四連桿機運動學(xué)分析報告

實用文檔欄桿機四桿機構(gòu)運動學(xué)分析四桿機構(gòu)運動學(xué)分析1.1機構(gòu)運動分析的任務(wù)、目的和方法曲柄搖桿機構(gòu)是平面連桿機構(gòu)中最基本的由轉(zhuǎn)動副組成的四桿機構(gòu)，它可以用來實現(xiàn)轉(zhuǎn)動和擺動之間運動形式的轉(zhuǎn)換或傳遞動力。對四桿機構(gòu)進(jìn)行運動分析的意義是：在機構(gòu)尺寸參數(shù)已知的情況下，假定主動件（曲柄）做勻速轉(zhuǎn)動，撇開力的作用，僅從運動幾何關(guān)系上分析從動件（連桿、搖桿）的角位移、角速度、角加速度等運動參數(shù)的變化情況。還可以根據(jù)機構(gòu)閉環(huán)矢量方程計算從動件的位移偏差。上述這些內(nèi)容，無論是設(shè)計新的機械，還是為了了解現(xiàn)有機械的運動性能，都是十分必要的，而且它還是研究機械運動性能和動力性能提供必要的依據(jù)。機構(gòu)運動分析的方法很多，主要有圖解法和解析法。當(dāng)需要簡捷直觀地了解機構(gòu)的某個或某幾個位置的運動特性時，采用圖解法比較方便，而且精度也能滿足實際問題的要求。而當(dāng)需要精確地知道或要了解機構(gòu)在整個運動循環(huán)過程中的運動特性時，采用解析法并借助計算機，不僅可獲得很高的計算精度及一系列位置的分析結(jié)果，并能繪制機構(gòu)相應(yīng)的運動線圖，同時還可以把機構(gòu)分析和機構(gòu)綜合問題聯(lián)系起來，以便于機構(gòu)的優(yōu)化設(shè)計。1.2機構(gòu)的工作原理在平面四桿機構(gòu)中，其具有曲柄的條件為：各桿的長度應(yīng)滿足桿長條件，即：最短桿長度+最長桿長度≤其余兩桿長度之和。組成該周轉(zhuǎn)副的兩桿中必有一桿為最短桿，且其最短桿為連架桿或機架（當(dāng)最短桿為連架桿時，四桿機構(gòu)為曲柄搖桿機構(gòu)；當(dāng)最短桿為機架時，則為雙曲柄機構(gòu)）。三臺設(shè)備測繪數(shù)據(jù)分別如 下：第一組(2代一套)四桿機構(gòu)L1=125.36mm，L2=73.4mm，L3=103.4mm，L4=103.52mm最短桿長度+最長桿長度(125.36+73.4)<其余兩桿長度之和(103.4+103.52)最短桿為連架桿，四桿機構(gòu)為曲柄搖桿機構(gòu)圖1-1 II-1 型欄桿機機構(gòu)測繪及其運動位置圖實用文檔第二組(2代二套)四桿機構(gòu)L1=125.36mm，L2=50.1mm，L3=109.8mm，L4=72.85mm最短桿長度+最長桿長度(125.36+50.1)<其余兩桿長度之和(109.8+72.85)最短桿為連架桿，四桿機構(gòu)為曲柄搖桿機構(gòu)圖1-2 II-2 型欄桿機機構(gòu)測繪及其運動位置圖第三組(3代)四桿機構(gòu)L1=163.2mm，L2=64.25mm，L3=150mm，L4=90.1mm最短桿長度+最長桿長度(163.2+64.25)<其余兩桿長度之和(150+90.1)最短桿為連架桿，四桿機構(gòu)為曲柄搖桿機構(gòu)圖1-3 III 型欄桿機機構(gòu)測繪及其運動位置圖在如下圖 1所示的曲柄搖桿機構(gòu)中，構(gòu)件 AB為曲柄，則 B點應(yīng)能通過曲柄與連桿兩次共線的位置。曲柄搖桿機構(gòu)死點情況分析 :在曲柄搖桿機構(gòu)中,一般兩連架桿一為主動件,一為從動件,我們知道,當(dāng)從動件連架桿與連桿處于共線(拉直共線或重疊共線)位置時,機構(gòu)的傳動角為0,即機構(gòu)處于死點位置,機構(gòu)在死點位置上無法啟動且具有運動不確定性 , 因而我們有必要對其進(jìn)行詳細(xì)研究 .搖桿主動時曲柄搖桿機構(gòu)有兩個死點位置,而對曲柄主動時,有否死點位置的問題,基本沒有涉及.有的資料上則直接說,曲柄主動時無死點位置.本文對此問題進(jìn)行了分析研究,發(fā)現(xiàn):曲柄主動時,最短桿長度+最長桿長度<其余兩桿長度之和,此時無死點位置.實用文檔圖1-4曲柄搖桿機構(gòu)表1曲柄搖桿機構(gòu)的死點個數(shù)及位置情況表1.3機構(gòu)的數(shù)學(xué)模型的建立圖1-5 曲柄搖桿機構(gòu)數(shù)學(xué)模型簡圖 建立機構(gòu)的閉環(huán)矢量位置方程在用矢量法建立機構(gòu)的位置方程時，需將構(gòu)件用矢量來表示，并作出機構(gòu)的封閉矢量多邊形。如圖1所示，先建立一直角坐標(biāo)系。設(shè)各構(gòu)件的長度分別為 L1、L2、L3、L4，其方位角為 、 、、 。以各桿矢量組成一個封閉矢量多邊形，即 ABCDA。其個矢量之和必等于零。即：實用文檔式1式1為圖1所示四桿機構(gòu)的封閉矢量位置方程式。對于一個特定的四桿機構(gòu)，其各構(gòu)件的長度和原動件2的運動規(guī)律，即 為已知，而 =0，故由此矢量方程可求得未知方位角 、 。角位移方程的分量形式為：式2閉環(huán)矢量方程分量形式對時間求一階導(dǎo)數(shù)（角速度方程）為：式3其矩陣形式為：L3sin3L4sin432L2sin2L3cos3L4cos442L2cos2式4聯(lián)立式3兩公式可求得：式5式6閉環(huán)矢量方程分量形式對時間求二階導(dǎo)數(shù)（角加速度方程）矩陣形式為：L3sin3L4sin43L3cos3L4cos44L424cosL222sin

