1、哈尔滨工业大学课程设计说明书（论文）Harbin Institute of Technology机械原理大作业（一）机械原理大作业（一）课程名称：机械原理 设计题目：连杆机构运动分析 院 系：能源学院 班 级：1002101 班 设 计 者：鲍立斌 学 号：1100200305 指导教师：陈明 设计时间：2012.5.202012.6.20 哈尔滨工业大学哈尔滨工业大学课程设计说明书（论文）1.设计题目（28 题）如机构运动简图所示机构，已知机构各构件的尺寸为 AB=61mm, EF=132mm, BC=CE=CD=200mm, FG=160mm， AD=152mm, AG=472mm， DG
2、=332mm, =114 。 。构件 1的角速度 1=10rad/s，试求构件 2上点 E的轨迹及构件 5的角位置、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该机构有 5个构件， 7个低副，自由度为 1该机构可以划分成两个 RR杆组和两个 RRR杆组，依次为： RR杆组 AB； RRR杆组 BCD； RR杆组BE； RRR杆组 EFG。3.各基本杆组的运动分析数学模型（ 1） RR杆组数学模型：已知运动副 A的位置、速度、加速度和构件的角位置、角速度、角加速度即所求 B点到 A点的距离，求 B点的位置、速度和加速度。1.位置关系iiABlyxsnco2.
3、速度和加速的分析对上式求导即可得到，求一次到可得速度方程 iiABiilydtxcos再对时间求导即可得到加速度方程 iiiiABiiiillydtxcossn.22.2（ 2） RRR杆组数学模型：已知两个杆杆长和两个运动副 B、 D的位置、速度和加速度。求内运动副 C的位置、速度和加速度，以及两杆的角位置、角速度和角加速度。1.位置方程 jjDiiBClylyxxsinsncoco2.速度方程两杆角速度为 /)()(1 GySxCDiDij jji BB其中 jjjj iiiiijj lSlGsncos1内运动副 C点的速度哈尔滨工业大学课程设计说明书（论文） jjDiiCy jjiix
4、lylvxcoscosinn . B3.加速度方程两杆角加速度 132/)(GSiij jji内运动副 C的加速度 iiiiCy iiiix llasncosc.2.B其中 jiDjiSyGCx.2.232B4.建立坐标系以 A点为坐标的原点，向上为 Y轴正方向，向左为 X轴正方向，且假设 D、 G在同一水平线上，即两点的 Y轴坐标相同，则几个已知点的坐标为 A（ 0， 0） ， D（ 134.72， -70.38） ， G（ 466.72， -70.38） 。5.计算编程1） RR模块Public L As DoublePublic f As DoublePublic delt As Dou
5、blePublic w As DoublePublic e As DoublePublic xA As DoublePublic yA As DoublePublic vxA As DoublePublic vyA As DoublePublic axA As DoublePublic ayA As DoublePublic xB As DoublePublic yB As DoublePublic vxB As DoublePublic vyB As DoublePublic axB As DoublePublic ayB As DoublePublic Sub cal()xB = xA +
6、 L * Cos(f + delt)yB = yA + L * Sin(f + delt)vxB = vxA - w * L * Sin(f + delt)哈尔滨工业大学课程设计说明书（论文）vyB = vyA + w * L * Cos(f + delt)axB = axA - w 2 * L * Cos(f + delt) - e * L * Sin(f + delt)ayB = ayA - w 2 * L * Sin(f + delt) + e * L * Cos(f + delt)End Sub2） RRR模块Public Li As DoublePublic Lj As Double
7、Public fi As DoublePublic fj As DoublePublic wi As DoublePublic wj As DoublePublic ei As DoublePublic ej As DoublePublic xB As DoublePublic yB As DoublePublic vxB As DoublePublic vyB As DoublePublic axB As DoublePublic ayB As DoublePublic xC As DoublePublic yC As DoublePublic vxC As DoublePublic vyC
8、 As DoublePublic axC As DoublePublic ayC As DoublePublic xD As DoublePublic yD As DoublePublic vxD As DoublePublic vyD As DoublePublic axD As DoublePublic ayD As DoublePublic M As SinglePublic Sub cal()Dim LBD As DoubleDim JCBD As DoubleDim val As DoubleDim fDB As DoubleDim Ci As DoubleDim Cj As Dou
