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1、哈工大机械原理大作业1连杆机构运动分析22题Harbin Institute of Technology 机械原理大作业一 课程名称： 机械原理 设计题目： 连杆机构运动分析 院 系： 班 级： 设 计 者： 学 号： 指导教师： 设计时间： 1 22题： 如图所示机构，已知机构各构件的尺寸为AB=120mm, BC=180mm，CD=350mm, CE=300mm, h=100mm, EF=400mm, xD=130mm, yD=140mm，构件1的角速度为=10rad/s。试求构件2上E点的轨迹及构件5上F点位移、速度和加速度，并对计算结果进行分析。 一、建立直角坐标系 以A点为直角坐标系
2、的原点建立直角坐标系X-Y， 二、机构结构分析 该机构由原动件AB、机架及两个II级杆组RRR、RRP组成。两个II级杆组如图所示。 RRP: RRR: + 三、各基本杆组运动分析 1.原动件AB 如图所示，已知原动件杆1的转角j=0-360，d=pi，角速度 2 &=w1=10rad/s，角加速度j&=e=0，运动副A的位置坐标为xA=0,yA=0，j&A=0,y&A=0，加速度为&A=0,&A=0，原动件杆1的长度lAB=120mm。速度为x xy位置分析： xB=lABcos(ji+d) yB=lABsin(ji+d) 速度分析： vxB=-wlABsin(ji+d) vyB=-wlAB
3、sin(ji+d) 加速度分析： axB=-w2lABcos(ji+d)-elABsin(ji+d) ayB=-w2lABsin(ji+d)+elABcoa(ji+d) 将已知参数带入可求出xB,yB,vxB,vyB,axB,ayB。 2.II级杆组 C点： 已知B点参数，D点的参数，杆2的长度Li , 杆3的长度Lj ,可求得杆2的运动参数 yC=yB+lisinf(i)=yD+ljsinf(j) 连立、求得: BA0+B0-C0 f(i)=2arctan0 A0+C0222 其中： A0=2li(xD-xB) B0=2li(yD-yB) C0=li+lBD-lj,lBD=(xD-xB)2+
4、(yD-yB)2 求得分f(i)后，带入、，便可求得 f(j) , xC,yC速度分析： wi=Cj(vxD-vxB)+Sj(vyD-vyB)/G1 222 3 wj=Ci(vxD-vxB)+Sj(vyD-vyB)/G1 其中： Ci=licosf(i),Si=lisinf(i) Cj=ljcosf(j),Sj=ljsinf(j) vxC=vxB-wilisinf(i)=vxD-wjljsinf(j) vyD=vyB+wilicosf(i)=vyD+wjljcosf(j) 加速度分析： ei=(G2Cj+G3Sj)/G1 ej=(G2Ci+G3Si)/G1 其中： G2=axD-axB+wi2
5、Ci-w2jCj G3=ayD-ayB+wi2Si-w2jSj axC=axB-eilisinf(i)-wi2licosf(i) ayC=ayB+eilicosf(i)-wi2lisinf(i) E点： 通过杆组RR的分析，可易知B点的运动参数，通过对II级杆组RRR的分析可知杆2的运动参数即可得杆BE的运动参数。其中RR类模块中A点参数为B的运动参数，杆AB的角位移，角速度，角加速度为BE杆参数。 位置分析： xB=xA+lABcosf(i) yB=yA+lABsinf(i) 速度分析： vxB=vxA-wlABsinf(i) vyB=vyA+wlABsinf(i)加速度分析： axB=ax
6、A-w2lABcosf(i)-elABsinf(i) ayB=ayA-w2lABcosf(i)+elABsinf(i) 4 3.II级杆组RRP 通过RR杆组 可求得E点参数,杆EF的长Li,取参考点K为，可得到F点的运动参数,导路运动参数（fj,wj,ej)，可求得F的位移，速度，加速度。 位置分析： xC=xD+licosf(i)=xK+scosf(j)-ljsinf(j) yC=yD+lisinf(i)=yK+ssinf(j)+ljcosf(j) 可求得f(i)=arcsinAk+ljli+f(j)， 其中： A0=(xD-xK)sinf(j)-(yD-yK)cosf(j) 带入上式即可
7、解的xG,yG,s 速度分析： wi=（-Q1sinf(j)+Q2cosf(j)/Q3 vD=（-Q1licosf(i)+Q2lisinf(i)/Q3 其中： Q1=vxK-vxD-wj(ssinf(j)+ljcosf(j) Q2=vyK-vyD+wj(scosf(j)-ljsinf(j) Q3=lisinf(i)sinf(j)+licosf(i)cosf(j) vxG=vxD-wilisinf(i) vyG=vyD+wilicosf(i) 加速度分析： ei=(-Q4sinf(j)+Q5cosf(j)/Q3 si=(-Q4licosf(i)-Q5lisinf(j)/Q3 其中： Q4=axK
