1、 t d d = t d dr v = 12-1 a E (b) t E d d u = = O 12-1 v M a N a R v M a N a R 12-2 v M OMA M a N OA a R OMB a R M 86 12-2 12-3 OO 2 r OO 2 OO 1 e a= e+ r 12-3 O 1 OO 2 O r e C C OO 1 OO 2 CE CD C CE v CD v C C = = e e r r OACB v e r C C v v = Ca= 0 OC M r v a v a = e r v e = e r v r = r r v a = v e
2、v r a r = e r + r r = ( e + r ) r a = e r O 87 O 1 l O O 1 u 12-4 1a 12-4 1 OA y O 1 O 1 C y O 1 C O 1 = C O u 1 sin 2 2 sin 2 cos 2 sin 1 1 l l OO C O = = = = = sin 2 l u e r (b) e r O 2 AB D OC n 1= 6rpm OC OE n 2= 10rpm 12-4 2a = 20 OC r OC 12-4 2b 2 . 0 60 6 2 60 2 1 r = = = n (rad/s) 88OC OE e
3、OE 3 1 60 10 2 60 2 2 e = = = n (rad/s) = e+ r ) rad/s ( 65 . 1 cos20 2 . 0 3 2 ) 2 . 0 ( 3 1 cos 2 2 2 r e 2 r 2 e = + + = + + = = = ) 20 180 sin( sin e 0.217 = 12 12 O 12-4 2(b) 12-4 2 3 12-4 3a R = 100 2 (mm) 2 = 90 v A= 200 (mm/s) OA r OA e C OC O b 2 2 100 200 e = = = OA v A (rad/s) 89 ) rad/s
4、( 2 2 ) rad/s ( 2 e r = = = = C 12-4 3 12-4 4 4 12-4 4 r = 20(mm) OD 1 =5(rad/s) 2 =3(rad/s) R=70(mm) 3 r b OD e b a e r O a b ) mm/s ( 210 3 70 ) mm/s ( 350 5 70 2 1 = = = = = = R v R v b a a a DO 90 ) sin cos ( ) sin cos cos (sin ) sin( 1 1 1 1 r R Oa Oa h v a a a a a + = + = + = =(1) ) sin cos (
5、) sin cos cos (sin ) sin( 2 2 2 2 r R Ob Ob h v a a a a b = + = = =(2) (1) (2) cos 2 R v v a b a = + (3) (1) (2) sin 2 r v v a b a = (4) (3) b 4 70 2 210 350 2 cos a e 4 = + = + = = = R v v b a (rad/s) (4) b 5 . 3 20 2 210 350 2 sin a r = = = = r v v b a (rad/s) 32 . 5 5 . 3 4 2 2 2 r 2 e a 3 = + =
6、+ = = (rad/s) a= e + r a= e + r a e + r r e r e r e r e r e a a d d d d d d d d + + = + + = + = = t t t t e r e= | r| = = a= a= e r 12-6 a e r 91 e A u a = 60 = t 2 /4 t s rad A v r= 20t(mm/s) OA = 80(mm) t = 1(s) B 12-7 a 12-6 12-7 1 B B B O OC b = t 2 /4 ) rad/s ( 2 1 ) rad/s ( 2 1 ) ( 1 ), rad/s
7、( 2 d d 2 e e = = = = = = = s t t t 2 B N B B n B B r e e a a a a a + + = k r a a + + R B92 12-7 Oxyz Oy OA Oxyz z i j k j j j 20 4 1 80 2 e e = = = BD a n B (b) i j j 40 2 1 80 e e = = = BD a B (b) = N Be a r Br r t t h v A A 2 1 40 20 r r = = = (rad/s) e OC e e e 2 1 | 2 1 1 r r = = = = t t (rad/s
8、) i i v v 40 | 40 2 1 r r = = = = t A B t (mm/s) 93k j i k j i e v a 3 10 10 40 ) 30 sin 30 (cos 2 1 40 2 1 r r = = = = B N Br (b) ( ) = R Be a r r OB r k j k j r e i e i e e e e e e 3 80 80 30 sin 60 sin 80 30 cos 60 sin 80 16 3 2 1 2 3 80 20 2 1 2 1 | 60 sin 2 2 1 ) 1 ( ) ( 2 2 1 d d d d ) ( d d d
9、 d 1 r r r r + = + = + = + = + = + = + = = = = OB t Ar r OA v t t t t t t 1 ) 5 ( ) 3 5 ( 120 sin 3 40 ) 30 sin 40 ( 3 80 16 3 80 16 3 3 80 2 1 80 2 1 3 80 80 16 3 2 1 j k i i k i j i k e j e k j i e r a + + + = + + + = + + = = OB r R B 1 e O z e Oz (b) OAC OA v Ar = (b) 94 2 1 r r ) 3 5 5 ( 40 ) 3
10、5 ( ) 5 ( ) 20 ( ) 20 ( R B R B a a k j i k j i i + = = + + = x 1 r R B a 2 2 r R B a j i k v a 40 40 2 1 2 2 r e k = + = = B k j k j i a 3 5 5 ) 3 5 3 10 ( ) 40 5 10 20 ( ) 40 40 ( a = + + + + + = B10 ) 3 5 ( ) 5 ( | | 2 2 a = + = B a mm/s 2 1 e= t d d r A A h v r z OAC OA z OA v Ar 2 r e i 2 1 16
11、3 + i 16 3 x r e 2 1 r r r= r r r= e r t d d r r = k 2 e t = 95 e 2 r t = a B (c) 2 120 cos 2 r e 2 r 2 e t = + + = OB k j 30 sin 2 30 cos 2 t t + = k i j k i j k i j k j j k k j j 4 1 16 3 4 3 4 1 8 2 4 3 4 3 2 4 1 ) ( 4 3 4 3 4 1 ) ( 4 3 4 3 d d 2 1 2 2 1 2 1 d d 2 3 2 2 3 2 1 d d a 1 1 a + = + =
12、+ + = + + + = + + + = = = = OA v O t t t t t A t t 1 N B R B B a a a + = k j k j k i j r a 3 5 5 3 80 80 4 1 16 3 4 3 a = + + = = OB R B B 0= N B a 2 y j y z OA v Aa v Aa = v Ae+ v Ar= OA a ( i)+ v Ar i = 80 2 1 ( i) +20i= 20i OA v Aa k = 8 2 k = 4 1 k 96 k j a a 3 5 5 a = = R B B10 ) 3 5 ( ) 5 ( | | 2 2 a = + = B a (mm/s 2 ) 12-7 97