9、bleDim Si As DoubleDim Sj As DoubleDim G1 As DoubleDim G2 As DoubleDim G3 As DoubleDim pi As Double哈尔滨工业大学课程设计说明书（论文）pi = 3.1415926LBD = Sqr(xD - xB) 2 + (yD - yB) 2)If LBD Li + Lj Or LBD Abs(Li - Lj) Thenval = (Li 2 + LBD 2 - Lj 2) / (2 * Li * LBD)JCBD = Atn(-val / Sqr(1 - val * val) + 2 * Atn(1)El
10、seEnd IfIf LBD = Li + Lj ThenJCBD = 0ElseEnd IfIf LBD = Abs(Li - Lj) ThenIf Li Lj ThenJCBD = 0End IfIf Li xB And yD = yB Then 第一象限fDB = Atn(yD - yB) / (xD - xB)End IfIf xD = xB And yD yB ThenfDB = pi / 2End IfIf xD = yB Then 第二象限fDB = pi + Atn(yD - yB) / (xD - xB)End IfIf xD xB And yD xD And yC = yD
11、 Then 第一象限fj = Atn(yC - yD) / (xC - xD)End IfIf xC = xD And yC yD Thenfj = pi / 2End IfIf xC = yD Then 第二象限fj = pi + Atn(yC - yD) / (xC - xD)End IfIf xC xD And yC = yD Then 第四象限fj = 2 * pi + Atn(yC - yD) / (xC - xD)End IfCi = Li * Cos(fi): Si = Li * Sin(fi)Cj = Lj * Cos(fj): Sj = Lj * Sin(fj)G1 = Ci
12、 * Sj - Cj * Siwi = (Cj * (vxD - vxB) + Sj * (vyD - vyB) / G1wj = (Ci * (vxD - vxB) + Si * (vyD - vyB) / G1vxC = vxB - wi * Li * Sin(fi)vyC = vyB + wi * Li * Cos(fi)哈尔滨工业大学课程设计说明书（论文）G2 = axD - axB + wi 2 * Ci - wj 2 * CjG3 = ayD - ayB + wi 2 * Si - wj 2 * Sjei = (G2 * Cj + G3 * Sj) / G1ej = (G2 * C
13、i + G3 * Si) / G1axC = axB - ei * Li * Sin(fi) - wi 2 * Li * Cos(fi)ayC = ayB + ei * Li * Cos(fi) - wi 2 * Li * Sin(fi)End Sub3）计算以及绘图程序Private f5(3600) As DoublePrivate w5(3600) As DoublePrivate e5(3600) As DoublePrivate xe(3600) As DoublePrivate ye(3600) As DoublePrivate Sub c1_Click()Picture1.Sca
14、le (-10, 300)-(360, -300)Picture1.Line (-10, 0)-(360, 0) XPicture1.Line (0, 300)-(0, -300) YFor i = -0 To 360 Step 36 X轴坐标Picture1.DrawStyle = 2Picture1.Line (i, 300)-(i, -300)Picture1.CurrentX = i - 10: Picture1.CurrentY = 0Picture1.Print iNext iFor i = -300 To 300 Step 30 Y轴坐标Picture1.DrawStyle =
15、2Picture1.Line (-10, i)-(1000, i)Picture1.CurrentX = -10: Picture1.CurrentY = iPicture1.Print iNext iFor i = 0 To 3600 Step 1Picture1.PSet (i / 10, f5(i)Next iEnd SubPrivate Sub Command1_Click()Picture1.Scale (-10, 10)-(360, -10)Picture1.Line (-10, 0)-(360, 0) XPicture1.Line (0, 10)-(0, -10) YFor i
16、= -0 To 360 Step 36 X轴坐标Picture1.DrawStyle = 2哈尔滨工业大学课程设计说明书（论文）Picture1.Line (i, 10)-(i, -10)Picture1.CurrentX = i - 10: Picture1.CurrentY = 0Picture1.Print iNext iFor i = -10 To 10 Step 1 Y轴坐标Picture1.DrawStyle = 2Picture1.Line (-10, i)-(1000, i)Picture1.CurrentX = -10: Picture1.CurrentY = iPictur
