哈工大機械原理大作業(yè)一連桿

1、機械原理大作業(yè)一課程名稱：機械原理設(shè)計題目：連桿傳動設(shè)計院 系：船舶與海洋工程學(xué)院班級：1513102 班分析者：劉康哲學(xué)號：151310207指導(dǎo)教師：劉會英設(shè)計時間： 2017.06.051.題目：如圖所示機構(gòu)，已知機構(gòu)各構(gòu)件的的尺寸為I AE=100mm,lBD=400mm,lAE=400mm,lB（=200mm曲柄 AB的角速度為 w=10rad/s,試求構(gòu)件 2 上 點D的軌跡，構(gòu)件5的角位移、角速度和角加速度，并對結(jié)果進行分析。（題中構(gòu)件尺寸滿足I BblABl AEl Bd+I AB)o2.機構(gòu)的結(jié)構(gòu)分析及基本桿組劃分機構(gòu)各構(gòu)件都在同一平面內(nèi)運動，可拆分成一個原動件 （構(gòu)件1）,

2、 一個RRFH級基本桿組（構(gòu)件2、3）和一個RPR H級基本桿組（構(gòu)件 4、5）o活動構(gòu)件數(shù)n=5, R,因此，機構(gòu)的自由度為F=3*n-2* Pl - P h =3*5-2*7=1原動件：RRRI級基本桿組:rpr n級基本桿組3 坐標(biāo)系的建立以A點為坐標(biāo)原點，AE方向為x軸正方向，建立平面直角坐標(biāo)系。Av 04 各基本桿組的運動分析數(shù)學(xué)模型(1)原動件：位置分析：X b = X a + Lab * COS(wt)Yb = Y a + L ab * sin(wt)其中，X = Ya = 0 , w = 1Orad/s , L ab = 100 mm速度分析：將上式分別對時間求導(dǎo)，可得速度方程

3、，Vxb = V xa - w*L AE*sin(wt)VyB = V YA + w*L AB*COS(wt)其中，VXa = Vya = 0 加速度分析：將上式分別對時間求導(dǎo)，可得速度方程，axa = a xa a * L ab * sin(wt) w*w*L AE*cos(wt)aYA = a ya + a * L ab * cos(wt) w*w*L AE*sin(wt) 其中，axA = a ya = 0 a = dw/dt(2) RRPd級基本桿組H位置分析：Xc = LAB*cos(wt)+- Lbc2 - Lab2 * sin2 wtYc = 0可求得，B = arcsin (

4、Yb / Lbc)速度分析：將上式分別對時間求導(dǎo)，可得速度方程，Vxc =-w* LAB*cos(wt) - ( Lbc2 _Lab2*sin2wt)1佗 * sin(wt)*wVyc= 0加速度分析：將上式分別對時間求導(dǎo)，可得加速度方程(3)RPR n級基本桿組位置分析：XD = X C + L CD * cos 3Y)= - L cd * sin 3 可求得，0 = arctan (-YD / (LAE-XD)速度分析：將上式分別對時間求導(dǎo)，可得速度方程，5 計算編程在MATLAB編寫如下程序：fun cti on XD,YD,Q,Q1,Q2 = calculate(t)%UNTITLED

5、4 Summary of this fun ction goes here % Detailed expla nati on goes here Lab=100;Lbc=200;Lcd=200;Lae=400;w=10;XB=Lab*cos(w.*t);YB=Lab*si n(w.*t);P=as in (YB./Lbc);XC=sqrt(Lbc.A2-YB.A2)+XB;XD=Lcd.*cos(P)+XC;YD=-Lcd.*si n(P);Q=ata n(YD./(Lae-XD);Q1=diff(Q);Q2=diff(Q1);end5 計算結(jié)果t時間XDD點橫坐標(biāo)YDD點縱坐標(biāo)Q構(gòu)件5角度Q

6、1構(gòu)件5角速度Q2構(gòu)件5角加速度0500000.10050.0030080.01499.0018-9.983340.10050.1035080.0060270.02496.0283-19.86690.2040080.1095350.0089860.03491.1429-29.5520.3135430.118520.0116240.04484.4505-38.94180.4320630.1301450.0133840.05476.0958-47.94260.5622070.1435290.0133830.06466.2615-56.46420.7057360.1569120.0106760.07

7、455.1653-64.42180.8626480.1675870.004950.08443.0552-71.73561.0302350.172537-0.002760.09430.2044-78.33271.2027720.169781-0.010250.1416.9036-84.14711.3725540.159531-3.157070.11403.4517-89.12071.532085-2.997543.1238950.12390.1455-93.2039-1.465460.126353-0.017410.13377.267-96.3558-1.339110.108942-0.0156

8、10.14365.0708-98.545-1.230160.093336-0.013140.15353.7727-99.7495-1.136830.080201-0.010530.16343.5394-99.9574-1.056630.069675-0.008030.17334.4828-99.1665-0.986950.06165-0.005720.18326.6576-97.3848-0.92530.055928-0.003620.19320.0638-94.63-0.869370.052312-0.001680.2314.6537-90.9297-0.817060.0506320.000

9、1240.21310.3405-86.3209-0.766430.0507570.001820.22307.0096-80.8496-0.715670.0525770.0034140.23304.5286-74.5705-0.66310.0559910.0048770.24302.7576-67.5463-0.60710.0608680.0061360.25301.5573-59.8472-0.546240.0670040.0070630.26300.7957-51.5501-0.479230.0740670.0074760.27300.3534-42.738-0.405170.0815440

10、.0071710.28300.127-33.4988-0.323620.0887150.0059930.29300.0319-23.9249-0.234910.0947080.0039350.3300.0038-14.112-0.14020.0986430.0012220.31300-4.15807-0.041560.099865-0.001710.32300.00015.8374140.0583080.098157-0.004340.33300.005915.774570.1564660.093821-0.006250.34300.041725.554110.2502870.087567-0

11、.007280.35300.153835.078320.3378540.080286-0.007450.36300.410144.252040.4181390.072834-0.006940.37300.898452.983610.4909730.065896-0.005940.38301.72561.185790.556870.059953-0.004640.39303.011868.776620.6168230.05531-0.003150.4304.892375.680250.6721330.052157-0.001540.41307.506581.827710.724290.05061

12、40.0001710.42310.993787.157580.7749040.0507850.0019950.43315.483991.616590.8256890.052780.0039570.44321.087995.160210.878470.0567380.0060950.45327.886697.753010.9352070.0628320.0084330.46335.920499.36910.9980390.0712660.0109610.47345.180299.992331.0693050.0822260.0135710.48355.601899.616461.1515310.

13、0957970.0159750.49367.06498.245261.2473290.1117720.0175920.5379.391295.892431.3591010.129365-3.124070.51392.360492.581471.488466-2.99473.1564030.52405.711488.34547-1.506240.16170.0091050.53419.158883.22674-1.344540.1708050.0014090.54432.404877.27645-1.173730.172214-0.00610.55445.15170.55403-1.001520.166115-0.011350.56457.109163.12666-0.83540.154767-0.013550.57468.009755.06855-0.680640.141218-0.013180.58477.609546.46022-0.539420.128033-0.011220.59485.696537.38767-0.411390.116811-0.00850.6492.094127.94155-0.294570.108311-0.00552D點運動軌跡:300320340350380