哈爾濱工業(yè)大學(xué)機(jī)械原理大作業(yè)-連桿26題

1、精選優(yōu)質(zhì)文檔-傾情為你奉上1.運(yùn)動(dòng)分析題目如圖所示機(jī)構(gòu)，已知機(jī)構(gòu)各構(gòu)件的尺寸為AB=108mm，EF=320mm，BC=CE=CD=200mm，F(xiàn)G=162mm，AD=258mm，AG=514mm，DG=384mm， =80º，構(gòu)件1的角速度為1=10rad/s，試求構(gòu)件2上點(diǎn)E的軌跡及構(gòu)件5的角位移、角速度和角加速度，并對(duì)計(jì)算結(jié)果進(jìn)行分析。2.機(jī)構(gòu)的結(jié)構(gòu)分析，組成機(jī)構(gòu)的基本桿組劃分3.各基本桿組的運(yùn)動(dòng)分析數(shù)學(xué)模型（1）RR基本桿組：delt=0xB = xA + AB * Cos(f + delt)yB = yA + AB* Sin(f + delt)vxB = vxA - w *

2、 AB * Sin(f + delt)vyB = vyA + w * AB* Cos(f + delt)axB = axA - w 2 * AB * Cos(f + delt):ayB = ayA - w 2 * AB* Sin(f + delt) (2)RRR基本桿組Ci = lbc * Cos(fbc)Si = lbc * Sin(fbc)Cj = lcd * Cos(fcd)Sj = lcd * Sin(fcd)G1 = Ci * Sj - Cj * Siwbc = (Cj * (vxD - vxB) + Sj * (vyD - vyB) / G1wcd = (Ci * (vxD - v

3、xB) + Si * (vyD - vyB) / G1vxC = vxB - wbc * lbc * Sin(fbc)vyC = vyB + wbc * lbc * Cos(fbc)G2 = axD - axB + wbc 2 * Ci - wcd 2 * CjG3 = ayD - ayB + wbc 2 * Si - wcd 2 * Sjebc = (G2 * Cj + G3 * Sj) / G1ecd = (G2 * Ci + G3 * Si) / G1axC = axB - ebc * lbc * Sin(fbc) - wbc 2 * lbc * Cos(fbc)ayC = ayB +

4、ebc * lbc * Cos(fbc) - wbc 2 * lbc * Sin(fbc)EB = 2 * BC * Cos(febc)xE = xB + EB* Cos(fbc + febc)yE = yB + EB * Sin(fbc + febc)vxE = vxB wbc * EB* Sin(fbc + febc)vyE = vyB + wbc * EB* Cos(fbc + febc)axE = axB - wbc 2 * EB * Cos(fbc + delt) - ebc * EB * Sin(fbc + febc)ayE = ayB - wbc 2 * leb * Sin(fb

5、c + delt) + ebc * leb * Sin(fbc + febc)Ci = lef * Cos(fef)Si = lef * Sin(fef)Cj = lfg * Cos(ffg)Sj = lfg * Sin(ffg)G1 = Ci * Sj - Cj * Siwef = (Cj * (vxG - vxE) + Sj * (vyG - vyE) / G1wfg = (Ci * (vxG - vxE) + Si * (vyG - vyE) / G1vxF = vxE - wef * lef * Sin(fef)vyF = vyE + wef * lef * Cos(fef)G2 =

6、axG - axE + wef 2 * Ci - wfg 2 * CjG3 = ayG - ayE + wef 2 * Si - wfg 2 * Sjeef = (G2 * Cj + G3 * Sj) / G1efg = (G2 * Ci + G3 * Si) / G1axF = axE - eef * lef * Sin(fef) - wef 2 * lef * Cos(fef)ayF = ayE + eef * lef * Cos(fef) - wef 2 * lef * Sin(fef) 4.計(jì)算編程Dim xA As DoubleDim yA As DoubleDim vxA As D

