動力學(xué)-第6章點 的 運 動學(xué)動畫及例題ppt課件

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2、Bl 曲柄連桿機(jī)構(gòu)中曲柄OA和連桿AB的長度分別為r和l。且lr，角=t，其中是常量?；瑝KB可沿軸Ox作往復(fù)運動，試求滑塊B的運動方程，速度和加速度。qhdqhd sin cos222rlrCBOCx. sin1 cos22tlrltrxxyOACBlttt sin81 sin211 sin1442222qhdttrlx2 cos4 cos412,2sin2sinddttrtxv.2coscosdd222ttrtxaxyOACBl2t2 cos1 sin2ttlrltrx sin1 cos22那么那么qhdqhdvttddddvtRtvR qhdqhd 375 152502tts,10250d

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4、d sinrrMBMHAHOHOAx弧 cosrrBCHCHBAMyqhd) sin(ttrx) cos1 (tryt sinrrx cosrryEqhd) cos1 (trvxtrvy sin2sin2sin)cos1 (2222trttrvvvyxMDMBtvvx2sin2sin),cos(ivMDBDtvvy2 cos2 cos),cos(jv2qhdtrax sin2tray cos2 ,222raaayxMCMBaax sin),cos(ia, cos),cos(MCBCaayja, 0 xv; 0yv, 0 xa2rayx=0, y=0; 2qhdqhd2qhd2 sin2trv由2 cosdd2ttrtva00t;20tra21t21 tra1tta2r2r2qhd2 sin22t2ntraaa2qhd2nva 2 sin42 sin2 sin42222n2trtrtravr4max)(tE2qhdqhdqhdtT2 ),2cos(tTrx ),2sin(tTry utz ),cos(uzrx),sin(uzryqhdqhd, sinddtrtxvx, cosddtrtyvyutzvZdd,22rvvyx222222urvvvZyxv常數(shù)222222 cosuruvvvvzyxzqhdqhd trt