哈工大機(jī)械原理大作業(yè)連桿

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： 連桿運(yùn)動(dòng)分析 院 系： 機(jī)電工程學(xué)院 班 級(jí)： 設(shè) 計(jì) 者： 學(xué) 號(hào)： 指導(dǎo)教師： 陳明 設(shè)計(jì)時(shí)間： 2013年6月25日 1、 運(yùn)動(dòng)分析題目在圖1-10中所示的干草壓縮機(jī)中，已知LAB=150mm,LBC=600mm,LCE=120mm,LCD=500mm,LEF=600mm,XD=400mm,YD=500mm,YF=600mm,曲柄1作等速轉(zhuǎn)動(dòng)，其轉(zhuǎn)速n1=50r/min。求在一個(gè)運(yùn)動(dòng)循環(huán)中活塞5的位移、速度和加速度的變化曲線。 圖1-102、 機(jī)構(gòu)的結(jié)構(gòu)分析（1） 基本桿組的劃分

2、 AB即桿件1為原動(dòng)件 DECB即桿件2、3為RRR型II級(jí)桿組，其中CE為同一構(gòu)件上點(diǎn)。 EF和滑塊即4、5為RRP型II級(jí)桿組（2）、建立以點(diǎn)A為原點(diǎn)的固定平面直角系3、確定已知參數(shù)和求解流程(1)原動(dòng)件1（I級(jí)桿組RR） 如圖所示，已知原動(dòng)件1的轉(zhuǎn)角 原動(dòng)件桿1的角速度 原動(dòng)件1的角加速度運(yùn)動(dòng)副A的位置坐標(biāo)運(yùn)動(dòng)副A的速度運(yùn)動(dòng)副A的加速度原動(dòng)件桿I的長(zhǎng)度 可求出B的位置B的速度B的加速度 (2) 構(gòu)件2、3（II級(jí)桿組RRR）D的位置D的速度D的加速度桿長(zhǎng)，由關(guān)系其中可解得由上面兩個(gè)式子可以得到兩桿的角速度其中，可得E的位置E的速度E的加速度（3)、構(gòu)件4、5桿組（II級(jí)桿組RRP）在建立

3、的坐標(biāo)系中取一參考點(diǎn)K則速度加速度桿長(zhǎng),設(shè)F位移為s由由上面兩個(gè)式子可以得到所以：F點(diǎn)位移速度加速度四、編程計(jì)算并輸出結(jié)果（VB編程）主程序：Private Sub Command1_Click()Dim s5(3600) As DoubleDim v5(3600) As DoubleDim a5(3600) As DoubleDim pi As DoubleDim pa As Doublepi = 3.1415926pa = pi / 180Dim i As LongDim f1(3600) As DoubleDim RR1 As RRDim RR2 As RRDim RRR1 As RRR

4、Dim RRP1 As RRPSet RR1 = New RRSet RR2 = New RRSet RRR1 = New RRRSet RRP1 = New RRPFor i = 0 To 3600 Step 1f1(i) = i * pa / 10RR1.delt = 0RR1.f = f1(i)RR1.w = 5.24RR1.e = 0RR1.L = 150RR1.xA = 0RR1.yA = 0RR1.vxA = 0RR1.vyA = 0RR1.axA = 0RR1.ayA = 0RR1.calRRR1.Li = 600RRR1.Lj = 500RRR1.xB = RR1.xBRRR1

5、.yB = RR1.yBRRR1.vxB = RR1.vxBRRR1.vyB = RR1.vyBRRR1.axB = RR1.axBRRR1.ayB = RR1.ayBRRR1.xD = 400RRR1.yD = 500RRR1.vxD = 0RRR1.vyD = 0RRR1.axD = 0RRR1.ayD = 0RRR1.M = 1RRR1.calRRRRR2.delt = 0RR2.f = RRR1.fiRR2.w = RRR1.wiRR2.e = RRR1.eiRR2.L = 480RR2.xA = RR1.xBRR2.yA = RR1.yBRR2.vxA = RR1.vxBRR2.vy

6、A = RR1.vyBRR2.axA = RR1.axBRR2.ayA = RR1.ayBRR2.calRRP1.Li = 600RRP1.Lj = 0RRP1.fj = piRRP1.wj = 0RRP1.ej = 0RRP1.xB = RR2.xBRRP1.yB = RR2.yBRRP1.vxB = RR2.vxBRRP1.vyB = RR2.vyBRRP1.axB = RR2.axBRRP1.ayB = RR2.ayBRRP1.xK = 0RRP1.yK = 600RRP1.vxK = 0RRP1.vyK = 0RRP1.axK = 0RRP1.ayK = 0RRP1.M = 1RRP1