L32L2243cos32cos2L32sinL442233sin4式7由式7可求得加速度：式8式9實用文檔注：式1~式

9中，Li(i=1,2,3,4

）分別表示機架

1、曲柄

2、連桿

3、搖桿

4的長度；

（i=1,2,3,4

）是各桿與

x軸的正向夾角，逆時針為正，順時針為負(fù)，單位為

rad;

是各桿的角速度，

，單位為

rad/s;

為各桿的角加速度，單位為

。 求解方法（1）求導(dǎo)中應(yīng)用了下列公式：式

10（2）在角位移方程分量形式（式

2）中，由于假定機架為參考系，矢量

1與

x軸重合，

=0，則有非線性超越方程組：式

11可以借助牛頓（3）求解具有

-辛普森數(shù)值解法或 Matlab自帶的fsolve 函數(shù)求出連桿n個未知量 （i=1,2, ?,n）的線性方程組：

3的角位移和搖桿

4的角位移。式12式中，系列矩陣 是一個 階方陣：式13的逆矩陣為 ;常數(shù)項b是一個n維矢量：式14因此，線性方程組解的矢量為：式15式11是求解連桿3和搖桿4角速度和角加速度的依據(jù)。實用文檔1.4 基于MATLAB程序設(shè)計四連桿機構(gòu)的解析法同樣可以用MATLAB的計算工具來求值，并結(jié)合MATLAB的可視化手段，把各點的計算值擬合成曲線，得到四連桿機構(gòu)的運動仿真軌跡。 程序流程圖圖

1-6Matlab

運動分析程序流程 M文件編寫首先創(chuàng)建函數(shù)

FoutBarPosition

，函數(shù)

fsolve

通過他確定

。functiont=fourbarposition(th)%

求解其他兩桿的θ

_3,

θ_4L1=163.2mm;L2=64.25mm;L3=150mm;L4=90.1mm;%給定已知量，各桿長

L1,L2,L3,L4globalth21

%

給定初始θ

_2t(1)=L2*cos(th21)+L3*cos(th(1))-L4*cos(th(2))-L1;實用文檔t(2)=L2*sin(th21)+L3*sin(th(1))-L4*sin(th(2));主程序如下：disp'******平面四桿機構(gòu)的運動分析******'L1=0.1632;L2=0.06425;L3=0.150;L4=0.091;%各桿長度globalth21%θ_2h=30;%給出轉(zhuǎn)角步長30度th2=[0:h:360]*pi/180;%曲柄輸入角度從0至360度，步長為pi/6th34=zeros(length(th2),2);%建立一個N行2列的零矩陣，第一列存放options=optimset('display','off');%θ_3,第二列存放θ_4for m=1:length(th2) %建立for 循環(huán)，求解θ_3，θ_4th21=th2(m);y3=fsolve('fourbarposition',[11]);%的非線性超越方程，結(jié)果保存在th34中th34(m,:)=y3;endy=L2*sin(th2)+L3*sin(th34(:,1)'); %連桿3的C端點坐標(biāo)值x=L2*cos(th2)+L3*cos(th34(:,1)'); %連桿3的C端點坐標(biāo)值xx=[L2*cos(th2)];%連桿3的B端點X坐標(biāo)值yy=[L2*sin(th2)];連桿3的B端點Y坐標(biāo)值figure(1)plot([x;xx],[y;yy],'k',[0L1],[00],'k--^',x,y,'ko',xx,yy,'ks') %繪制連桿的幾個位置點title(' 連桿3的幾個位置點')xlabel(' 水平方向(m)')ylabel(' 垂直方向(m)')axisequal%XY坐標(biāo)均衡h=5;%重新細(xì)分曲柄輸入角度θ _2，步長為 5度th2=[0:h:360]*pi/180;th34=zeros(length(th2),2);options=optimset('display','off');form=1:length(th2) % 建立for 循環(huán)，求解θ _3，θ_4th21=th2(m);實用文檔y3=fsolve('fourbarposition',[11]);th34(m,:)=y3;endfigure(2)%plot(th2*180/pi,th34(:,1),th2*180/pi,th34(:,2))

%繪制連桿

3的角位移關(guān)于曲柄

2的角位移圖plot(th2*180/pi,th34(:,1)*180/pi,th2*180/pi,th34(:,2)*180/pi)%繪制搖桿

4的角位移關(guān)于曲柄

2的角位移圖axis([0

360

0170])

%確定

XY

邊界值grid%圖形加網(wǎng)格xlabel(' 主動件轉(zhuǎn)角\theta_2(ylabel(' 從動件角位移(度)')title(' 角位移線圖')text(120,120,' 搖桿4角位移text(150,40,' 連桿3角位移')

度)')')

