCOCOrmvmJ +=22P2P22Q)2(41)2(21)2(3121rrrgFrgFrgF += )92(3PQ22FFgr+=21-44 6B m P m Ub TBM MbXV # ,q8 sY1J 2J . 1 izz=12b Rb ! # ( V 9b k pF b E 1m (a) 111rFMJ = 1 m (b) 22222 mRJLO
4、+= 222)(dd2mRJtLO+= +=22rFmgRMO mgRrFmRJ =+2222)( 2 irrzz=12211221 i= 121rFMiJ = a 22212mRJiJmgRMi+= 222122mRJiJmhRMiRRa+= E ? ! 6 I H v5N Hkh=2 Rhirr=1221 i 131 iR2O2r1M1O1r122aPvh(c) 5 21-5m gmrCg2mBADyDFDxFvCxFCyFMg1mgm(a) 01=T 22221122212121 JJmvT += mghhRMimghMW =112 1212WTT = hmgRMiJJvm)(21212
5、2222112=+ tdd vmgRMiJJmva )(222111=+ Rv=2 , Ra=2 , 21 i= , 21 i= T vRmgRMiRvJRiJmva=+222221RmgRMiRJRiJma=+22221H2R )(222212mgRMiRRJRiJamR =+ 2212)(JiJmRmgRMiRa+= 21-5 m U C TB M4 6 m1 Ab ; B 2m C D ( m r C D ( 8b 9 k p AF b “d s mT M a g1m , g2m S 01=T ()2221221221JvmmT += ()()22122221212121vmmmrvmr
6、vmm+=+= ()rsMsgmgmW +=1212122WT = ()()srMgmmvmmm+=+1222121tdd ()()vrMgmmvammmA+=+1221()()rmmmrgmmMmmmgmmrMaA21122112+=+= 21-6 m am bsY = ( m ( r ( h| | V HW 0=t 7 S| TBObs B5r $ 5 VM y Mb i 132 i5 21-6m ASFNFgm1Crh(a-1) Brgm2NFSFCh(b-1) 5 21-7mACA CCB BCv(a) 1ama rmgJA= sin1rmgmr = sin2312 sin321rg=
7、 sin321graC= ( ) 2121tasC= sin221gsastC= (1) 2amb rmgJB= sin2rmgmr = sin222 sin22rg= sin2gaC= 2221tasC= sin422gsastC= (2) 1 1a2 a5r b 21-7 AC BC ( m ( l C ; M AaB b; m Ub“ # =m U 7 S k p C H b ! C M H Cvv = b s A# BsY CA # CB ma =lvlvCCA =lvlvCCB ? 0231212222= mlhmg i 133 iBCAByFBxFKFNFg2m(b) 5 21-8
8、m ko60AOOBAgmgmm2 m2(a) NFADxF g1mg2mCDyFBkF(a) CvgmBAg2mg1mBvDCF(c) 231mvmgh = ghv 3= 21-8 15kg % V A “ k=50N/m b6B % B 1.5mb k pV 0 =0.1rad/s m U H b 2021)31(21mlT = 222)31(21mlT = )5.112()5.12(2232212+=kmgW )733(23+= kmg 1212WTT = )733(23)(612022+= kmgml 202)733(633 +=mlkmg93.1215)733(5068.915332
9、=+= rad/s 21-9 “dm U) b % ABC BD sY 6kg 3kg v 1kgb“ k=200N/mbCZ_/ F=100N T ABC A k p ABCV 20o 2 b 5 21-9m i 134 i5 21-10m kM =Ogmgm(a) OgmCnIFOyFMCMI7IFOxF(b) 1a pM o150= H m (a)= 0DM 0cos2)cos1cos21(N21=+ Fgmgm 75.36N=F N m (b)= 0BM 050sin150cos1okoN= FF F=0 H 84.3050tanoN= FFkN 1542.020084.301=kFk
10、 m o230= H F=100N 4465.0)50cos30(cos2oo12= m 6007.02= m )(2)sin(sin21)sin(sin1)sin(sin222212112122112 +=kgmgmFW )(2)sin)(sin212(22212112 +=kgmgmF )6007.01542.0(2200)30sin50)(sin8.93218.961002(22oo+= =39.06J 01=T =1Bv oo30cos30cosCBvv = =Cv m (c)222222221221)2121(2121)131(21CBCACDBmvmvmmTTTT +=+= 25=