8、-axD+wi2licosf(j)-ej(ssinf(j)+ljcosf(j)-w2j(scosf(j)-ljsinf(j)-2vswjsinf(j)Q5=ayK-ayD+wi2lisinf(j)+ej(scosf(j)-ljsinf(j)-w2j(ssinf(j)+ljsinf(j)+2vswjcosf(j)axD=axK+ascosf(j)-sejsinf(j)-sw2jcosf(j)-2vswjsinf(j) 5 ayD=ayK+assinf(j)+sejcosf(j)-sw2jsinf(j)+2vswjcosf(j) 四、计算编程 Private S(3600) As Double P
9、rivate v(3600) As Double Private a(3600) As Double Private xE(3600) As Double Private yE(3600) As Double Private Sub Form_Load Dim i As Single Dim pi As Double Dim pa As Double Dim RR1 As RR Dim RR2 As RR Dim RRR1 As RRR Dim RRP1 As RRP Dim d1 As Double Set RR1 = New RR Set RR2 = New RR Set RRR1 = N
10、ew RRR Set RRP1 = New RRP pi = 3.1415926 pa = pi / 180 For i = 0 To 3600 RR1.xA = 0: RR1.yA = 0 RR1.vxA = 0: RR1.vyA = 0 RR1.axA = 0: RR1.ayA = 0 RR1.f = i * pa / 10: RR1.delt = 0 RR1.w = 10: RR1.e = 0 RR1.L = 120 RR1.cal d1 = Sqr(RR1.xB - 130) 2 + (RR1.yB + 140) 2) If d1 530 Or d1 170 Then S(i) = 0
11、: v(i) = 0: a(i) = 0: xE(i) = 0: yE(i) = 0 GoTo S Else End If RRR1.xB = 130: RRR1.yB = -140 RRR1.vxB = 0: RRR1.vyB = 0 6 RRR1.axB = 0: RRR1.ayB = 0 RRR1.xD = RR1.xB: RRR1.yD = RR1.yB RRR1.vxD = RR1.vxB: RRR1.vyD = RR1.vyB RRR1.axD = RR1.axB: RRR1.ayD = RR1.ayB RRR1.Li = 350: RRR1.Lj = 180 RRR1.M = 1
12、 RRR1.cal RR2.xA = RR1.xB: RR2.yA = RR1.yB RR2.vxA = RR1.vxB: RR2.vyA = RR1.vxB RR2.axA = RR1.axB: RR2.ayA = RR1.ayB RR2.f = RRR1.fj: RR2.delt = 0 RR2.w = RRR1.wj: RR2.e = RRR1.ej RR2.L = 120 RR2.cal xE(i) = RR2.xB: yE(i) = RR2.yB RRP1.xB = RR2.xB: RRP1.yB = RR2.yB RRP1.vxB = RR2.vxB: RRP1.vyB = RR2
13、.vyB RRP1.axB = RR2.axB: RRP1.ayB = RR2.ayB RRP1.Li = 400: RRP1.Lj = 0 RRP1.fj = 0: RRP1.wj = 0: RRP1.ej = 0 RRP1.xK = 0: RRP1.yK = 100: RRP1.vxK = 0: RRP1.vyK = 0 RRP1.axK = 0: RRP1.ayK = 0 RRP1.M = 1 RRP1.cal S(i) = RRP1.ss: v(i) = RRP1.vss / 1000: a(i) = RRP1.ass / 1000 S: Next i End Sub Private