%

%

%

橫坐標(biāo)標(biāo)題縱坐標(biāo)標(biāo)題設(shè)定顯示范圍w2=5.23599;%設(shè)定曲柄角速度fori=1:length(th2)A=[-L3*sin(th34(i,1)),L4*sin(th34(i,2));L3*cos(th34(i,1)),-L4*cos(th34(i,2))];B=[w2*L2*sin(th2(i));-w2*L2*cos(th2(i))];w=inv(A)*B;w3(i)=w(1);%求解桿3角速度w4(i)=w(2);%求解桿4角速度%w3(i)=(w2*L2*sin(th34(i,2)-th2(i)))/(L3*sin(th34(i,1)-th34(i,2)));%w4(i)=(w2*L2*sin(th2(i)-th34(i,1)))/(L4*sin(th34(i,2)-th34(i,1)));endfigure(3)plot(th2*180/pi,w3,th2*180/pi,w4);%繪制角速度線圖axis([0360-55])text(50,4.2,'搖桿4角速度(\omega_4)')text(220,3,'連桿3角速度(\omega_3)')gridxlabel('主動件轉(zhuǎn)角\theta_2(度)')ylabel('從動件角速度(rad\cdots^{-1})')title('角速度線圖')實用文檔fori=1:length(th2)C=[L3*sin(th34(i,1)),-L4*sin(th34(i,2));L3*cos(th34(i,1)),-L4*cos(th34(i,2))];D=[w4(i)^2*L4*cos(th34(i,2))-w3(i)^2*L3*cos(th34(i,1))-w2^2*L2*cos(th2(i));w2^2*L2*sin(th2(i))+w3(i)^2*L3*sin(th34(i,1))-w4(i)^2*L4*sin(th34(i,2))];a=inv(C)*D;%s43=th34(:,2)-th34(:,1);%s23=th2'-th34(:,1);%a3=(-L2*w2^2.*cos(s23)-w3.^2*L3.*cos(-s43)+L4.*w4.^2)./(L4.*sin(s43));%a4=(L2*w2^2.*cos(s23)-w4.^2*L4.*cos(s43)+L3.*w3.^2)./(L4.*sin(s43));a3(i)=a(1);%求解桿3角加速度a4(i)=a(2);%求解桿4角加速度endfigure(4)plot(th2*180/pi,a3,th2*180/pi,a4);%繪制角加速度線圖axis([0360-3060])text(30,18,'搖桿4角加速度(\alpha_4)')text(180,7,'連桿3角加速度(\alpha_3)')gridxlabel('主動件轉(zhuǎn)角\theta_2(度)')ylabel('從動件角加速度(rad\cdots^{-2})')title('角加速度線圖')disp'曲柄轉(zhuǎn)角連桿轉(zhuǎn)角-搖桿轉(zhuǎn)角-連桿角速度-搖桿角速度-連桿加速度-搖桿加速度'ydcs=[th2'*180/pi,th34(:,1)*180/pi,th34(:,2)*180/pi,w3',w4',a3',a4'];disp(ydcs)重新細(xì)分曲柄輸入角度θ_2，步長為1度h=1;

%重新細(xì)分曲柄輸入角度θ

_2，步長為

0.1度th2=[20:h:210]*pi/180;th34=zeros(length(th2),2);options=optimset('display','off');form=1:length(th2)

%

建立

for

循環(huán)，求解θ

_3，θ_4th21=th2(m);y3=fsolve('fourbarposition',[11]);th34(m,:)=y3;endfigure(2)%plot(th2*180/pi,th34(:,1),th2*180/pi,th34(:,2))

%繪制連桿

3的角位移關(guān)于曲柄

2的角位移圖plot(th2*180/pi,th34(:,1)*180/pi,th2*180/pi,th34(:,2)*180/pi)%繪制搖桿

4的角位移關(guān)于曲柄

2的角位移圖實用文檔axis([20

210

0180])

%確定

XY

邊界值grid%圖形加網(wǎng)格xlabel(' 主動件轉(zhuǎn)角\theta_2(ylabel(' 從動件角位移(度)')title(' 角位移線圖')text(120,120,' 搖桿4角位移text(150,40,' 連桿3角位移')

度)')')

%

%

%

橫坐標(biāo)標(biāo)題縱坐標(biāo)標(biāo)題設(shè)定顯示范圍w2=5.23599;%設(shè)定曲柄角速度fori=1:length(th2)A=[-L3*sin(th34(i,1)),L4*sin(th34(i,2));L3*cos(th34(i,1)),-L4*cos(th34(i,2))];B=[w2*L2*sin(th2(i));-w2*L2*cos(th2(i))];w=inv(A)*B;w3(i)=w(1);%求解桿3角速度w4(i)=w(2);%求解桿4角速度%w3(i)=(w2*L2*sin(th34(i,2)-th2(i)))/(L3*sin(th34(i,1)-th34(i,2)));%w4(i)=(w2*L2*sin(th2(i)-th34(i,1)))/(L4*sin(th34(i,2)-th34(i,1)));endfigure(3)plot(th2*180/pi,w3,th2*180/pi,w4);%繪制角速度線圖axis([20210-35])text(50,2.5,'搖桿4角速度(\omega_4)')text(100,-1,'連桿3角速度(\omega_3)')gridxlabel('主動件轉(zhuǎn)角\theta_2(度)')ylabel('從動件角速度(rad\cdots^{-1})')title('角速度線圖')fori=1:length(th2)C=[L3*sin(th34(i,1)),-L4*sin(th34(i,2));L3*cos(th34(i,1)),-L4*cos(th34(i,2))];D=[w4(i)^2*L4*cos(th34(i,2))-w3(i)^2*L3*cos(th34(i,1))-w2^2*L2*cos(th2(i));w2^2*L2*sin(th2(i))+w3(i)^2*L3*sin(th34(i,1))-w4(i)^2*L4*sin(th34(i,2))];a=inv(C)*D;%s43=th34(:,2)-th34(:,1);%s23=th2'-th34(:,1);%a3=(-L2*w2^2.*cos(s23)-w3.^2*L3.*cos(-s43)+L4.*w4.^2)./(L4.*sin(s43));%a4=(L2*w2^2.*cos(s23)-w4.^2*L4.*cos(s43)+L3.*w3.^2)./(L4.*sin(s43));a3(i)=a(1); % 求解桿3角加速度實用文檔a4(i)=a(2);

%

求解桿

4角加速度endfigure(4)plot(th2*180/pi,a3,th2*180/pi,a4);

