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1、 目录1. 题目说明.12.机构运动简图.33.连架杆O3C摆动范围的确定方法.44.O3C的范围.55.曲柄摇杆机构尺寸的设计过程.136.求K点水平方向的位移、速度和加速度线图.147.级机构动态静力分析.308、 主要收获与建议.371. 题目说明； 图示为某码头吊车机构简图，它是由曲柄摇杆机构与双摇杆机构串联成的。已知：lo1x=2.86m, lo1y=4m, lo4x=5.6m, lo4y=8.1m, l3=4m, l3=28.525m, a3=25, l3=8.5m, a3=7, l4=3.625m, l4=8.35m, a4=184, l4=1m, a4=95, l5=25.15
2、m, l5=2.5m, a5=24。图中S3、S4、S为构件3、4、5的质心，构件质量分别为：m3=3500kg, m4=3600kg, m5=5500kg,其余构件质量不计。K点向左运动时载重Q为50kN，向右运动时载重为零，曲柄01A的转速n1=1.06r/min.2. 机构运动见图；3. 连架杆O3C摆动范围的确定方法： 如图O3CDO4为双摇杆机构，对其运动进行分析，则其运动的两个极限位置分别如图所示，则O3C的摆动角大小为：4. 在3中所求为K点满足四杆机构O3CDO4时O3C的范围，若求K点在水平位置的运动，则对其运动进行分析。一杆组拆分：把机构分为主动件及RRR杆组二.列出形参和
3、实参的表格.对主动件进行运动分析。形式参数n1n2n3kr1r2gamtwepvpap实值4503r450.00.0twepvpap.对由、构件组成的RRR杆组进行运动分析。形式参数mn1n2n3k1k2r1r2twepvpap实值157645r56r67twepvpap.调用bark函数，由6点的运动求10点的竖直运动参数。形式参数n1n2n3kr1r2gamtwepvpap实值501040.0r510gam1twepvpap编写主程序并运行按一的步长（1度）改变角度，使之在0度至360度范围内变化，求出K点在整个运动循环内的运动参数并打印输出：#include subk.c/*运动分析子程
4、序*/#include draw.c/*绘图子程序*/main()static double p202,vp202,ap202,del;static double t10,w10,e10,pdraw370,vpdraw370,apdraw370;static int ic;/*定义静态变量*/double r45,r56,r67,r510,gam1;double pi ,dr;double r2,vr2,ar2;int i;/定义局部变量*/ FILE*fp;/*定义文件指针变量*/char *m=p,vp,ap;r45=28.525,r56=3.625,r67=25.15,gam1=176,
5、r510=8.35;w3=0.1;del=1.0;p41=0.0;p42=0.0;p71=5.6;p72=8.1;/*变量赋值*/ pi=4.0*atan(1.0);/*求*/dr=pi/180.0; /*求弧度*/ gam1=gam1*dr;/*变角度为弧度*/printf(n The Kinematic Parameters of Point 5n);printf(No THETA1 s10 v10 a10n);printf( deg m m/s m/s/sn);/*在屏幕上写表头*/if(fp=fopen(filel20114130,w)=NULL) printf(Cant open t
6、his file.n);exit(0); /*建立并打开文件夹file*/fprintf(fp,n The kinematic parameters of point 10n);fprintf(fp,No THETA1 S10 V10 A10n);fprintf(fp, deg m m/s m/s/s);/*在文件file中写表头*/ic=(int)(360.0/del);for(i=0;i=ic;i+)/*建立循环，调用运动分析子程序*/ t3=(i)*del*dr;bark(4,5,0,3,r45,0.0,0.0,t,w,e,p,vp,ap);rrrk(1,5,7,6,4,5,r56,r6
7、7,t,w,e,p,vp,ap);bark(5,0,10,4,0.0,r510,gam1,t,w,e,p,vp,ap);printf(n%2d %12.3f %12.3f %12.3f %12.3f,i+1,t3/dr,p101,p102,vp101,vp102,ap101,ap102);/*把运算结果写在屏幕上*/fprintf(fp,n%2d%12.3f%12.3f%12.3f%12.3f,i+1,t3/dr,p101,p102,vp101,vp102,ap101,ap102);/*把运算结果写入file中*/pdrawi=p102;vpdrawi=vp102;apdrawi=ap102;
8、if(i%16)=0)getch();/*屏幕满16行停顿*/ fclose(fp);/*关闭文件file*/getch();draw1(del,pdraw,vpdraw,apdraw,ic,m);/*调用绘图子程序*/运行结果：程序运行结果会在屏幕上显示10点铅直方向的位置、速度、加速度数值如下： The kinematic parameters of point 10No THETA1 S10 V10 A10 deg m m/s m/s/s90 89.000 -7.773 29.664 -5.89391 90.000 -8.271 29.669 -5.89492 91.000 -8.769
