哈工大機械原理大作業(yè)一連桿23題

1、機械原理大作業(yè)（一）作業(yè)名稱： 連桿機構(gòu)運動分析 設(shè)計題目： 23題 院 系： 能源學(xué)院 班 級： 1102102 設(shè) 計 者： 韓青松 學(xué) 號： 1110200218 指導(dǎo)教師： 唐德威 設(shè)計時間： 2013年6月 運動分析題目：如圖所示機構(gòu)，已知機構(gòu)各構(gòu)件的尺寸為AB=180mm，=130°，BC=290mm，CD=300mm，e=65mm，AD=150mm，DE=180mm，EF=500mm，構(gòu)件1的角速度為1=10rad/s,試求構(gòu)件5上點F的位移、速度和加速度，并對計算結(jié)果進行分析。1. 建立以點A為原點的固定平面直角坐標(biāo)系A(chǔ)-x,y,如圖所示。 2. 對機構(gòu)進行結(jié)構(gòu)分析該

2、機構(gòu)由原動件AB（級組），BCDE（RRR級桿組）和EF（RRP級桿組）組成。3. 本桿組的運動分析數(shù)學(xué)模型（1） 原動件AB（級組）已知原動件AB的轉(zhuǎn)角1=02 原動件AB的角速度 1=10rad/s原動件AB的角加速度 1=0運動副A的位置坐標(biāo) xA=0 yA=0 A點與機架相連，即該點速度和加速度均為0。運動副A的速度 vxA=0 vyA=0運動副A的加速度 axA=0 ayA=0原動件AB長度 lAB=180mm可求出運動副B的位置坐標(biāo) xB=xA+lABcos1 yB=xA+lABsin1運動副B的速度 vxB= vxA -1 lAB sin1 vyB= vyA+1 lAB cos1

3、運動副B的加速度 axB= axA-12 lAB cos1-1lAB sin1 ayB=ayA-12 lAB sin1+1lAB cos1（2） BCD（RRR級桿組）由（1）知B點位置坐標(biāo)、速度、加速度運動副D點位置坐標(biāo) xD=150mm yD=0 D點與機架相連，即該點速度和加速度均為0。運動副D的速度 vxD=0 vyD=0運動副D的加速度 axD=0 ayD=0 桿BC長 lBC=290mm 桿CD長 lC=300mm 可求得BC桿相對于X軸正方向轉(zhuǎn)角 2=2arctanB0+A02+B02-C02A0+B0CD桿相對于x軸正方向轉(zhuǎn)角 3=arctanyC-yDxC-xD其中A0=2l

4、BC（xD-xB）,B0=2 lBC（yD-yB）,C0=lBC2+lBD2-lCD2,lBD2=(xD-xB)2+(yD-yB）2求導(dǎo)可得BC桿2、2和CD桿3、3 。則運動副C的位置坐標(biāo) xC=xB+lBCcos2 yC=xB+lBCsin2最后求導(dǎo)得vXc、vyC 以及axC 、ayC 。（3）構(gòu)件2上E點的運動 CE為同一構(gòu)件上的兩點由（2）知C點位置坐標(biāo)、速度、加速度以及構(gòu)件2的轉(zhuǎn)角、角速度和角加速度。可求出點E的位置坐標(biāo) xE=xD+lDEcos2 yE=xD+lDEsin2點E的速度 vxE= vxD 2 lDE sin2 vyE= vyD+2 lBD cos2點E的加速度 ax

5、E= axD-22 lDE cos2-2lDE sin2 ayE=ayD-22 lDE sin2+2lDE cos2（4）構(gòu)件4上f點的運動（RRP級桿組）由（3）知E點置坐標(biāo)、速度、加速度桿EF lEF=500mm桿EF與x軸夾角4=arcsin(yF-yE)/lEF)得運動副F點位置坐標(biāo) xF=xE+lEFcos(4) yG=e=65mm運動副F點速度 vxF=(vxEcos(4)-vyEsin(4)cos(4) vyF = 0最后vxF求導(dǎo)得axg ， ayF = 0 4. 編程程序段以下程序段采用MATLAB編寫f1=0:pi/720:2*pi;%開始%w1=10;xA=0;yA=0;