%繪制角加速度線圖axis([20210-2540])text(45,20,' 搖桿4角加速度(\alpha_4)')text(160,5,' 連桿3角加速度(\alpha_3)')gridxlabel(' 從動件角加速度 ')ylabel(' 從動件角加速度 (rad\cdots^{-2})')title(' 角加速度線圖')disp'曲柄轉(zhuǎn)角-連桿轉(zhuǎn)角-搖桿轉(zhuǎn)角-連桿角速度-搖桿角速度-連桿加速度-搖桿加速度'ydcs=[th2'*180/pi,th34(:,1)*180/pi,th34(:,2)*180/pi,w3',w4',a3',a4'];disp(ydcs)%RRR桿組各點約束力 (動力學(xué)分析)Rbcd=zeros(length(th2),6);form=1:length(th2) % 求bcd三點約束反力M(1)=th34(m,1);M(2)=th34(m,2);M(3)=w3(m);M(4)=w4(m);M(5)=a3(m);M(6)=a4(m);M(7)=-L2*w2*w2*cos(th2(m));M(8)=-L2*w2*w2*sin(th2(m));M(9)=0;M(10)=0;M(11)=-100;Y1=RRRdy(M);Rbcd(m,:)=Y1;end%主動桿組各點約束力和力矩Ram=zeros(length(th2),3);form=1:length(th2)N(1)=th2(m);N(2)=10;N(3)=0;N(4)=Rbcd(m,1);N(5)=Rbcd(m,2);Y1=crankdy(N);Ram(m,:)=Y1;實用文檔endplot(th2*180/pi,Ram(:,3));%繪制曲柄力矩線圖axis([0360-5050])gridxlabel('曲柄角度')ylabel('曲柄力矩(N*m)')title('曲柄力矩線圖')plot(th2*180/pi,Ram(:,1));%繪制A點約束力水平分力axis([0360-250250])gridxlabel('曲柄角度')ylabel('A點水平分力(N)')title('A點約束力水平分力')欄桿機各機型的分析結(jié)果2.12代1機構(gòu)尺寸參數(shù)各構(gòu)件的尺寸為r1=73.4mm，r2=103.4mm，r3=103.52mm，r4=125.36mm；質(zhì)心為rc1=mm，rc2＝mm．rc3＝mm質(zhì)量為m1＝kg，m2＝kg．m3＝kg；轉(zhuǎn)動慣量為J1＝kg?m2，J2＝kg?m2，J3＝kg?m2，構(gòu)件3的工作阻力矩M3＝N?m．順時針方向，其他構(gòu)件所受外力和外力矩(彈簧拉力大小及位置)構(gòu)件1以等角速度5.326rad／s逆時針方向回轉(zhuǎn)2代1型運動時間0.6s曲柄角速度12/180*tθ12為曲柄兩極限點的轉(zhuǎn)角范圍12218.235.1=183.1θ31為搖桿兩極限點轉(zhuǎn)角范圍θ31=169.6412-79.2815=90.36下表為曲柄轉(zhuǎn)動一周,各參數(shù)變化量,角度間隔5度曲柄轉(zhuǎn)角-連桿轉(zhuǎn)角-搖桿轉(zhuǎn)角-連桿角速度-搖桿角速度-連桿加速度-搖桿加速度075.5848104.6713-7.5236-7.5236-25.310824.84955.000068.409897.8795-7.6753-6.86426.310854.523410.000061.322691.9131-7.3554-5.793131.058474.118115.000054.698887.0702-6.7185-4.505344.828781.093620.000048.751983.4619-5.9400-3.190148.845078.168125.000043.547281.0433-5.1519-1.973446.667469.802930.000039.059479.7077-4.4270-0.912841.535859.570435.000035.206879.2817-3.7948-0.019635.597149.592440.000031.903379.6218-3.25880.718929.922140.7819實用文檔45.0000 29.0609 80.5907 -2.8104 1.3246 24.9470 33.384050.0000 26.6033 82.0747 -2.4369 1.8202 20.7706 27.326855.0000 24.4662 83.9805 -2.1257 2.2263 17.3423 22.422260.0000 22.5964 86.2323 -1.8651 2.5601 14.5596 18.461465.0000 20.9514 88.7691 -1.6456 2.8354 12.3129 15.254770.0000 19.4961 91.5410 -1.4592 3.0633 10.5032 12.642275.0000 18.2032 94.5085 -1.2995 3.2523 9.0478 10.495080.0000 17.0495 97.6375 -1.1612 3.4092 7.8803 8.709985.0000 16.0175100.9010 -1.0400 3.5392 6.9493 7.205590.0000 15.0944104.2757 -0.9324 3.6464 6.2155 5.916595.0000 14.2636107.7414 -0.8354 3.7340 5.6496 4.7894100.0000 13.5216111.2810 -0.7464 3.8041 5.2322 3.7803105.0000 12.8604114.8789 -0.6632 3.8583 4.9509 2.8507110.0000 12.2755118.5206 -0.5835 3.8977 4.8006 1.9651115.0000 11.7649122.1925 -0.5051 3.9227 4.7838 1.0893120.0000 11.3290125.8805 -0.4259 3.9332 4.9106 0.1874125.0000 10.9707129.5701 -0.3431 3.9284 5.2001 -0.7805130.0000 10.6845133.2524 -0.2545 3.9071 5.6785 -1.8576135.0000 10.4909136.9030 -0.1560 3.8668 6.3887 -3.1004140.0000 10.3959140.5056 -0.0436 3.8043 7.3807 -4.5706145.0000 10.4151144.0373 0.0877 3.7154 8.7141 -6.3372150.0000 10.5692147.4707 0.2442 3.5946 10.4457 -8.4653155.0000 10.8856150.7723 0.4326 3.4356 12.6044-10.9906160.0000 11.3985153.9022 0.6598 3.2321 15.1436-13.8728165.0000 12.1482156.8147 0.9307 2.9795 17.8735-16.9274170.0000 13.1770159.4627 1.2457 2.6777 20.4079-19.7739175.0000 14.4826161.8447 1.5954 2.3353 22.2580-21.9279180.0000 16.1540163.8652 1.9668 1.9668 22.8382-22.8095185.0000 18.1748165.5368 2.3358 1.5959 21.9557-22.2299190.0000 20.5317166.8680 2.6795 1.2452 19.8252-20.4078195.0000 23.1926167.8863 2.9814 0.9311 16.9590-17.8590200.0000 26.1140168.6301 3.2342 0.6609 13.8946-15.1251205.0000 29.2494169.1410 3.4378 0.4343 11.0082-12.5867210.0000 32.5572169.4551 3.5967 0.2466 8.4812-10.4303215.0000 35.9957169.6081 3.7176 0.0906 6.3528 -8.7011220.0000 39.5282169.6315 3.8068 -0.0407 4.5849 -7.3684225.0000 43.1306169.5427 3.8697 -0.1531 3.1133 -6.3758230.0000 46.7855169.3498 3.9102 -0.2513 1.8710 -5.6662235.0000 