9、 29.664 -5.89393 92.000 -9.267 29.651 -5.89294 93.000 -0.918 20.156 -12.71195 94.000 -2.595 20.127 -7.89496 95.000 -3.837 20.176 -6.52197 96.000 -4.907 20.244 -5.80598 97.000 -5.878 20.315 -5.34999 98.000 -6.782 20.385 -5.027100 99.000 -7.637 20.451 -4.783101 100.000 -8.454 20.511 -4.591102 101.000
10、-9.242 20.565 -4.433103 102.000 -10.004 20.612 -4.302104 103.000 -10.744 20.653 -4.188105 104.000 -11.466 20.686 -4.090106 105.000 -12.172 20.713 -4.002107 106.000 -12.864 20.733 -3.923108 107.000 -13.542 20.747 -3.851109 108.000 -14.208 20.755 -3.785110 109.000 -14.863 20.756 -3.723111 110.000 -15.
11、508 20.752 -3.665112 111.000 -16.143 20.742 -3.610113 112.000 -16.768 20.727 -3.557114 113.000 -17.385 20.708 -3.506115 114.000 -17.992 20.684 -3.457116 115.000 -18.591 20.656 -3.409117 116.000 -19.182 20.625 -3.362118 117.000 -19.765 20.591 -3.315119 118.000 -20.340 20.555 -3.269120 119.000 -20.906
12、 20.517 -3.222121 120.000 -21.464 20.478 -3.176122 121.000 -22.015 20.439 -3.128123 122.000 -22.556 20.401 -3.080124 123.000 -23.089 20.364 -3.030125 124.000 -23.614 20.331 -2.978126 125.000 -24.129 20.302 -2.924127 126.000 -24.634 20.280 -2.866128 127.000 -25.129 20.266 -2.804129 128.000 -25.613 20
13、.263 -2.737130 129.000 -26.084 20.275 -2.662131 130.000 -26.541 20.306 -2.576132 131.000 -26.982 20.361 -2.474133 132.000 -27.403 20.450 -2.348134 133.000 -27.799 20.586 -2.182135 134.000 -28.161 20.791 -1.940136 135.000 -28.467 21.109 -1.529137 136.000 -28.664 21.657 -0.529138 137.000 -29.006 21.29
14、6 -0.493139 138.000 -29.343 20.929 -0.457140 139.000 -29.672 20.556 -0.419K点纵坐标位置图5. 曲柄摇杆机构尺寸的设计过程由4中求得O3C在K点水平运动时的摆动范围为：95至135.而当K点水平运动时，K点的运动必须满足六杆机构O1ABCDO4。由于四杆机构O3BAO1运动不确定，则可由O3C的摆角及L3长求解出L1.L2长。6求K点水平方向的位移、速度和加速度线图1.拆分杆组2.列出形参和实参的表格对主动件进行运动分析，求2点运动参数。形式参数n1n2n3kr1r2gamtwepvpap实值1201r120.00.0t
15、wepvpap对组成的RRR杆组进行运动分析。形式参数mn1n2n3k1k2r1r2twepvpap实值-124323R23R34twepvpap调用bark函数，求5点运动参数。形式参数n1n2n3kr1r2gamtwepvpap实值40530.0r4525.0*drtwepvpap对组成的RRR杆组进行运动分析。形式参数mn1n2n3kr1r2gamtwepvpap实值157645r56r67twepvpap调用bark函数，求8，9,10,11。形式参数n1n2n3kr1r2gamtwepvpap实值501040.0r510176.0*drtwepvpap实值401130.0r41118
