哈工大機(jī)械原理大作業(yè)連桿-黃建青

1、Harbin Institute of Technology機(jī)械原理大作業(yè)一課程名稱： 機(jī)械原理 設(shè)計(jì)題目： 連桿機(jī)構(gòu)運(yùn)動(dòng)分析 院 系： 能源學(xué)院 班 級(jí)： 1302402 設(shè) 計(jì) 者： 黃建青 學(xué) 號(hào)： 1130240222 指導(dǎo)教師： 焦映厚 陳照波 設(shè)計(jì)時(shí)間： 2015年06月24日 求解步驟如下：1. 建立坐標(biāo)系 建立以點(diǎn)A為原點(diǎn)的固定平面直角坐標(biāo)系xAy。2. 機(jī)構(gòu)的結(jié)構(gòu)分析，基本干組的劃分 該機(jī)構(gòu)由I級(jí)桿組RR（原動(dòng)件AB）、II級(jí)桿組RRP（桿2,3）、II級(jí)桿組RRP（桿4,5）。如下圖所示。3. 建立各基本桿組的運(yùn)動(dòng)分析的數(shù)學(xué)模型求C點(diǎn)的s,v,a求C點(diǎn)的坐標(biāo)計(jì)算流程框圖如下

2、：求B點(diǎn)的s,v,a求E點(diǎn)的s,v,a求B點(diǎn)的s,v,a3.1 I級(jí)桿組RR（原動(dòng)件AB）設(shè)原動(dòng)件桿1的轉(zhuǎn)角為，則角速度 角加速度 支座A的位置坐標(biāo)為 速度為 加速度為 原動(dòng)件桿1的長(zhǎng)度 所以，運(yùn)動(dòng)副B的位置、速度和加速度分析如下：位置 速度 加速度分析 3.2 II級(jí)桿組RRP（桿2、3）桿長(zhǎng),設(shè)點(diǎn)C位移為s則 C點(diǎn)位移速度加速度3.3 II級(jí)桿組RRP（桿4、5）桿長(zhǎng),則D點(diǎn)軌跡：E點(diǎn)坐標(biāo)：速度加速度4. 用VB編程求解源代碼如下：Dim XA As Double, YA As DoubleDim 2(10) As DoubleDim XD(10) As Double, YD(10) As

3、 DoubleDim XB(10) As Double, YB(10) As DoubleDim XC(10) As Double, YC(10) As Double, 1(10) As DoubleDim XE(10) As Double, YE(10) As DoubleDim 2(10) As DoubleDim t As DoubleDim w1 As DoubleDim LAB As Double, LBC As Double, LBD As Double, LDE As DoubleDim i As DoubleFunction Arcsin(X) As DoubleArcsin

4、= Atn(X / Sqr(-X * X + 1)End FunctionPrivate Sub Command1_Click()Picture1.FillColor = vbBlackPicture1.Circle (XA, YA), 6, vbBlacki = 0For t = 0 To 10 Step 0.0001If i = 1 ThenPicture1.Line (XA, YA)-(XB(t), YB(t), vbWhitePicture1.Line (XC(t), YC(t)-(XD(t), YD(t), vbWhitePicture1.Line (XE(t), YE(t)-(XD

5、(t), YD(t), vbWhitePicture1.Circle (XA, YA), 6, vbWhitePicture1.Circle (XD(t), YD(t), 6, vbWhitePicture1.Circle (XB(t), YB(t), 6, vbWhitePicture1.Circle (XC(t), YC(t), 6, vbWhitePicture1.Circle (XE(t), YE(t), 6, vbWhiteEnd If2(t) = w1 * tXB(t) = LAB * Cos(2(t)YB(t) = LAB * Sin(2(t)Picture1.FillColor

6、 = vbBlackPicture1.Circle (XB(t), YB(t), 6, vbBlackPicture1.Line (XA, YA)-(XB(t), YB(t), vbBlackIf 2(t) > (3.14159 / 2) And 2(t) < (3 * 3.14159 / 2) Then1(t) = Arcsin(-XB(t) / LBC)Else1(t) = Arcsin(XB(t) / LBC)End IfXC(t) = 0YC(t) = YB(t) - LBC * (Cos(1(t)If 2(t) > (3.14159 / 2) And 2(t) &l