50.4677169.0718 3.9318 -0.3399 0.7931 -5.1863240.0000 54.1623168.7135 3.9368 -0.4223 -0.1734 -4.8968245.0000 57.8545168.2795 3.9265 -0.5013 -1.0742 -4.7692250.0000 61.5301167.7717 3.9017 -0.5793 -1.9487 -4.7848255.0000 65.1757167.1898 3.8626 -0.6588 -2.8327 -4.9334260.0000 68.7770166.5364 3.8087 -0.7418 -3.7604 -5.2123265.0000 72.3211165.7989 3.7390 -0.8304 -4.7670 -5.6272270.0000 75.7918164.9748 3.6519 -0.9270 -5.8909 -6.1899實用文檔275.0000 79.1712164.0502 3.5450 -1.0342 -7.1774 -6.9211280.0000 82.4408163.0288 3.4155 -1.1548 -8.6769 -7.8473285.0000 85.5761161.8815 3.2592 -1.2926-10.4571 -9.0099290.0000 88.5513160.5954 3.0709 -1.4516-12.5983-10.4596295.0000 91.3303159.1477 2.8438 -1.6372-15.2043-12.2627300.0000 93.8751157.5109 2.5694 -1.8559-18.4036-14.5019305.0000 96.1360155.6503 2.2366 -2.1154-22.3560-17.2762310.0000 98.0518153.5231 1.8316 -2.4255-27.2520-20.6958315.0000 99.5509151.0775 1.3374 -2.7976-33.3012-24.8657320.0000100.5281148.2467 0.7330 -3.2448-40.6936-29.8337325.0000100.8810144.9549 -0.0043 -3.7794-49.5076-35.5113330.0000100.4718141.1201 -0.8959 -4.4101-59.4967-41.4622335.0000 99.1467136.6474 -1.9555 -5.1338-69.7558-46.6184340.0000 96.7510131.4609 -3.1721 -5.9221-78.2019-48.8788345.0000 93.1610125.5320 -4.4886 -6.7020-81.2411-44.9772350.0000 88.3300118.9204 -5.7801 -7.3424-74.4027-31.3430355.0000 82.3729111.8423 -6.8570 -7.6681-54.9328 -6.7198360.0000 75.5848104.6713 -7.5236 -7.5236-25.3108 24.8495下表為曲柄轉(zhuǎn)動工作區(qū)間30—225度,各參數(shù)變化量,角度間隔1度曲柄轉(zhuǎn)角-連桿轉(zhuǎn)角-搖桿轉(zhuǎn)角-連桿角速度-搖桿角速度-連桿加速度-搖桿加速度30.000039.059479.7077-4.4270-0.912841.535859.570431.000038.240979.5545-4.2928-0.721040.366557.512332.000037.446179.4348-4.1623-0.535839.179955.477833.000036.676579.3513-4.0359-0.357237.983453.475134.000035.931679.3021-3.9135-0.185436.786851.512235.000035.206879.2817-3.7948-0.019635.597149.592436.000034.505279.2933-3.68010.139834.420047.722137.000033.824779.3341-3.56920.293233.260445.903938.000033.164779.4032-3.46210.440732.122244.140139.000032.524579.4995-3.35870.582631.008642.432540.000031.903379.6218-3.25880.718929.922140.781941.000031.300679.7692-3.16250.849928.864639.188742.000030.715679.9408-3.06960.975827.837637.652943.000030.147780.1354-2.98001.096726.841936.174144.000029.596480.3524-2.89371.212925.878334.751545.000029.060980.5907-2.81041.324624.947033.384046.000028.541780.8501-2.73021.431724.048632.071247.000028.035681.1281-2.65281.534823.181530.809648.000027.544681.4257-2.57821.633822.346729.599749.000027.067381.7414-2.50631.728921.543228.439350.000026.603382.0747-2.43691.820220.770627.326851.000026.152582.4250-2.37011.908020.028226.260852.000025.713582.7912-2.30571.992319.314925.238753.000025.286183.1727-2.24352.073518.629924.259254.000024.870683.5694-2.18352.151417.972723.3210實用文檔55.0000 24.4662 83.9805 -2.1257 2.2263 17.3423 22.422256.0000 24.0722 84.4053 -2.0698 2.2984 16.7376 21.560957.0000 23.6888 84.8434 -2.0159 2.3677 16.1580 20.735958.0000 23.3151 85.2942 -1.9639 2.4343 15.6023 19.945259.0000 22.9511 85.7573 -1.9137 2.4985 15.0698 19.187560.0000 22.5964 86.2323 -1.8651 2.5601 14.5596 18.461461.0000 22.2506 86.7186 -1.8182 2.6195 14.0708 17.765362.0000 21.9134 87.2156 -1.7729 2.6766 13.6025 17.097863.0000 21.5848 87.7236 -1.7290 2.7316 13.1540 16.457864.0000 21.2642 88.2415 -1.6866 2.7845 12.7243 15.843865.0000 20.9514 88.7691 -1.6456 2.8354 12.3129 15.254766.0000 20.6460 89.3058 -1.6059 2.8845 11.9189 14.689167.0000 20.3482 89.8521 -1.5675 2.9317 11.5416 14.146368.0000 20.0573 90.4067 -1.5303 2.9772 11.1803 13.624769.0000 19.7735 90.9700 -1.4942 3.0211 10.8344 13.123870.0000 19.4961 91.5410 -1.4592 3.0633 10.5032 12.642271.0000 19.2253 92.1200 -1.4253 3.1039 10.1861 12.179172.0000 18.9609 92.7067 -1.3925 3.1431 9.8826 11.733873.0000 18.7025 93.3004 -1.3606 3.1809 9.5920 11.305274.0000 18.4500 93.9011 -1.3296 3.2172 9.3139 10.892575.0000 18.2032 94.5085 -1.2995 3.2523 9.0478 10.495076.0000 17.9619 