6、vxA=0;vyA=0;axA=0;ayA=0;lab=180;xB=xA+cos(f1)*lab;%運動副B位置%yB=yA+sin(f1)*lab;vxB=vxA-w1*lab*sin(f1);%運動副B速度%vyB=vyA+w1*lab*cos(f1);axB=axA-w12*lab*cos(f1)-w1*lab*sin(f1); %運動副B加速度%ayB=ayA-w12*lab*sin(f1)+w1*lab*cos(f1);lbc=290; %桿BC長%lcd=300; %桿CD長%xD=150; %運動副D位置、速度、加速度% yD=0;vxD=0;vyD=0;axD=0;ayD=0

7、;lbd=realsqrt(xD-xB).2+(yD-yB).2); %BD間距離%A0=2*lbc*(xD-xB);B0=2*lbc*(yD-yB);C0=lbc.2+lbd.2-lcd.2;fbc=2*atan(B0+1*realsqrt(A0.2+B0.2-C0.2)./(A0+C0);%BC桿轉(zhuǎn)角%xC=xB+lbc*cos(fbc); %運動副C位置%yC=yB+lbc*sin(fbc);fcd=atan(yC-yD)./(xC-xD);%CD桿轉(zhuǎn)角%C2=lbc*cos(fbc);S2=lbc*sin(fbc);C3=lcd*cos(fcd);C32=C3.*(f1<=2.1

8、49)+(-C3).*(f1>2.149).*(f1<=6.220)+C3.*(f1>6.220);S3=lcd*sin(fcd);S32=S3.*(f1<=2.149)+(-S3).*(f1>2.149).*(f1<=6.220)+S3.*(f1>6.220);G1=C2.*S32-C32.*S2;wbc=(C32.*(vxD-vxB)+S32.*(vyD-vyB)./G1; %桿BC角速度%wcd=(C2.*(vxD-vxB)+S2.*(vyD-vyB)./G1; %桿CD角速度%vxC=vxB-lbc*wbc.*sin(fbc); %運動副C速度

9、%vyC=vxB+lbc*wbc.*cos(fbc);G2=axD-axB+wbc.2.*C2-wcd.2.*C32;G3=ayD-ayB+wbc.2.*S2-wcd.2.*S32;ebc=(G2.*C3+G3.*S3)./G1; %桿BC角加速度%ecd=(G2.*C2+G3.*S2)./G1; %桿CD角加速度%axC=axB-lbc*ebc.*sin(fbc)-lbc*wbc.2.*cos(fbc); %運動副C加速度%ayC=ayB+lbc*ebc.*cos(fbc)-lbc*wbc.2.*sin(fbc);fde=fcd-130/180.*pi;wde=wcd;ede=ecd;lde

10、=180;xE=xD+lde.*cos(fde);%運動副E位置%xE2=xE.*(f1<=2.149)+(-xE+2*xD).*(f1>2.149).*(f1<=6.220)+xE.*(f1>6.220);yE=yD+lde.*sin(fde); yE2=yE.*(f1<=2.149)+(-yE+2*yD).*(f1>2.149).*(f1<=6.220)+yE.*(f1>6.220);vxE=vxD-wde.*lde.*sin(fde);%運動副E速度%vxE2=vxE.*(f1<=2.149)+(-vxE+2*vxD).*(f1>

11、;2.149).*(f1<=6.220)+vxE.*(f1>6.220);vyE=vyD+wde.*lde.*cos(fde); vyE2=vyE.*(f1<=2.149)+(-vyE+2*vyD).*(f1>2.149).*(f1<=6.220)+vyE.*(f1>6.220);axE=axD-wde.2.*lde.*cos(fde)-ede.*lde.*sin(fde); %運動副E加速度%ayE=ayD-wde.2.*lde.*sin(fde)+ede.*lde.*cos(fde);axE2=axE.*(f1<=2.149)+(-axE+2*ax

12、D).*(f1>2.149).*(f1<=6.220)+axE.*(f1>6.220);ayE2=ayE.*(f1<=2.149)+(-ayE+2*ayD).*(f1>2.149).*(f1<=6.220)+ayE.*(f1>6.220);lef=500;%桿EF長%yF=65;fef=asin(yF-yE)./lef);%EF桿轉(zhuǎn)角%fef2=fef.*(f1<=2.149)+(-fef+0.3705-0.1014).*(f1>2.149).*(f1<=6.220)+fef.*(f1>6.220);xF=xE2+lef*cos