7、t; (3 * 3.14159 / 2) ThenXD(t) = XB(t) - LBD * (Sin(1(t)2(t) = Arcsin(-(XD(t) / LDE)ElseIf 2(t) <> (3 * 3.14159 / 2) ThenXD(t) = XB(t) + LBD * (Sin(1(t)2(t) = Arcsin(XD(t) / LDE)End IfYD(t) = YB(t) + LBD * Abs(Cos(1(t)Picture1.FillColor = vbBlackAPicture1.Circle (XC(t), YC(t), 6, vbBlack'P

8、icture1.Line (XC(t), YC(t)-(XB(t), YB(t), vbBlackPicture1.Line (XC(t), YC(t)-(XD(t), YD(t), vbBlackXE(t) = 0YE(t) = YD(t) + LDE * (Cos(2(t)Picture1.FillColor = vbBlackPicture1.Circle (XE(t), YE(t), 6, vbBlackPicture1.Line (XD(t), YD(t)-(XE(t), YE(t), vbBlack'Picture1.Line (XE(t) - 100, YE(t)-(XE

9、(t) + 100, YE(t), vbBlack'Picture1.Line (XE(t) - 100, YE(t) - 450)-(XE(t) + 100, YE(t) - 450), vbBlacki = 1Next tEnd Sub得到動(dòng)畫(huà)圖：圖1、動(dòng)畫(huà)Dim XA As Double, YA As DoubleDim 2(10) As DoubleDim XB(10) As Double, YB(10) As DoubleDim XC(10) As Double, YC(10) As Double, 1(10) As DoubleDim XD(10) As Double, Y

10、D(10) As Double, XE(10) As Double, YE(10) As DoubleDim 2(10) As DoubleDim t As DoubleDim w1 As DoubleDim LAB As Double, LBC As Double, LBD As Double, LDE As DoubleDim i As DoublePrivate Sub Command2_Click()Picture1.ClsEnd SubPrivate Sub Command3_Click()EndEnd Sub Private Sub Form_Load()XA = 0YA = 0w

11、1 = 10LAB = 100LBC = 200LBD = 100LDE = 210End SubFunction Arcsin(X) As DoubleArcsin = Atn(X / Sqr(-X * X + 1)End FunctionPrivate Sub Picture1_Click()Picture1.BackColor = vbWhitePicture1.FillStyle = 0Picture1.Scale (-360, 360)-(360, -360)Picture1.Line (-360, 0)-(360, 0)Picture1.Line (0, -360)-(0, 360

12、)For i = 0 To 24Picture1.CurrentX = -10Picture1.CurrentY = -30 * i + 360Picture1.Print "" & -30 * i + 360 & ""Next iFor i = -18 To 18Picture1.CurrentX = i * 20Picture1.CurrentY = -10Picture1.Print "" & i * 20 & ""Next iEnd SubPrivate Sub Comman

13、d1_Click()For t = 0 To 10 Step 0.00012(t) = w1 * tXB(t) = LAB * Cos(2(t)YB(t) = LAB * Sin(2(t)1(t) = Arcsin(Abs(XB(t) / LBC)XC(t) = 0YC(t) = YB(t) - LBC * Abs(Cos(1(t)XD(t) = XB(t) + LBD * (Sin(1(t)YD(t) = YB(t) + LBD * Abs(Cos(1(t)2(t) = Arcsin(Abs(XD(t) / LDE)XE(t) = 0YE(t) = YD(t) + LDE * (Cos(2(

14、t)Picture1.Circle (2(t) * 180 / 3.14159, YC(t), 0.08, vbBlackPicture1.Circle (2(t) * 180 / 3.14159, YE(t) - 460), 0.08, vbBlack Picture1.Circle (XD(t), YD(t), 0.08, vbBlackNext tEnd Sub得到構(gòu)件2上的D點(diǎn)軌跡，如圖2所示：圖2、D點(diǎn)軌跡圖得到構(gòu)件3、5的位移圖：圖3、 位移圖Dim XA As Double, YA As DoubleDim 2(10) As DoubleDim XB(10) As Double,