95.1223 -1.2703 3.2860 8.7931 10.111977.0000 17.7261 95.7423 -1.2419 3.3186 8.5494 9.742578.0000 17.4955 96.3684 -1.2142 3.3499 8.3163 9.386179.0000 17.2700 97.0001 -1.1873 3.3801 8.0934 9.042180.0000 17.0495 97.6375 -1.1612 3.4092 7.8803 8.709981.0000 16.8340 98.2803 -1.1357 3.4372 7.6766 8.388982.0000 16.6230 98.9282 -1.1109 3.4642 7.4820 8.078483.0000 16.4167 99.5811 -1.0866 3.4901 7.2961 7.778184.0000 16.2150100.2388 -1.0630 3.5151 7.1186 7.487385.0000 16.0175100.9010 -1.0400 3.5392 6.9493 7.205586.0000 15.8244101.5678 -1.0175 3.5624 6.7878 6.932387.0000 15.6354102.2387 -0.9955 3.5847 6.6339 6.667288.0000 15.4505102.9138 -0.9740 3.6061 6.4873 6.409889.0000 15.2696103.5928 -0.9530 3.6267 6.3478 6.159690.0000 15.0944104.2757 -0.9324 3.6464 6.2155 5.916591.0000 14.9195104.9614 -0.9122 3.6655 6.0895 5.679392.0000 14.7501105.6495 -0.8923 3.6837 5.9704 5.447893.0000 14.5844106.3418 -0.8729 3.7012 5.8576 5.222594.0000 14.4224107.0370 -0.8538 3.7179 5.7510 5.002395.0000 14.2636107.7414 -0.8354 3.7340 5.6496 4.789496.0000 14.1085108.4440 -0.8170 3.7493 5.5548 4.579497.0000 13.9568109.1493 -0.7990 3.7640 5.4657 4.373998.0000 13.8084109.8574 -0.7812 3.7780 5.3823 4.172499.0000 13.6634110.5680 -0.7637 3.7914 5.3045 3.9746100.0000 13.5216111.2810 -0.7464 3.8041 5.2322 3.7803實用文檔101.0000 13.3831111.9964 -0.7294 3.8161 5.1653 3.5892102.0000 13.2477112.7140 -0.7126 3.8276 5.1038 3.4010103.0000 13.1155113.4337 -0.6959 3.8384 5.0476 3.2153104.0000 12.9864114.1554 -0.6795 3.8487 4.9966 3.0320105.0000 12.8604114.8789 -0.6632 3.8583 4.9509 2.8507106.0000 12.7374115.6042 -0.6470 3.8673 4.9104 2.6711107.0000 12.6174116.3311 -0.6310 3.8758 4.8751 2.4931108.0000 12.5005117.0596 -0.6151 3.8837 4.8450 2.3162109.0000 12.3865117.7894 -0.5992 3.8910 4.8202 2.1403110.0000 12.2755118.5206 -0.5835 3.8977 4.8006 1.9651111.0000 12.1675119.2530 -0.5678 3.9039 4.7864 1.7903112.0000 12.0624119.9865 -0.5521 3.9094 4.7775 1.6156113.0000 11.9603120.7210 -0.5364 3.9144 4.7741 1.4407114.0000 11.8611121.4563 -0.5208 3.9189 4.7761 1.2653115.0000 11.7649122.1925 -0.5051 3.9227 4.7838 1.0893116.0000 11.6717122.9292 -0.4894 3.9260 4.7972 0.9122117.0000 11.5815123.6665 -0.4737 3.9287 4.8165 0.7338118.0000 11.4943124.4043 -0.4578 3.9308 4.8417 0.5537119.0000 11.4101125.1423 -0.4419 3.9323 4.8730 0.3717120.0000 11.3290125.8805 -0.4259 3.9332 4.9106 0.1874121.0000 11.2509126.6188 -0.4097 3.9335 4.9547 0.0004122.0000 11.1760127.3571 -0.3933 3.9332 5.0055 -0.1895123.0000 11.1043128.0951 -0.3768 3.9322 5.0632 -0.3827124.0000 11.0359128.8328 -0.3601 3.9307 5.1280 -0.5796125.0000 10.9707129.5701 -0.3431 3.9284 5.2001 -0.7805126.0000 10.9090130.3067 -0.3259 3.9255 5.2799 -0.9859127.0000 10.8506131.0426 -0.3084 3.9219 5.3676 -1.1962128.0000 10.7869131.7831 -0.2910 3.9178 5.4615 -1.4098129.0000 10.7340132.5182 -0.2729 3.9128 5.5656 -1.6306130.0000 10.6845133.2524 -0.2545 3.9071 5.6785 -1.8576131.0000 10.6384133.9854 -0.2357 3.9007 5.8006 -2.0911132.0000 10.5960134.7171 -0.2165 3.8934 5.9323 -2.3316133.0000 10.5572135.4473 -0.1968 3.8854 6.0739 -2.5797134.0000 10.5221136.1760 -0.1767 3.8765 6.2259 -2.8358135.0000 10.4909136.9030 -0.1560 3.8668 6.3887 -3.1004136.0000 10.4636137.6280 -0.1348 3.8562 6.5627 -3.3741137.0000 10.4403138.3510 -0.1130 3.8446 6.7485 -3.6574138.0000 10.4212139.0717 -0.0905 3.8322 6.9464 -3.9509139.0000 10.4064139.7899 -0.0674 3.8187 7.1570 -4.2551140.0000 10.3959140.5056 -0.0436 3.8043 7.3807 -4.5706141.0000 10.3901141.2184 -0.0190 3.7888 7.6181 -4.8980142.0000 10.3889141.9282 0.0063 3.7722 7.8697 -5.2378143.0000 10.3925142.6348 0.0326 3.7544 8.1359 -5.5906144.0000 10.4012143.3379 0.0597 3.7355 8.4172 -5.9569145.0000 10.4151144.0373 0.0877 3.7154 8.7141 -6.3372146.0000 10.4344144.7329 0.1168 3.6939 9.0270 -6.7321實用文檔147.000010.4592145.42420.14693.67129.3563-7.1420148.000010.4898146.11120.17823.64719.7023-7.5673149.000010.5264146.79340.21063.621610.0654-8.0083150.000010.5692147.47070.24423.594610.4457-8.4653151.000010.6185148.14280.27913.566110.8433-8.9383152.000010.6745148.80930.31533.536011.2581-9.4276153.000010.7375149.46990.35293.504211.6902-9.9329154.000010.8078150.12440.39203.470812.1391-10.4541155.000010.8856150.77230.43263.435612.6044-10.9906156.000010.9712151.41340.47473.398713.0854-11.5419157.000011.0650152.04730.51853.359913.5811-12.1070158.000011.1673152.67370.56393.319214.0904-12.6848159.000011.2784153.29210.61093.276714.6118-13.2740160.000011.3985153.90220.65983.232115.1436-13.8728161.000011.5282154.50360.71043.185615.6837-14.4791162.000011.6676155.09590.76283.137116.2297-15.0906163.000011.8172155.67880.81693.086616.7788-15.7046164.000011.9773156.25190.87293.034017.3279-16.3180165.000012.1482156.81470.93072.979517.8735-16.9274166.000012.3303157.36700.99032.922918.4118-17.5290167.000012.5239157.90821.05172.864418.9389-18.1189168.000012.7294158.43821.11472.804019.4503-18.6927169.000012.9470158.95641.17942.741719.9416-19.2459170.000013.1770159.46271.24572.677720.4079-19.7739171.000013.3919159.98531.31202.612820.8754-20.3024172.000013.6447160.46961.38112.545521.2832-20.7712173.000013.9106160.94111.45142.476721.6524-21.2013174.000014.1899161.39961.52292.406621.9787-21.5882175.000014.4826161.84471.59542.335322.2580-21.9279176.000014.7890162.27641.66882.263022.4864-22.2167177.000015.1093162.69441.74282.189822.6609-22.4515178.000015.4435163.09861.81722.115922.7789-22.6297179.000015.7917163.48891.89202.041522.8383-22.7494180.000016.1540163.86521.96681.966822.8382-22.8095181.000016.5303164.22752.04161.892122.7780-22.8097182.000016.9207164.57572.11611.817422.6582-22.7502183.000017.3249164.91002.19001.743022.4798-22.6324184.000017.7430165.23032.26331.669122.2448-22.4581185.000018.1748165.53682.33581.595921.9557-22.2299186.000018.6201165.82962.40721.523521.6157-21.9510187.000019.0787166.10892.47741.452121.2284-21.6251188.000019.5503166.37492.54631.381820.7979-21.2563189.000020.0347166.62792.61371.312820.3287-20.8489190.000020.5317166.86802.67951.245219.8252-20.4078191.000021.0408167.09562.74361.179119.2923-19.9376192.000021.5618167.31092.80591.114618.7347-19.4430實用文檔193.000022.0944167.51422.86631.051718.1570-18.9287194.000022.6380167.70592.92490.990517.5636-18.3993195.000023.1926167.88632.98140.931116.9590-17.8590196.000023.7575168.05573.03600.873516.3470-17.3119197.000024.3325168.21443.08860.817615.7313-16.7618198.000024.9172168.36283.13910.763615.1154-16.2119199.000025.5111168.50133.18760.711414.5023-15.6655200.000026.1140168.63013.23420.660913.8946-15.1251201.000026.7255168.74963.27870.612313.2947-14.5932202.000027.3451168.86013.32130.565312.7045-14.0719203.000027.9725168.96203.36200.520012.1259-13.5628204.000028.6074169.05563.40080.476411.5601-13.0673205.000029.2494169.14103.43780.434311.0082-12.5867206.000029.8982169.21883.47300.393910.4712-12.1218207.000030.5684169.27263.50550.35629.9504-11.6739208.000031.2273169.33843.53740.31849.4450-11.2426209.000031.8926169.39663.56770.28218.9556-10.8283210.000032.5572169.45513.59670.24668.4812-10.4303211.000033.2405169.49213.62340.21358.0250-10.0514212.000033.9223169.53013.64910.18117.5837-9.6886213.000034.6090169.56193.67330.14987.1581-9.3429214.000035.3002169.58783.69610.11976.7479-9.0138215.000035.9957169.60813.71760.09066.3528-8.7011216.000036.6952169.62293.73780.06265.9721-8.4044217.000037.3984169.63253.75680.03555.6056-8.1233218.000038.1051169.63703.77460.00935.2525-7.8572219.000038.8152169.63663.7913-0.01614.9125-7.6057220.000039.5282169.63153.8068-0.04074.5849-7.3684221.000040.2418169.62483.8215-0.06474.2684-7.1439222.000040.9628169.60773.8348-0.08753.9649-6.9342223.000041.6838169.58933.8474-0.10993.6713-6.7363224.000042.4071169.56673.8589-0.13173.3878-6.5506225.000043.1306169.54273.8697-0.15313.1133-6.3758實用文檔連桿3的幾個位置點0.10.080.060.04)m(向0.02方直0垂-0.02-0.04-0.06-0.08-0.05 0 0.05 0.1 0.15水平方向(m)圖2-1 連桿3的空間位置點角位移線圖160角位移線圖140