7、oubleDim vyA As DoubleDim axA As Double 'A '點(diǎn)加速度x軸分量Dim ayA As Double 'A '點(diǎn)加速度y軸分量Dim xB As Double 'B'點(diǎn) 'x軸坐標(biāo)Dim yB As Double 'B點(diǎn)y軸坐標(biāo)Dim vxB As Double 'B點(diǎn)速度x軸分量Dim vyB As Double 'B點(diǎn)速度y軸分量Dim axB As Double 'B點(diǎn)加速度x軸分量Dim ayB As Double 'B點(diǎn)加速度y軸分量Dim xC As

8、 Double 'C點(diǎn)x軸坐標(biāo)Dim yC As Double C'點(diǎn)y軸坐標(biāo)Dim vxC As Double 'C點(diǎn)速度x軸分量Dim vyC As Double 'C點(diǎn)速度y軸分量Dim axC As Double 'C點(diǎn)加速度x軸分量Dim ayC As Double 'C點(diǎn)加速度y軸分量Dim xD As Double 'D點(diǎn)x軸坐標(biāo)Dim yD As Double 'D點(diǎn)y軸坐標(biāo)Dim vxD As Double 'D點(diǎn)速度x軸分量Dim vyD As Double 'D點(diǎn)速度y軸分量Dim axD A

9、s Double 'D點(diǎn)加速度x軸分量Dim ayD As Double 'D點(diǎn)加速度y軸分量Dim xE As Double 'E點(diǎn)x軸坐標(biāo)Dim yE As Double 'E點(diǎn)y軸坐標(biāo)Dim vxE As Double 'E點(diǎn)速度x軸分量Dim vyE As Double 'E點(diǎn)速度y軸分量Dim axE As Double 'E點(diǎn)加速度x軸分量Dim ayE As Double 'E點(diǎn)加速度y軸分量Dim xF As Double 'F點(diǎn)x軸坐標(biāo)Dim yF As Double 'F點(diǎn)y軸坐標(biāo)Dim vxF

10、 As Double 'F點(diǎn)速度x軸分量Dim vyF As Double 'F點(diǎn)速度y軸分量Dim axF As Double 'F點(diǎn)加速度x軸分量Dim ayF As Double 'F點(diǎn)加速度y軸分量Dim xG As Double 'G點(diǎn)x軸坐標(biāo)Dim yG As Double 'G點(diǎn)y軸坐標(biāo)Dim vxG As Double 'G點(diǎn)速度x軸分量Dim vyG As Double 'G點(diǎn)速度y軸分量Dim axG As Double 'G點(diǎn)加速度x軸分量Dim ayG As Double 'G點(diǎn)加速度y軸分

11、量Dim delt As Double ' AB桿初始轉(zhuǎn)角Dim lab As Double 'AB桿長(zhǎng)Dim lbc As Double 'BC桿長(zhǎng)Dim lcd As Double ' CD桿長(zhǎng)Dim lce As Double 'CE桿長(zhǎng)Dim lef As Double 'EF桿長(zhǎng)Dim lfg As Double 'FG桿長(zhǎng)Dim leb As Double 'ED桿長(zhǎng)Dim f As Double 'AB桿轉(zhuǎn)角Dim fbc As Double 'BC桿轉(zhuǎn)角Dim fcd As Double '

12、CD桿轉(zhuǎn)角Dim fce As Double 'CE桿轉(zhuǎn)角Dim fef As Double 'EF桿轉(zhuǎn)角Dim ffg As Double 'FG桿轉(zhuǎn)角Dim fge As Double 'ge桿轉(zhuǎn)角Dim w As Double 'AB桿角速度Dim wbc As Double ' BC角速度Dim wcd As Double 'CD角速度Dim wce As Double 'CE角速度Dim wef As Double 'EF角速度Dim wfg As Double 'FG角速度Dim e As Double