15、 YB(10) As Double, XB1(10) As Double, YB1(10) As DoubleDim XC(10) As Double, YC(10) As Double, 1(10) As Double, A1(10) As Double, vyC(10) As DoubleDim XD(10) As Double, YD(10) As Double, XD1(10) As Double, YD1(10) As DoubleDim XE(10) As Double, YE(10) As Double, vyE(10) As Double, 2(10) As Double, A

16、2(10) As DoubleDim t As DoubleDim w1 As DoubleDim LAB As Double, LBC As Double, LBD As Double, LDE As DoubleDim i As DoublePrivate Sub Command2_Click()Picture1.ClsEnd SubPrivate Sub Command3_Click()EndEnd SubPrivate Sub Form_Load()XA = 0YA = 0w1 = 10LAB = 100LBC = 200LBD = 100LDE = 190End SubFunctio

17、n Arcsin(X) As DoubleArcsin = Atn(X / Sqr(-X * X + 1)End FunctionPrivate Sub Picture1_Click()Picture1.BackColor = vbWhitePicture1.FillStyle = 0Picture1.Scale (-30, 1900)-(360, -1900)Picture1.Line (0, 0)-(360, 0)Picture1.Line (0, -1900)-(0, 1900)For i = 0 To 135Picture1.CurrentX = -20Picture1.Current

18、Y = -500 * i + 1900Picture1.Print "" & -500 * i + 1900 & ""Next iFor i = 0 To 18Picture1.CurrentX = i * 20Picture1.CurrentY = -10Picture1.Print "" & i * 20 & ""Next iEnd SubPrivate Sub Command1_Click()For t = 0 To 10 Step 0.00012(t) = w1 * tXB(

19、t) = LAB * Cos(2(t)YB(t) = LAB * Sin(2(t)XB1(t) = -LAB * w1 * Sin(2(t)YB1(t) = LAB * w1 * Cos(2(t)If 2(t) > (3.14159 / 2) And 2(t) < (3 * 3.14159 / 2) Then1(t) = Arcsin(-XB(t) / LBC)A1(t) = -XB1(t) / (LBC * Sqr(1 - (-XB(t) / LBC) 2)Else1(t) = Arcsin(XB(t) / LBC)A1(t) = XB1(t) / (LBC * Sqr(1 -

20、(XB(t) / LBC) 2)End IfXC(t) = 0YC(t) = YB(t) - LBC * Abs(Cos(1(t)vyC(t) = YB1(t) + A1(t) * LBC * (Sin(1(t)If 2(t) > (3.14159 / 2) And 2(t) < (3 * 3.14159 / 2) ThenXD(t) = XB(t) - LBD * (Sin(1(t)XD1(t) = XB1(t) - LBD * A1(t) * (Cos(1(t)2(t) = Arcsin(-(XD(t) / LDE)A2(t) = -XD1(t) / (LDE * Sqr(1

21、- (-(XD(t) / LDE) 2)Else: XD(t) = XB(t) + LBD * (Sin(1(t)XD1(t) = XB1(t) + LBD * A1(t) * (Cos(1(t)2(t) = Arcsin(XD(t) / LDE)A2(t) = XD1(t) / (LDE * Sqr(1 - (Abs(XD(t) / LDE) 2)End IfYD(t) = YB(t) + LBD * Abs(Cos(1(t)YD1(t) = YB1(t) - LBD * A1(t) * Abs(Sin(1(t)XE(t) = 0YE(t) = YD(t) + LDE * (Cos(2(t)

22、vyE(t) = YD1(t) - A2(t) * LDE * (Sin(2(t)Picture1.Circle (2(t) * 180 / 3.14159, vyC(t), 0.08, vbBlackPicture1.Circle (2(t) * 180 / 3.14159, vyE(t), 0.08, vbBlackNext tEnd SubPrivate Sub Command4_Click()Form3.HideForm4.ShowEnd Sub得到構(gòu)件3、5的速度圖：圖4、速度圖Dim XA As Double, YA As DoubleDim 2(10) As DoubleDim

23、XB(10) As Double, YB(10) As Double, XB1(10) As Double, YB1(10) As Double, XB2(10) As Double, YB2(10) As DoubleDim XC(10) As Double, YC(10) As Double, 1(10) As Double, A1(10) As Double, vyC(10) As Double, A12(10) As Double, ayC(10) As DoubleDim XD(10) As Double, YD(10) As Double, XD1(10) As Double, Y