X:205 180Y:158.1160 X:216Y:169.6)度(移位

120 搖桿4角位移100)度(

140120 搖桿4角位移角80X:305移100件位Y:59.24角動6080X:25從動X:35Y:68.33從60Y:79.2840連桿3角位移40連桿3角位移20X:120Y:8.5462005010015020025030035004060801001201401601802002200主動件轉(zhuǎn)角2(度)主動件轉(zhuǎn)角2(度)圖2-2連桿3和搖桿4的角位移曲線圖2-3工作區(qū)間內(nèi)連桿3和搖桿4的角位移曲線曲柄兩極限點的轉(zhuǎn)角范圍12218.235.1=183.1搖桿兩極限點轉(zhuǎn)角范圍θ31=169.6412-79.2815=90.36實用文檔角速度線圖5搖桿4角速度(4)3X:110連桿3角速度()Y:3.7573)2X:230)1-Y:2.488ssd1X:25dX:205aaY:0.2244r(Y:-0.08675度度0速速角角角速度線圖5X:222搖桿4角速度()Y:3.83544X:1213Y:3.934210件-1件-1X:31動動Y:-0.721從-2從-2-3-3X:31連桿3角速度(3)-4X:330-4Y:-4.293Y:-4.927-550100150200250300-54060801001201401601802002200350主動件轉(zhuǎn)角(度)主動件轉(zhuǎn)角(度)22圖2-4連桿3和搖桿4角速度曲線圖2-5工作區(qū)間內(nèi)連桿3和搖桿4角速度曲線工作區(qū)間內(nèi)搖桿角速度最大值:曲柄轉(zhuǎn)角121度，搖桿轉(zhuǎn)角126.6188，搖桿角速度3.9335工作區(qū)間內(nèi)搖桿角速度最小值:曲柄轉(zhuǎn)角35度，搖桿轉(zhuǎn)角79.2817，搖桿角速度-0.0196角速度變化量： 3.9335+0.0196=3.9531角加速度線圖100X:15角加速度線圖Y:81.098080X:3160搖桿4角加速度()Y:57.51604)搖桿4角加速度()240)4s2連桿3角加速度()s40da203d(ar度(連桿3角加速度()0度速速203加加角-20角件件動-40動0從從-60-20-80X:180Y:-22.81-10050100150200250300350-406080100120140160180200220040主動件轉(zhuǎn)角2(度)從動件角加速度圖2-6連桿3和搖桿4角加速度曲線圖2-7工作區(qū)間內(nèi)連桿3和搖桿4角加速度曲線工作區(qū)間內(nèi)搖桿角加速度最大值:曲柄轉(zhuǎn)角35度，搖桿轉(zhuǎn)角79.2817，搖桿角加速度49.5924工作區(qū)間內(nèi)搖桿角加速度最小值:曲柄轉(zhuǎn)角181度，搖桿轉(zhuǎn)角164.2275，搖桿角速度-22.8097角速度變化量：49.5924+22.8097=72.40212.22 代2機構(gòu)尺寸參數(shù)各構(gòu)件的尺寸為r1=50.1mm,r2=109.8mm,r3=72.85mm,r4=125.36mm；質(zhì)心為rc1=mm，rc2＝mm．rc3＝mm實用文檔質(zhì)量為m1＝kg，m2＝kg．m3＝kg；轉(zhuǎn)動慣量為J1＝kg?m2，J2＝kg?m2，J3＝kg?m2，構(gòu)件3的工作阻力矩M3＝N?m．順時針方向，其他構(gòu)件所受外力和外力矩 (彈簧拉力大小及位置 )構(gòu)件1以等角速度 3.38594rad ／s逆時針方向回轉(zhuǎn)2代2型運動時間 0.9s曲柄角速度12/180*t26.4=174.6θ12為曲柄兩極限點的轉(zhuǎn)角范圍12201θ31為搖桿兩極限點轉(zhuǎn)角范圍θ31=162.9068-75.5916=87.3152下表為曲柄轉(zhuǎn)動一周,各參數(shù)變化量,角度間隔5度曲柄轉(zhuǎn)角連桿轉(zhuǎn)角-搖桿轉(zhuǎn)角-連桿角速度-搖桿角速度-連桿加速度-搖桿加速度036.018375.7666-3.3998-3.39987.447540.38385.000032.845572.8550-3.2311-2.685812.515744.793910.000029.869570.6524-2.9929-1.923615.757746.184115.000027.141969.1812-2.7158-1.161217.221044.918820.000024.689768.4259-2.4269-0.437217.259341.748025.000022.504568.3266-2.14570.224416.342637.497530.000020.583468.8286-1.88500.810814.900132.861635.000018.897369.8517-1.65021.320213.255428.311540.000017.422471.3262-1.44311.756611.616124.117845.000016.132673.1851-1.26232.126810.096920.398450.000015.003775.3695-1.10552.43938.749617.175855.000014.014777.8281-0.96962.70207.587914.420060.000013.146180.5162-0.85162.92226.605112.076665.000012.383183.3973-0.74853.10655.785410.084970.000011.712486.4393-0.65793.26005.10998.385075.000011.123289.6151-0.57753.38734.56056.922680.000010.606792.9013-0.50533.49184.12105.649785.000010.155896.2776-0.43963.57643.77814.524590.00009.766299.7261-0.37893.64333.52183.510895.00009.4310103.2306-0.32183.69393.34462.5760100.00009.1501106.7761-0.26703.72943.24231.6911105.00008.9209110.3486-0.21333.75043.21350.8283110.00008.7430113.9342-0.15943.75703.2594-0.0394115.00008.6174117.5189-0.10423.74893.3844-0.9395120.00008.5464121.0880-0.04613.72533.5955-1.9012125.00008.5299124.62890.01623.68503.9024-2.9548130.00008.5774128.12130.08453.62624.3175-4.1335135.00008.6938131.54760.16083.54644.8542-5.4706140.00008.8877134.88670.24713.44285.5250-6.9967145.00009.1697138.11410.34573.31206.3369-8.7331150.00009.5528141.20210.45913.15057.2848-10.6811155.000010.0520144.11980.58922.95498.3412-12.8053160.000010.6846146.83270.73742.72319.4452-15.0157165.000011.4682149.30540.90382.454710.4943-17.1545實用文檔170.0000 12.4194151.5041 1.0863 2.1527 11.3494-19.0037175.0000 13.5513153.4002 1.2804 1.8241 11.8591-20.3246180.0000 14.8711154.9741 1.4792 1.4792 11.9028-20.9276185.0000 16.3676156.2361 1.6744 1.1305 11.4425-20.7565190.0000 18.0554157.1525 1.8578 0.7912 10.5028-19.8587195.0000 19.9098157.7534 2.0225 0.4714 9.2090-18.4431200.0000 21.9106158.0612 2.1637 0.1779 7.7080-16.7537205.0000 24.0339158.1023 2.2790 -0.0867 6.1335-15.0132210.0000 26.2550157.9044 2.3682 -0.3231 4.5818-13.3841215.0000 28.5489157.4933 2.4322 -0.5340