13、(fef2);subplot(3,1,1);plot(xF,yF);%輸出F點的位移%title('F點位移圖 ');xlabel('xF（mm）');ylabel('yF（mm）');vF=(vxE2.*cos(fef2)-vyE2.*sin(fef2)./cos(fef2);subplot(3,1,2);plot(f1,vF);% 輸出F點的速度圖%title('F點速度圖');xlabel('（rad）');ylabel('vF（mm/s）');aF=diff(vF)/(pi/720*4.25

14、);% 求F點的加速度%aF(1441)=aF(1);subplot(3,1,3);plot(f1,aF);%輸出F點的加速度圖%title('F點加速度圖 ');xlabel('（rad）');ylabel(' vF（mm/s）');5. 計算結(jié)果F點軌跡F點位移圖像F點速度圖像F點加速度圖像6、 計算結(jié)果分析角度位移（mm）速度（m/s）加速度（m/s2）角度位移（mm）速度（mm/s）加速度（m/s2）111.87742410.809411602.318447191-16.405044-7.929395403.164163123.77319

15、610.912622580.393892192-17.782844-7.858408410.290064135.68664811.011891557.140416193-19.148146-7.786195417.208490147.61707111.106984532.545785194-20.500739-7.712793423.920098159.56371711.197667506.601231195-21.840418-7.638237430.4255381611.52579411.283703479.301640196-23.166986-7.562564436.725474171

16、3.50247211.364856450.645736197-24.480251-7.485809442.8205931815.49287811.440890420.636249198-25.780027-7.408008448.7116221917.49609611.511568389.280068199-27.066134-7.329197454.3993382019.51117311.576658356.588380200-28.338399-7.249411459.8845822121.53711211.635926322.576787201-29.596655-7.168684465

17、.1682722223.57287711.689145287.265408202-30.840742-7.087054470.2514142325.61739311.736089250.678956203-32.070504-7.004553475.1351122427.66954511.776540212.846797204-33.285792-6.921218479.8205822529.72818111.810281173.802977205-34.486464-6.837081484.3091572631.79211111.837106133.586249206-35.672384-6

18、.752179488.6022992733.86011111.85681392.240035207-36.843419-6.666544492.7016062835.93092011.86920949.812407208-37.999447-6.580210496.6088192938.00324611.8741116.356010209-39.140346-6.493211500.3258303040.07576611.871343-38.072020210-40.266005-6.405580503.8546873142.14712711.860742-83.410179211-41.37

19、6315-6.317349507.1975973244.21594611.842154-129.592730212-42.471176-6.228551510.3569303346.28081811.815438-176.549873213-43.550490-6.139217513.3352253448.34031211.780465-224.207929214-44.614167-6.049378516.1351883550.39297611.737120-272.489558215-45.662121-5.959067518.7596943652.43734011.685301-321.

20、313991216-46.694273-5.868312521.2117893754.47191611.624920-370.597287217-47.710549-5.777144523.4946853856.49520311.555906-420.252609218-48.710877-5.685593525.6117643958.50568811.478200-470.190519219-49.695195-5.593685527.5665724060.50185011.391762-520.319292220-50.663442-5.501451529.3628144162.48216

21、311.296566-570.545237221-51.615563-5.408916531.0043554264.44509611.192604-620.773045222-52.551510-5.316109532.4952124366.38911911.079883-670.906136223-53.471235-5.223053533.8395464468.31270510.958430-720.847025224-54.374699-5.129776535.0416654570.21433210.828286-770.497687225-55.261865-5.036301536.1

22、060074672.09248910.689509-819.759939226-56.132700-4.942651537.0371414773.94567510.542178-868.535814227-56.987176-4.848850537.8397534875.77240410.386384-916.727944228-57.825268-4.754920538.5186464977.57120710.222239-964.239938229-58.646956-4.660882539.0787225079.34063810.049869-1010.976760230-59.4522

23、23-4.566756539.5249855181.0792739.869417-1056.845101231-60.241055-4.472562539.8625215282.7857159.681044-1101.753739232-61.013442-4.378318540.0964975384.4585959.484924-1145.613897233-61.769376-4.284041540.2321505486.0965789.281248-1188.339584234-62.508854-4.189749540.2747775587.6983629.070221-1229.84