13、 'AB桿角加速度Dim ebc As Double ' BC桿角加速度Dim ecd As Double 'CD桿角加速度Dim ece As Double 'CE桿角加速度Dim eef As Double 'EF桿角加速度Dim efg As Double 'FG桿角加速度Dim LBD As Double 'BD距離Dim leg As Double 'EG距離Dim JCBD As Double '角CBDDim jfeg As Double '角FEGDim fBD As Double 'BD轉(zhuǎn)

14、角Dim feg As Double 'EG轉(zhuǎn)角Dim Ci As DoubleDim Cj As DoubleDim Si As DoubleDim Sj As DoubleDim G1 As DoubleDim G2 As DoubleDim G3 As DoubleDim val As DoubleDim pi As DoubleDim pa As DoubleDim febc As Double '角EBCDim i As DoubleDim fj1 As DoublePrivate Sub Command1_Click() '求點(diǎn)E的軌跡Picture1.Sc

15、ale (-300, 400)-(10, -15)Picture1.Line (-300, 0)-(10, 0) 'XPicture1.Line (0, 400)-(0, -15) 'YFor i = -300 To 0 Step 50 'X軸坐標(biāo) Picture1.DrawStyle = 2 Picture1.Line (i, 400)-(i, 0) Picture1.CurrentX = i - 10: Picture1.CurrentY = 0 Picture1.Print i Next iFor i = 0 To 350 Step 50 'Y軸坐標(biāo) Pi

16、cture1.DrawStyle = 2 Picture1.Line (0, i)-(-400, i) Picture1.CurrentX = -20: Picture1.CurrentY = i + 7 Picture1.Print i Next iFor fj1 = 0 To 360 Step 0.01 f = fj1 * pa Call RR1 Call RRR1 Call RR2 Picture1.PSet (xE, yE) Next fj1End SubPrivate Sub Command2_Click() '求構(gòu)件5的角位移Picture2.Scale (-20, 5)-

17、(380, -0.5)Picture2.Line (-20, 0)-(380, 0) 'XPicture2.Line (0, 3)-(0, -0.5) 'YFor i = 0 To 360 Step 30 'X軸坐標(biāo) Picture2.DrawStyle = 2 Picture2.Line (i, 3)-(i, 0) Picture2.CurrentX = i - 10: Picture2.CurrentY = 0 Picture2.Print i Next iFor i = -0.5 To 3 Step 0.5 'Y軸坐標(biāo) Picture2.Line (0,

18、i)-(380, i) Picture2.CurrentX = -25: Picture2.CurrentY = i Picture2.Print i Next iFor fj1 = 0 To 360 Step 0.01 f = fj1 * pa Call RR1 Call RRR1 Call RR2 Call RRR2 Picture2.PSet (fj1, ffg) Next fj1End SubPrivate Sub Command3_Click() '求構(gòu)件5的角速度Picture3.Scale (-20, 10)-(380, -10)Picture3.Line (-20, 0

19、)-(380, 0) 'XPicture3.Line (0, 10)-(0, -10) 'YFor i = 0 To 360 Step 30 'X軸坐標(biāo) Picture3.DrawStyle = 2 Picture3.Line (i, 10)-(i, -10) Picture3.CurrentX = i - 10: Picture3.CurrentY = 0 Picture3.Print i Next iFor i = -8 To 8 Step 2 'Y軸坐標(biāo) Picture3.Line (0, i)-(380, i) Picture3.CurrentX = -

20、20: Picture3.CurrentY = i Picture3.Print i Next iFor fj1 = 0 To 360 Step 0.01 f = fj1 * pa Call RR1 Call RRR1 Call RR2 Call RRR2 Picture3.PSet (fj1, wfg) Next fj1End SubPrivate Sub Command4_Click() '求構(gòu)件5的角加速度Picture4.Scale (-20, 300)-(380, -200)Picture4.Line (-20, 0)-(380, 0) 'XPicture4.Line