17、e1.Print iNext iFor i = 0 To 3600Picture1.PSet (i / 10, w5(i)Next iEnd SubPrivate Sub Command2_Click()Picture1.Scale (-10, 300)-(360, -300)Picture1.Line (-10, 0)-(360, 0) XPicture1.Line (0, 300)-(0, -300) YFor i = -0 To 360 Step 36 X轴坐标Picture1.DrawStyle = 2Picture1.Line (i, 300)-(i, -300)Picture1.C
18、urrentX = i - 10: Picture1.CurrentY = 0Picture1.Print iNext iFor i = -300 To 300 Step 30 Y轴坐标Picture1.DrawStyle = 2Picture1.Line (-10, i)-(1000, i)Picture1.CurrentX = -10: Picture1.CurrentY = iPicture1.Print iNext iFor i = 0 To 3600Picture1.PSet (i / 10, e5(i)Next iEnd SubPrivate Sub Command3_Click(
19、)Picture1.Scale (-10, 100)-(1000, -10)Picture1.Line (-10, 0)-(1000, 0) XPicture1.Line (0, 100)-(0, -10) YFor i = -0 To 1000 Step 100 X轴坐标Picture1.DrawStyle = 2Picture1.Line (i, 100)-(i, -100)Picture1.CurrentX = i - 10: Picture1.CurrentY = 0Picture1.Print iNext i哈尔滨工业大学课程设计说明书（论文）For i = 0 To 100 Ste
20、p 10 Y轴坐标Picture1.DrawStyle = 2Picture1.Line (-10, i)-(1000, i)Picture1.CurrentX = -10: Picture1.CurrentY = iPicture1.Print iNext iFor i = 0 To 3600Picture1.PSet (xe(i), ye(i)Next iEnd SubPrivate Sub Form_Load()Dim i As SingleDim pi As DoubleDim pa As DoubleDim RR1 As RRDim RR2 As RRDim RRR1 As RRRD
21、im RRR2 As RRRSet RR1 = New RRSet RR2 = New RRSet RRR1 = New RRRSet RRR2 = New RRRpi = 3.1415926pa = pi / 180For i = 0 To 3600 Step 1确定点 BRR1.xA = 0: RR1.yA = 0RR1.vxA = 0: RR1.vyA = 0 A点RR1.axA = 0: RR1.ayA = 0RR1.f = i * pa / 10: RR1.delt = 0RR1.w = 10: RR1.e = 0RR1.L = 61RR1.cal确定点 CRRR1.xB = RR1
22、.xB: RRR1.yB = RR1.yBRRR1.vxB = RR1.vxB: RRR1.vyB = RR1.vyBRRR1.axB = RR1.axB: RRR1.ayB = RR1.ayBRRR1.xD = 134.72: RRR1.yD = -70.38 D位置RRR1.vxD = 0: RRR1.vyD = 0RRR1.axD = 0: RRR1.ayD = 0RRR1.Lj = 200: RRR1.Li = 200RRR1.M = 1RRR1.cal确定点 E哈尔滨工业大学课程设计说明书（论文）RR2.xA = RR1.xB: RR2.yA = RR1.yBRR2.vxA = RR
23、1.vxB: RR2.vyA = RR1.vyBRR2.axA = RR1.axB: RR2.ayA = RR1.ayBRR2.f = RRR1.fi - 33 * pa: RR2.delt = 0RR2.w = RRR1.wi: RR2.e = RRR1.eiRR2.L = 283.13RR2.calxe(i) = RRR2.xCye(i) = RRR2.yC确定点 FRRR2.xB = RR2.xB: RRR2.yB = RR2.yBRRR2.vxB = RR2.vxB: RRR2.vyB = RR2.vyBRRR2.axB = RR2.axB: RRR2.ayB = RR2.ayBRRR
24、2.xD = 466.72: RRR2.yD = -70.38 G位置待确定RRR2.vxD = 0: RRR2.vyD = 0RRR2.axD = 0: RRR2.ayD = 0RRR2.Li = 132: RRR2.Lj = 160RRR2.M = 1RRR2.calf5(i) = RRR2.fj / pa: w5(i) = RRR2.wj: e5(i) = RRR2.ejNext iEnd SubPrivate Sub p1_Click()End SubPrivate Sub Picture2_Click()End SubPrivate Sub Picture1_Click()End Sub6.计算结果E点的运动轨迹哈尔滨工业大学课程设计说明书（论文）杆件 5的角位置杆件 5的角速度哈尔滨工业大学课程设计说明书（论文）杆件 5的角加速度7.计算结果分析E点的运动轨迹为一条曲线，并非封闭的曲线，所以 E点的运动是沿着这条曲线来回运动。杆件 5的角位置曲线波动较小，说明杆件 5的摆动的极位夹角很小，但是它的角速度和角加速度的变化范围相对较大，而且没有什么规律。