16、.0*drtwepvpap实值50940.0r5995.0*drtwepvpap实值70850.0r78-156.0*drtwepvpap 编写主程序并运行按步长为1度，改变角度，使之在0至360度变化。求出机构各点在整个循环运动的运动参数并打印出；主程序#include subk.c#include draw.cmain()static double p202,vp202,ap202,del;static double t10,w10,e10,pdraw370,vpdraw370,apdraw370;static int ic;double r56,r67,r510,gam1,gam2,r1
17、2,r34,r45,r23,r710,r59,r48,r411,r78;double pi ,dr;double r2,vr2,ar2;int i; FILE*fp;char *m=p,vp,ap;r56=3.625,r67=25.15,gam1=176.0,r510=8.35,gam2=25.0,r12=1.37,r34=4.0,r23=2.88,r45=28.525;w1=0.2;del=1.0;e1=0.5,r411=8.5,r59=1.0,r78=2.5;p11=2.86;p12=4.0;p41=0.0;p42=0.0;p71=5.6;p72=8.1;pi=4.0*atan(1.0);
18、dr=pi/180.0;gam1=gam1*dr;gam2=gam2*dr;printf(n The Kinematic Parameters of Point 10n);printf(No THETA1 s10 v10 a10n);printf( deg m m/s m/s/sn);if(fp=fopen(20114130,w)=NULL) printf(Cant open this file.n);exit(0); fprintf(fp,n The kinematic parameters of point 10n);fprintf(fp,No THETA1 S10 V10 A10n);f
19、printf(fp, deg m m/s m/s/sn);ic=(int)(360.0/del);for(i=0;i=ic;i+) t1=i*del*dr;bark(1,2,0,1,r12,0.0,0.0,t,w,e,p,vp,ap); rrrk(1,4,2,3,3,2,r34,r23,t,w,e,p,vp,ap); bark(4,0,5,3,0.0,r45,25.0*dr,t,w,e,p,vp,ap); rrrk(1,5,7,6,4,5,r56,r67,t,w,e,p,vp,ap); bark(5,0,10,4,0.0,r510,176.0*dr,t,w,e,p,vp,ap); bark(4
20、,0,11,3,0.0,r411,18.0*dr,t,w,e,p,vp,ap); bark(5,0,9,4,0.0,r59,95.0*dr,t,w,e,p,vp,ap); bark(7,0,8,5,0.0,r78,-156.0*dr,t,w,e,p,vp,ap);printf(n%2d %12.3f %12.3f %12.3f %12.3f,i+1,t1/dr,p102,vp102,ap102);fprintf(fp,n%2d%12.3f%12.3f%12.3f%12.3f,i+1,t1/dr,p102,vp102,ap102);pdrawi=p101;vpdrawi=vp101;apdraw
21、i=ap101;if(i%16)=0)getch(); fclose(fp);getch();draw1(del,pdraw,vpdraw,apdraw,ic,m);运行结果 The kinematic parameters of point 10No THETA1 S10 V10 A10 deg m m/s m/s/s 1 0.000 20.184 -0.023 -0.028 2 1.000 20.182 -0.020 -0.022 3 2.000 20.181 -0.018 -0.016 4 3.000 20.179 -0.015 -0.010 5 4.000 20.178 -0.013
22、-0.004 6 5.000 20.177 -0.010 0.002 7 6.000 20.176 -0.008 0.008 8 7.000 20.176 -0.006 0.015 9 8.000 20.175 -0.003 0.02110 9.000 20.175 -0.001 0.02811 10.000 20.175 0.002 0.03412 11.000 20.175 0.005 0.04113 12.000 20.176 0.007 0.04914 13.000 20.177 0.01 0.05615 14.000 20.178 0.013 0.06416 15.000 20.17
23、9 0.016 0.07217 16.000 20.180 0.018 0.08018 17.000 20.182 0.021 0.08919 18.000 20.184 0.025 0.09820 19.000 20.186 0.028 0.10721 20.000 20.189 0.031 0.11622 21.000 20.192 0.035 0.12623 22.000 20.195 0.038 0.13624 23.000 20.199 0.042 0.14725 24.000 20.202 0.045 0.15726 25.000 20.206 0.049 0.16827 26.0