21、 (0, 300)-(0, -200) 'YFor i = 0 To 360 Step 30 'X軸坐標(biāo) Picture4.DrawStyle = 2 Picture4.Line (i, 300)-(i, -200) Picture4.CurrentX = i - 10: Picture4.CurrentY = 0 Picture4.Print i Next iFor i = -200 To 300 Step 50 'Y軸坐標(biāo) Picture4.Line (0, i)-(380, i) Picture4.CurrentX = -25: Picture4.CurrentY

22、 = i + 5 Picture4.Print i Next iFor fj1 = 0 To 360 Step 0.01 f = fj1 * pa Call RR1 Call RRR1 Call RR2Call RRR2 Picture4.PSet (fj1, efg Next fj1End SubPrivate Sub Form_Load() '賦初值lab = 108lce = 200lbc = 200lcd = 200lef = 320lfg = 162w = 10e = 0delt = 0xA = 0yA = 0vxA = 0vyA = 0axA = 0ayA = 0xD =

23、-178.yD = 186.vxD = 0vyD = 0axD = 0ayD = 0xG = -514yG = 0vxG = 0vyG = 0axG = 0ayG = 0pi = 3.pa = pi / 180febc = pa * 50End SubPrivate Sub RR1() 'RR基本桿組xB = xA + lab * Cos(f + delt)yB = yA + lab * Sin(f + delt)vxB = vxA - w * lab * Sin(f + delt)vyB = vyA + w * lab * Cos(f + delt)axB = axA - w 2 *

24、 lab * Cos(f + delt) - e * lab * Sin(f + delt)ayB = ayA - w 2 * lab * Sin(f + delt) + e * lab * Sin(f + delt)End SubPrivate Sub RR2() 'RR基本桿組leb = 2 * lbc * Cos(febc)xE = xB + leb * Cos(fbc + febc)yE = yB + leb * Sin(fbc + febc)vxE = vxB - wbc * leb * Sin(fbc + febc)vyE = vyB + wbc * leb * Cos(f

25、bc + febc)axE = axB - wbc 2 * leb * Cos(fbc + delt) - ebc * leb * Sin(fbc + febc)ayE = ayB - wbc 2 * leb * Sin(fbc + delt) + ebc * leb * Sin(fbc + febc)End SubPrivate Sub RRR1() 'RRR基本桿組LBD = Sqr(xD - xB) 2 + (yD - yB) 2)If LBD > lbc + lcd And LBD < Abs(lbc - lcd) Then If MsgBox("RRR桿

26、組桿長(zhǎng)不符合要求", vbOKOnly, "提示") = 1 Then End Else End IfElseEnd IfIf LBD < lbc + lcd And LBD > Abs(lbc - lcd) Then val = (lbc 2 + LBD 2 - lcd 2) / (2 * lbc * LBD) JCBD = Atn(-val / Sqr(-val * val + 1) + 2 * Atn(1) Else End If If LBD = lbc + lcd Then JCBD = 0 Else End If If LBD = Abs(

27、lbc - lcd) Then If lbc > lcd Then JCBD = 0 Else End If If lbc < lcd Then JCBD = pi Else End IfElseEnd IfIf xD > xB And yD >= yB Then '第一象限fBD = Atn(yD - yB) / (xD - xB)ElseEnd IfIf xD = xB And yD > yB ThenfBD = pi / 2ElseEnd IfIf xD < xB And yD >= yB Then '第二象限fBD = pi +

28、 Atn(yD - yB) / (xD - xB)ElseEnd IfIf xD < xB And yD < yB Then '第三象限fBD = pi + Atn(yD - yB) / (xD - xB)ElseEnd IfIf xD = xB And yD < yB ThenfBD = 3 * pi / 2ElseEnd IfIf xD > xB And yD <= yB Then '第四象限fBD = 2 * pi + Atn(yD - yB) / (xD - xB)ElseEnd Iffbc = fBD - JCBDxC = xB + lb