24、7925235-63.231875-4.095458540.2297275689.2626828.852063-1270.059471236-63.938439-4.001181540.1023925790.7883158.627007-1308.898498237-64.628550-3.906933539.8981965892.2740768.395298-1346.293281238-65.302216-3.812727539.6225905993.7188268.157194-1382.176350239-65.959443-3.718575539.2810436095.1214737

25、.912964-1416.484723240-66.600243-3.624488538.8790296196.4809727.662890-1449.160115241-67.224628-3.530476538.4220246297.7963277.407259-1480.149125242-67.832612-3.436547537.9154966399.0665937.146372-1509.403390243-68.424209-3.342711537.36489964100.2908816.880533-1536.879723244-68.999438-3.248975536.77

26、566265101.4683526.610058-1562.540214245-69.558315-3.1553445365982266.335265-1586.352312246-70.100861-3.061825535.50283567103.6797776.056480-1608.288872247-70.627094-2.968420534.82993268104.7123375.774032-1628.328181248-71.137035-2.8751355346952955.488253-1646.453955249-71.6

27、30705-2.781972533.43751270106.6280995.199479-1662.655303250-72.108126-2.688931532.72837771107.5102554.908046-1676.926679251-72.569319-2.596014532.01744472108.3413304.614290-1689.267794252-73.014306-2.503222531.30974273109.1209464.318548-1699.683511253-73.443109-2.410552530.61023074109.8487874.021155

28、-1708.183720254-73.855748-2.318003529.92378975110.5245943.722445-1714.783185255-74.252244-2.225572529.25522376111.1481663.422747-1719.501377256-74.632619-2.133256528.60925277111.7193583.122388-1722.362281257-74.996891-2.041050527.99051578112.2380852.821689-1723.394192258-75.345080-1.948949527.403560

29、79112.7043142.520967-1722.629500259-75.677203-1.856948526.85284880113.1180682.220532-1720.104447260-75.993277-1.765040526.34275181113.4794251.920687-1715.858892261-76.293318-1.673216525.87754582113.7885151.621730-1709.936047262-76.577339-1.581469525.46141583114.0455161.323949-1702.382225263-76.84535

30、5-1.489791525.09845284114.2506601.027625-1693.246562264-77.097375-1.398171524.79265185114.4042250.733028-1682.580756265-77.333408-1.306598524.54791086114.5065350.440422-1670.438785266-77.553463-1.215063524.36803487114.5579610.150059-1656.876637267-77.757545-1.123553524.25672688114.558916-0.137818-16

31、41.952039268-77.945657-1.032057524.21759889114.509854-0.422977-1625.724182269-78.117801-0.940560524.25416090114.411269-0.705194-1608.253463270-78.273975-0.849051524.36982791114.263694-0.984260-1589.601220271-78.414176-0.757513524.56791792114.067697-1.259972-1569.829480272-78.538397-0.665934524.85164

32、993113.823881-1.532141-1549.000720273-78.646631-0.574298525.22414694113.532879-1.800589-1527.177623274-78.738865-0.482588525.68843295113.195357-2.065146-1504.422863275-78.815086-0.390790526.24743596112.812007-2.325655-1480.798881276-78.875276-0.298885526.90398497112.383550-2.581972-1456.367691277-78

33、.919416-0.206857527.66080998111.910729-2.833959-1431.190683278-78.947483-0.114688528.52054399111.394312-3.081492-1405.328447279-78.959450-0.022359529.485717100110.835086-3.324456-1378.840608280-78.9552880.070147530.558763101110.233858-3.562748-1351.785675281-78.9349640.162850531.742012102109.591452-

34、3.796274-1324.220898282-78.8984420.255770533.037690103108.908708-4.024949-1296.202141283-78.8456830.348926534.447922104108.186480-4.248699-1267.783775284-78.7766440.442338535.974723105107.425632-4.467459-1239.018569285-78.6912780.536026537.620003106106.627042-4.681172-1209.957608286-78.5895360.63001