7、.cals5(i) = RRP1.ssv5(i) = RRP1.vssa5(i) = RRP1.assNext iPicture1.Scale (-30, 700)-(360, 580)Picture1.Line (0, 0)-(360, 0) 'XPicture1.Line (0, 580)-(0, 700) 'Y For i = 0 To 360 Step 10 'X軸坐標(biāo) Picture1.DrawStyle = 2 Picture1.Line (i, 700)-(i, 580) Picture1.CurrentX = i - 10: Picture1.Curre

8、ntY = 0 Picture1.Print i Next i For i = 580 To 700 Step 10 'Y軸坐標(biāo) Picture1.DrawStyle = 2 Picture1.Line (0, i)-(360, i) Picture1.CurrentX = -10: Picture1.CurrentY = i Picture1.Print i Next iFor i = 0 To 3600 Step 1 Picture1.PSet (i / 10, s5(i) Next iEnd SubRR:Public L As DoublePublic f As DoublePu

9、blic delt As DoublePublic 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 Su

10、b cal()xB = xA + L * Cos(f + delt)yB = yA + L * Sin(f + delt)vxB = vxA - w * L * Sin(f + delt)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 SubRRR:Public Li As DoublePublic Lj As DoublePublic

11、 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 As Do

12、ublePublic 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 DoublePublic Sub calRRR()Dim fDB As DoubleDim Ci As DoubleDim Cj As DoubleDim Si As DoubleDim Sj As DoubleDim G1 As DoubleDim

13、G2 As DoubleDim G3 As DoubleDim LBD As DoubleDim JCBD As DoubleDim val As Doublepi = 3.1415926LBD = Sqr(xB - xD) 2 + (yD - yB) 2)If LBD < Li + Lj And LBD > Abs(Li - Lj) Thenval = (Li 2 + LBD 2 - Lj 2) / (2 * Li * LBD)JCBD = Atn(-val / Sqr(-val * val + 1) + 2 * Atn(1)End IfRRP:Public Li As Doub

14、lePublic Lj As DoublePublic 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 xK As DoublePublic yK As DoublePublic vx

15、K As DoublePublic vyK As DoublePublic axK As DoublePublic ayK As DoublePublic xC As DoublePublic yC As DoublePublic vxC As DoublePublic vyC 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

16、 DoublePublic M As SinglePublic ss As DoublePublic vss As DoublePublic ass As DoublePublic Sub cal()Dim A0 As DoubleDim Q1 As DoubleDim Q2 As DoubleDim Q3 As DoubleDim Q4 As DoubleDim Q5 As DoubleDim val As DoubleDim pi As Doublepi = 3.14159216A0 = Lj + (yK - yB) * Cos(fj) - (xK - xB) * Sin(fj)val =

17、 A0 / Lifi = M * Atn(val / Sqr(-val * val + 1) + fjxC = xB + Li * Cos(fi)yC = yB + Li * Sin(fi)ss = (xC - xK) * Cos(fj) + (yC - yK) * Sin(fj)xD = xK + ss * Cos(fj)yD = yK + ss * Sin(fj)Q1 = vxK - vxB - wj * (ss * Sin(fj) + Lj * Cos(fj)Q2 = vyK - vyB + wj * (ss * Cos(fj) - Lj * Sin(fj)Q3 = Li * Sin(f

18、i) * Sin(fj) + Li * Cos(fi) * Cos(fj)wi = (-Q1 * Sin(fj) + Q2 * Cos(fj) / Q3vss = -(Q1 * Li * Cos(fi) + Q2 * Li * Sin(fi) / Q3vxC = vxB - wi * Li * Sin(fi)vyC = vyB + wi * Li * Cos(fi)vxD = vxK + vss * Cos(fj) - ss * wj * Sin(fj)vyD = vyK + vss * Sin(fj) + ss * wj * Cos(fj)Q4 = axK - axB + wi 2 * Li * Cos(fi) - ej * (ss * Sin(fj) + Lj * Cos(fj) - wj 2 * (ss * Cos(fj) - Lj * Sin(fj) - 2 * vss * wj * Sin(fj)Q5 = ayK - ayB + wi 2 * Li * Sin(fi) + ej * (ss * Cos(fj) - Lj * Sin(fj) - wj 2 * (ss * Sin(fj) + Lj * Cos(fj) + 2 * vss * wj * Cos(fj)ei = (-Q4 * Sin(fj) + Q5 * Cos(fj) / Q3ass = (-Q4