14、Sub Command1_Click D点轨迹 Picture1.Scale (-500, 500)-(500, -500) Picture1.Line (-500, 0)-(500, 0) X Picture1.Line (0, 500)-(0, -500) Y For i = -500 To 500 Step 100 X轴坐标 Picture1.DrawStyle = 2 Picture1.Line (i, 500)-(i, -500) Picture1.CurrentX = i - 10: Picture1.CurrentY = 0 7 Picture1.Print i Next i F
15、or i = -500 To 500 Step 100 Y轴坐标 Picture1.DrawStyle = 2 Picture1.Line (-500, i)-(500, i) Picture1.CurrentX = -10: Picture1.CurrentY = i Picture1.Print i Next i For i = 0 To 3600 Picture1.PSet (xE(i), yE(i) Next i End Sub Private Sub Command2_Click G点位移 Picture2.Scale (-10, 700)-(380, -100) Picture2.
16、Line (-10, 0)-(380, 0) X Picture2.Line (0, 700)-(0, -100) Y For i = -10 To 380 Step 30 X轴坐标 Picture2.DrawStyle = 2 Picture2.Line (i, 700)-(i, -100) Picture2.CurrentX = i - 10: Picture2.CurrentY = 0 Picture2.Print i Next i For i = -100 To 700 Step 100 Y轴坐标 Picture2.DrawStyle = 2 Picture2.Line (-10, i
17、)-(380, i) Picture2.CurrentX = -10: Picture2.CurrentY = i Picture2.Print i Next i For i = 0 To 3600 Picture2.PSet (i / 10, S(i) Next i End Sub Private Sub Command3_Click G点速度 Picture3.Scale (-10, 10)-(380, -10) Picture3.Line (-10, 0)-(380, 0) X Picture3.Line (0, 10)-(0, -10) Y For i = -10 To 380 Ste
18、p 30 X轴坐标 8 Picture3.DrawStyle = 2 Picture3.Line (i, 10)-(i, -10) Picture3.CurrentX = i - 10: Picture3.CurrentY = 0 Picture3.Print i Next i For i = -10 To 10 Step 2 Y轴坐标 Picture3.DrawStyle = 2 Picture3.Line (-10, i)-(380, i) Picture3.CurrentX = -10: Picture3.CurrentY = i Picture3.Print i Next i For
19、i = 0 To 3600 Picture3.PSet (i / 10, v(i) Next i End Sub Private Sub Command4_Click G点加速度 Picture4.Scale (-10, 25)-(380, -15) Picture4.Line (-10, 0)-(380, 0) X Picture4.Line (0, 25)-(0, -15) Y For i = -10 To 380 Step 30 X轴坐标 Picture4.DrawStyle = 2 Picture4.Line (i, 25)-(i, -15) Picture4.CurrentX = i
20、 - 10: Picture4.CurrentY = 0 Picture4.Print i Next i For i = -15 To 25 Step 5 Y轴坐标 Picture4.DrawStyle = 2 Picture4.Line (-10, i)-(380, i) Picture4.CurrentX = -10: Picture4.CurrentY = i Picture4.Print i Next i For i = 0 To 3600 Picture4.PSet (i / 10, a(i) Next i End Sub 五、计算结果 9 E点轨迹 F位移 10 F速度 F加速度（单位m/(s2) 11