35、3539.385557107105.791595-4.889792-1180.650215287-78.4713620.724318541.273071108104.920183-5.093280-1151.143884288-78.3367010.818964543.284109109104.013705-5.291604-1121.484232289-78.1854900.913971545.420118110103.073065-5.484742-1091.714955290-78.0176651.009362547.682418111102.099169-5.672678-1061.8

36、77796291-77.8331561.105159550.072198112101.092927-5.855405-1032.012524292-77.6318911.201385552.590515113100.055247-6.032919-1002.156922293-77.4137941.298061555.23828511498.987041-6.205227-972.346785294-77.1787831.395211558.01627511597.889214-6.372339-942.615923295-76.9267731.492857560.92510011696.76

37、2674-6.534272-912.996175296-76.6576771.591022563.96521411795.608323-6.691047-883.517426297-76.3714021.689729567427058-6.842693-854.207638298-76.0678501.789002570.44026911993.219773-6.989239-825.092876299-75.7469221.888862573.87523612091.987354-7.130723-796.197348300-75.4085131.989334577

38、.44152412190.730681-7.267186-767.543447301-75.0525142.090439581450627-7.398670-739.151799302-74.6788122.192201584.96589712388.148058-7.525223-711.041307303-74.2872922.294642588.92233412486.823829-7.646896-683.229209304-73.8778312.397784593.00677212585.478788-7.763742-655.731132305-73.45

39、03072.501651597.21776412684.113772-7.875818-628.561149306-73.0045902.606264601.55358712782.729609-7.983181-601.731843307-72.5405492.711644606.01222712881.327116-8.085893-575.254362308-72.0580482.817812610.59136212979.907100-8.184014-549.138485309-71.5569472.924790615.28834013078.470356-8.277610-523.

40、392686310-71.0371043.032598620.10016813177.017669-8.366746-498.024195311-70.4983713.141256625.02348413275.549811-8.451487-473.039063312-69.9405983.250782630.05454113374.067543-8.531901-448.442227313-69.3636343.361196635571615-8.608057-424.237569314-68.7673203.472514640.42282913571.06276

41、4-8.680023-400.427984315-68.1514983.584753645.75043413669.541716-8.747868-377.015438316-67.5160053.697931651.16648113768.009182-8.811661-354.001028317-66.8606763.812061656.66494413866.465866-8.871472-331.385048318-66.1853453.927157662.23927013964.912455-8.927371-309.167039319-65.4898404.043232667.88

42、234414063.349626-8.979426-287.345852320-64.7739904.160297673.58646714161.778044-9.027708-265.919703321-64.0376224.278362679.34332314260.198361-9.072284-244.886222322-63.2805604.397436685611219-9.113223-224.242512323-62.5026284.517526690.97872114457.017246-9.150593-203.985196324-61.70364

43、64.638636696.83729014555.417059-9.184461-184.110465325-60.8834384.760769702.70858514653.811264-9.214893-164.614128326-60.0418244.883927708.58076214752.200455-9.241955-145.491654327-59.1786265.008109714.44118514850.585214-9.265711-126.738218328-58.2936655.133312720.27638514948.966112-9.286226-108.348

44、740329-57.3867625.259530726.07203815047.343709-9.303563-90.317925330-56.4577425.386754731.81293015145.718555-9.317784-72.640303331-55.5064305.514974737.48292915244.091189-9.328950-55.310261332-54.5326535.644177743.06496015342.462138-9.337121-38.322080333-53.5362415.774344748.54097515440.831919-9.342

45、356-21.669964334-52.5170275.905456753.89192915539.201040-9.344714-5.348072335-51.4748486.037489759.09775915637.569998-9.34425110.649453336-50.4095466.170416764939281-9.34102426.328460337-49.3209666.304207768.98857415834.309366-9.33508841.694762338-48.2089626.438826773.62816415932.680721

46、-9.32649756.754119339-47.0733926.574233778.03181716031.053804-9.31530471.512209340-45.9141226.710387782429066-9.30156085.974615341-44.7310256.847239786.02859116227.806947-9.285318100.146804342-43.5239856.984735789.56762816326.187879-9.266627114.034111343-42.2928937.122820792.76256616424.572284-9.245537127.641725344-41.0376527.261429795.58366916522.960578-9.222096140.974679345-39.7581767.400495798.00015516621.353165-9.196351154.037834346-38.454391