24、D1(10) As Double, XD2(10) As Double, YD2(10) As DoubleDim XE(10) As Double, YE(10) As Double, vyE(10) As Double, 2(10) As Double, A2(10) As Double, ayE(10) As Double, A22(10) As DoubleDim t As DoubleDim w1 As DoubleDim LAB As Double, LBC As Double, LBD As Double, LDE As DoubleDim i As DoublePrivate

25、Sub Command2_Click()Picture1.ClsEnd SubPrivate Sub Command3_Click()EndEnd SubPrivate Sub Form_Load()XA = 0YA = 0w1 = 10LAB = 100LBC = 200LBD = 100LDE = 210End SubFunction Arcsin(X) As DoubleArcsin = Atn(X / Sqr(-X * X + 1)End FunctionPrivate Sub Picture1_Click()Picture1.BackColor = vbWhitePicture1.F

26、illStyle = 0Picture1.Scale (-30, 30000)-(360, -30000)Picture1.Line (0, 0)-(360, 0)Picture1.Line (0, -30000)-(0, 30000)For i = 0 To 40Picture1.CurrentX = -20Picture1.CurrentY = -1600 * i + 30000Picture1.Print "" & -1600 * i + 30000 & ""Next iFor i = 0 To 18Picture1.Current

27、X = i * 20Picture1.CurrentY = -10Picture1.Print "" & i * 20 & ""Next iEnd SubPrivate Sub Command1_Click()For t = 0 To 10 Step 0.00012(t) = w1 * tXB(t) = LAB * Cos(2(t)YB(t) = LAB * Sin(2(t)XB1(t) = -LAB * w1 * Sin(2(t)YB1(t) = LAB * w1 * Cos(2(t)XB2(t) = -LAB * w1 2 * Cos

28、(2(t)YB2(t) = -LAB * w1 2 * Sin(2(t)If 2(t) > (3.14159 / 2) And 2(t) < (3 * 3.14159 / 2) Then1(t) = Arcsin(-XB(t) / LBC)A1(t) = -XB1(t) / (LBC * Sqr(1 - (-XB(t) / LBC) 2)A12(t) = -XB2(t) / (LBC * Sqr(1 - (-XB(t) / LBC) 2) - (XB1(t) 2 * XB(t) / (LBC 3 * (1 - (XB(t) / LBC) 2) 1.5)Else1(t) = Arcs

29、in(XB(t) / LBC)A1(t) = XB1(t) / (LBC * Sqr(1 - (XB(t) / LBC) 2)A12(t) = XB2(t) / (LBC * Sqr(1 - (-XB(t) / LBC) 2) + (XB1(t) 2 * XB(t) / (LBC 3 * (1 - (XB(t) / LBC) 2) 1.5)End IfXC(t) = 0YC(t) = YB(t) - LBC * (Cos(1(t)vyC(t) = YB1(t) + A1(t) * LBC * (Sin(1(t)ayC(t) = YB2(t) + A12(t) * LBC * (Sin(1(t)

30、 + (A1(t) 2 * LBC * (Cos(1(t)If 2(t) > (3.14159 / 2) And 2(t) < (3 * 3.14159 / 2) ThenXD(t) = XB(t) - LBD * (Sin(1(t)XD1(t) = XB1(t) - LBD * A1(t) * (Cos(1(t)XD2(t) = XB2(t) - LBD * A12(t) * (Cos(1(t) + LBD * (A1(t) 2 * (Sin(1(t)2(t) = Arcsin(-(XD(t) / LDE)A2(t) = -XD1(t) / (LDE * Sqr(1 - (-(X

31、D(t) / LDE) 2)A22(t) = -XD2(t) / (LDE * Sqr(1 - (-XD(t) / LDE) 2) - (XD1(t) 2 * XD(t) / (LDE 3 * (1 - (XD(t) / LDE) 2) 1.5)Else: XD(t) = XB(t) + LBD * (Sin(1(t)XD1(t) = XB1(t) + LBD * A1(t) * (Cos(1(t)XD2(t) = XB2(t) + LBD * A12(t) * (Cos(1(t) - LBD * (A1(t) 2 * (Sin(1(t)2(t) = Arcsin(XD(t) / LDE)A2(t) = XD1(t) / (L