11、 1212WTT = 06.3952= 795.2= rad/s 21-10 m U m l z l : 0 b=: k e O kM = M E b k 1a PV 0= 7 S 24= H , p e 2a p V HF 3as V |hb 1a ? p e k m a 01=T 02=T 022212= klmgW i 135 i5 21-11m .rOsvg1mBkAdg2m(a) 24mglk = (1) 2asZ 2lmgMJO= 22312lmgkml = (1) Tlglg410.0)212(3= I 3a : |hb: e V l T ? PM eM ? P H ,b 6 |
12、 H“ s gm M 8 CMInIF a7IF 3 s A: ? P b m b 21-11 1m a r ) B O V % O A m Ub A 2m “ kb k p“d% qb ! OB # H5 ? 22122)(21(2121rvrmvmT +=212)4121( vmm += 2222222)(2srkdgsmdrskgsmW = WT = 22222122)4121( srkdgsmvmm =+ tdd vsrkdgmvamm )()21(22212=+ srkdgmamm22212)21( =+ gmsrkdsmm22212)21( =+ 122122221)2(mmgms
13、mmrkds+=+ )2(212222nmmrkd+= 21n22mmkrd+= 21-12 m U ma r) b% O TOb“ (0k b k p“dT% qb ! H5 ?20220)(21(2121rvmrmvT +=2043mv= 222 xkW = 22043kxmv = 5 21-12m k0k0v0i 136 i5 21-13m 1T 2TMExFEyFDEn(a) AOyFOxFOB1T 2TFgm(b) 5 21-14m BOsOFvargmANFAFAgmONF(a) ANFaAFgmTFA(b) tdd 00223kxvamv = 02230=+ kxxmv 034=
14、+ xmkx mk34n= 21-13 q q9 ACDBB BOFF m Ub # AC DBi* s k E/5 g O 6 4 VM HM W b +)+B; 5 BF V) b ; m=3kg1 “ 500mm k p? n=240r/min H? qb !? b5 8602402602=n rad/s const= ?T b &F 0= b E s s mab = 0EM 0)(21= RTTM RTTM )(21= 1 | s mbb 0= OM 0)(21= RTTmgl RTTmgl )(21= 2 O 11TT = 22TT = 3 81a2a3 V mglM = ? q85
15、0.08.93 = mglMP=0.369(kW) 21-14 m U v ( m r O V j b OA | 9| | a v| W y ( f | TOb k pF = b !/ v / s H ? 01=T i 137 i5 21-15m 222221)(23(21mvrvmrT += T gm a gm aAF sFsmgWA= sin212sfmgsmg = cossin2 1212WTT = mgsfvm )cossin2(452 = tdd gvfva )cossin2(25 = gfa )cossin2(52 = mb mafmgmgF =+ cossinT)cossin2(
16、52sincos(T ffmgF += )sin51cos53( = fmg )sincos3(5 = fmg21-15 m U m R e C b O)TB TF P L EO7 0= 7 Sbk p 1a OF 2a 0= = H 0 s b 1aCOOCvvv += cos2)(cos222222evevvvvvvOOCOOCOOC+=+= RFmgeWT12)cos1( += 01=T 2222)(2121mmvTC+= )cos2(212222 ReeRm += ? 1212WTT = RFmgeReeRmT2222)cos1()cos2(21+=+ 1 )cos2()cos1(22
17、22T2ReeRmRFmge+= 2 1 T H t p )cos2()(sin2222TReeRmRgmeRF+= 3 AFNFgmCCTF =. =yO(a) x i 138 i5 21-20m CROAgmTFBTFRCgmCvCCaOOh(a) )cos2(sin)(2222TReeRmeRgmRFRRaO+= 2 2 T 2a2 T 0= H 022=4 3 )(22T0eRmRF+=5 = H)(2422T22eRmRFmge+=6 )(22TeRmRF+=7 FFxmC=T 8 mgFymC=N 9 sineRxC+= 2sincos eeRxC+= 10 coseRyC+= 2
18、cossin eeyC= 11 |4a5 10a11 8a9o0= H 2222T)( eRReeFF+= mgF =N|6a7 10a11 8a9 = H 2222T)( eRReeFF+=22TN)(24eReRFmgemgF+=21-20 M j ( m ( R 7 m Ub “d 7 S k p C v / h 1“i AB70f b 1a5 OaC sY M O RFJOO T= 1 C RFJCC T= 2 COJJ = TTFF = 1a2 =CO =CO3 2a8 ? 1212WTT = mghmvJJCCCOO=+222212121 4 revvv +=C “ 7 AB RRRvvvCOC2re=+=+= 5 3a5 4 mghmR =2225 6 ghRghR1051521= 6 T H t p CmgvmR =25 i 139 i5 Rg52= 5 T t p542gRaC= a TFmgmaC= 7f mgF51T= Bc R9 “ c /Bc