24、00 20.211 0.053 0.17928 27.000 20.216 0.057 0.19029 28.000 20.221 0.062 0.20230 29.000 20.227 0.066 0.21331 30.000 20.232 0.070 0.22432 31.000 20.239 0.074 0.23633 32.000 20.245 0.079 0.24734 33.000 20.252 0.083 0.25835 34.000 20.260 0.088 0.26936 35.000 20.268 0.092 0.28037 36.000 20.276 0.096 0.29
25、138 37.000 20.285 0.101 0.30139 38.000 20.294 0.105 0.31140 39.000 20.303 0.109 0.32041 40.000 20.313 0.113 0.32942 41.000 20.323 0.117 0.33843 42.000 20.333 0.121 0.34644 43.000 20.344 0.125 0.35345 44.000 20.355 0.128 0.36046 45.000 20.366 0.132 0.36547 46.000 20.378 0.135 0.37148 47.000 20.390 0.
26、137 0.37549 48.000 20.402 0.140 0.37950 49.000 20.414 0.142 0.38151 50.000 20.427 0.144 0.38352 51.000 20.439 0.146 0.38453 52.000 20.452 0.148 0.38454 53.000 20.465 0.149 0.38355 54.000 20.478 0.150 0.38156 55.000 20.491 0.150 0.37957 56.000 20.504 0.150 0.37558 57.000 20.517 0.150 0.37059 58.000 2
27、0.530 0.149 0.36460 59.000 20.543 0.148 0.35761 60.000 20.556 0.147 0.35062 61.000 20.569 0.145 0.34163 62.000 20.582 0.143 0.33164 63.000 20.594 0.141 0.32165 64.000 20.606 0.138 0.30966 65.000 20.618 0.134 0.29767 66.000 20.630 0.131 0.28468 67.000 20.641 0.127 0.26969 68.000 20.652 0.123 0.25570
28、69.000 20.662 0.118 0.23971 70.000 20.672 0.113 0.22372 71.000 20.682 0.107 0.20673 72.000 20.691 0.102 0.18874 73.000 20.700 0.096 0.17075 74.000 20.708 0.090 0.15176 75.000 20.715 0.083 0.13277 76.000 20.722 0.076 0.11278 77.000 20.729 0.069 0.09279 78.000 20.734 0.062 0.07280 79.000 20.740 0.055
29、0.05181 80.000 20.744 0.047 0.03082 81.000 20.748 0.040 0.00983 82.000 20.751 0.032 -0.01284 83.000 20.753 0.024 -0.03385 84.000 20.755 0.016 -0.05486 85.000 20.756 0.007 -0.07587 86.000 20.756 -0.001 -0.09688 87.000 20.756 -0.009 -0.11789 88.000 20.755 -0.017 -0.13790 89.000 20.753 -0.025 -0.15791
30、90.000 20.750 -0.034 -0.17792 91.000 20.747 -0.042 -0.19793 92.000 20.743 -0.050 -0.21694 93.000 20.738 -0.058 -0.23495 94.000 20.733 -0.065 -0.25296 95.000 20.727 -0.073 -0.27097 96.000 20.720 -0.081 -0.28698 97.000 20.713 -0.088 -0.30299 98.000 20.705 -0.095 -0.317100 99.000 20.696 -0.102 -0.332101 100.000 20.687 -0.108 -0.345102 101.000 20.677 -0.115 -0.358103 102.000 20.667 -0.121 -0.369104 103.000 20.656 -0.126 -0.380105 104.000 20.645 -0.132 -0.389106 105.000 20.633 -0.137 -0.398107 106.000 20.621 -0.142 -0.405108 107.000 20.609 -0.146 -0.411109 1