29、c * Cos(fbc)yC = yB + lbc * Sin(fbc)If xC > xD And yC >= yD Then '第一象限fcd = Atn(yC - yD) / (xC - xD)ElseEnd IfIf xC = xD And yC >= yD Thenfcd = pi / 2ElseEnd IfIf xC < xD And yC >= yD Then '第二象限fcd = pi + Atn(yC - yD) / (xC - xD)ElseEnd IfIf xC < xD And yC < yD Then '

30、;第三象限fcd = pi + Atn(yC - yD) / (xC - xD)ElseEnd IfIf xC = xD And yC < yD Thenfcd = 3 * pi / 2ElseEnd IfIf xC > xD And yC <= yD Then '第四象限fcd = 2 * pi + Atn(yC - yD) / (xC - xD)ElseEnd IfCi = lbc * Cos(fbc)Si = lbc * Sin(fbc)Cj = lcd * Cos(fcd)Sj = lcd * Sin(fcd)G1 = Ci * Sj - Cj * Siwbc

31、 = (Cj * (vxD - vxB) + Sj * (vyD - vyB) / G1wcd = (Ci * (vxD - vxB) + Si * (vyD - vyB) / G1vxC = vxB - wbc * lbc * Sin(fbc)vyC = vyB + wbc * lbc * Cos(fbc)G2 = axD - axB + wbc 2 * Ci - wcd 2 * CjG3 = ayD - ayB + wbc 2 * Si - wcd 2 * Sjebc = (G2 * Cj + G3 * Sj) / G1ecd = (G2 * Ci + G3 * Si) / G1axC =

32、 axB - ebc * lbc * Sin(fbc) - wbc 2 * lbc * Cos(fbc)ayC = ayB + ebc * lbc * Cos(fbc) - wbc 2 * lbc * Sin(fbc)End SubPrivate Sub RRR2() 'RRR基本桿組leg = Sqr(xG - xE) 2 + (yG - yE) 2)If leg > lef + lfg And leg < Abs(lef - lfg) Then If MsgBox("RRR桿組桿長(zhǎng)不符合要求", vbOKOnly, "提示") =

33、 1 Then End Else End IfElseEnd IfIf leg < lef + lfg And leg > Abs(lef - lfg) Then val = (lef 2 + leg 2 - lfg 2) / (2 * lef * leg) jfeg = Atn(-val / Sqr(-val * val + 1) + 2 * Atn(1) Else End If If leg = lef + lfg Then jfeg = 0 Else End If If leg = Abs(lef - lfg) Then If lef > lfg Then jfeg =

34、 0 Else End If If lef < lfg Then jfeg = pi Else End If Else End IfIf xG > xE And yG >= yE Then '第一象限feg = Atn(yG - yE) / (xG - xE)ElseEnd IfIf xG = xE And yG > yE Thenfeg = pi / 2ElseEnd IfIf xG < xE And yG >= yE Then '第二象限feg = pi + Atn(yG - yE) / (xG - xE)ElseEnd IfIf xG

35、< xE And yG < yE Then '第三象限feg = pi + Atn(yG - yE) / (xG - xE)ElseEnd IfIf xG = xE And yG < yE Thenfeg = 3 * pi / 2ElseEnd IfIf xG > xE And yG <= yE Then '第四象限feg = 2 * pi + Atn(yG - yE) / (xG - xE)ElseEnd Iffef = feg - jfegxF = xE + lef * Cos(fef)yF = yE + lef * Sin(fef)If xF > xG And yF >= yG Then '第一象限ffg = Atn(yF - yG) / (xF - xG)ElseEnd IfIf xF = xG And yF >= yG Thenffg = pi / 2ElseEnd IfIf xF < xG And yF >= yG Then '第二象限ffg = pi + Atn(yF - yG) / (xF - xG