机械原理大作业六杆机构.doc

一、题目：计算平面连杆机构的运动学分析1二、平面连杆机构的运动分析方程2三、程序流程图5四、计算源程序6五、计算结果数据12六、运动线图及分析18七、体会及建议27八、参考书27一、题目：计算平面连杆机构的运动学分析1，图a所示的为一平面六杆机构。假设已知各构件的尺寸如表1所示，原动件1以等角速度1=1rad/s沿着逆时针方向回转，试求各从动杆件的角位移、角速度和角加速度以及E点的位移、速度和加速度的变化情况。 a) 表1 平面六杆机构的尺寸参数(单位:mm)L2=65.0，Xg=153.6，Yg=41.7L1L2L3L4L5L6 ABC105.667.587.534.42560L1=26.5L1=24L1=29.5二、平面连杆机构的运动分析方程 1）位置分析建立封闭矢量多边形l1+l2= l4+l3 （即AB+BC=AD+DC）l1+l2+ l2= AG+l5+l6 （即AB+BC+CE=AG+GF+FE） （式1）将机构的封闭矢量方程式（1）写成在两坐标上的投影式：化简整理成方程左边仅含未知量项的形式，即得：（式2）在求解（式2）中各变量时，用牛顿迭代法会比较直观，但由于牛顿迭代法不便于限制l5，l6的位置，在有两种位置均满足上式时，无法限定它得出题中要求的解。故在计算时改用了复数矢量法直接求解2,3,5,6。求，；（式2）中由（1）（2）消去得经整理后并可简化为 式中：解之可得 实际运动中，故适当选择；求，：先有 （式3）则 2）角速度分析分别将（式2）（式3）对时间取一次导数，可得（式4）（式5）解之可得2,3,5,6，vex,vey。将（式4）（式5）写成矩阵形式 （式6）E点速度 （式7）采用高斯消去法可求解（式6）可解得角速度2,3,5,6;将求解结果代入（式7）可求得vex,vey。3）角加速度分析分别将（式2）（式3）对时间取二次导数，可得加速度关系（式8）E点加速度（式9）采用高斯消去法可求解（式8）可解得角加速度2,3,5,6；将求解结果代入（式9）可求得aex,aey。三、程序流程图四、计算源程序#include#include#include#define PI 3.1415926#define N 4void Solutionangle(double 18,double ); /*矢量法求角位移*/ void Solutionspeed(double NN,double N,double 18,double ); /*角速度求解*/void Solutionacceleration(double NN,double NN,double N,double 18);/*角加速度求解*/void GaussianE(double NN,double N,double N);/*高斯消去*/void FoundmatrixA(double 18,double NN); /创建系数矩阵Avoid FoundmatrixB(double 18,double ,double N);/创建系数矩阵Bvoid FoundmatrixDA(double 18,double NN);/创建矩阵DAvoid FoundmatrixDB(double 18,double ,double N);/创建矩阵DB/定义全局变量double l1=24.0,l2=105.6,l3=67.5,l4=87.5,l5=34.4,l6=25.0;double l2g=65.0,xg=153.5,yg=41.7,inang=60*PI/180,as1=1.0;/主函数void main()int i,j;FILE *fp;double shuju3618;double psvalue18,aNN,daNN,bN,dbN,ang1;printf(Please enter the L1:);scanf(%lf,&l1);/建立文件，并制表头if(fp=fopen(shuju,w)=NULL)printf(Cannt open this file.n);exit(0);fprintf(fp,n L1 =%lf,l1);fprintf(fp, ang2 ang3 ang5 ang6);fprintf(fp, as2 as3 as5 as6);fprintf(fp, aas2 aas3 aas5 aas6);fprintf(fp, xe ye vex vey aex aeyn);/计算数据并写入文件for(i=0;i36;i+)ang1=i*PI/18;Solutionangle(psvalue,ang1);FoundmatrixB(psvalue,ang1,b);FoundmatrixA(psvalue,a);Solutionspeed(a,b,psvalue,ang1);FoundmatrixDA(psvalue,da);FoundmatrixDB(psvalue,ang1,db);Solutionacceleration(a,da,db,psvalue);for(j=0;j0 & (shujuij-shujui-1j)180) /使数据连贯shujuij-=360;for(j=4;j18;j+)shujuij=psvaluej;fprintf(fp,n);for(j=0;j18;j+)fprintf(fp,%12.3f,shujuij);fclose(fp);/输出数据for(i=0;i36;i+)ang1=i*PI/18;printf(n输出ang1=%d时的求解n,i*10);printf(angle angspeed angacceleration :n);for(j=0;j4;j+)printf(%lft,shujuij);printf(n);for(j=4;j8;j+)printf(%lft,shujuij);printf(n);for(j=8;j12;j+)printf(%lft,shujuij);printf(n);for(j=12;j18;j+)printf(%lft,shujuij);printf(n); /*矢量法求角位移*/ void Solutionangle(double value18,double ang1) double xe,ye,A,B,C,phi,alpha,csn,ang5g,d2,d,ang2,ang3,ang5,ang6;A=2*l1*l3*sin(ang1);B=2*l3*(l1*cos(ang1)-l4);C=l2*l2-l1*l1-l3*l3-l4*l4+2*l1*l4*cos(ang1);ang3=2*atan(A+sqrt(A*A+B*B-C*C)/(B-C);if(ang30)/限定ang3大小ang3=2*atan(A-sqrt(A*A+B*B-C*C)/(B-C);ang2=asin(l3*sin(ang3)-l1*sin(ang1)/l2);xe=l4+l3*cos(ang3)+l2g*cos(ang2-inang);ye=l3*sin(ang3)+l2g*sin(ang2-inang); phi=atan2(yg-ye),(xg-xe);d2=(yg-ye)*(yg-ye)+(xg-xe)*(xg-xe);d=sqrt(d2);csn=(l5*l5+d2-l6*l6)/(2.0*l5*d);alpha=atan2(sqrt(1.0-csn*csn),csn);ang5g=phi-alpha;ang5=ang5g-PI;ang6=atan2(ye+l5*sin(ang5g)-yg,xe+l5*cos(ang5g)-xg);value0=ang2;value1=ang3;value2=ang5;value3=ang6;value12=xe;value13=ye;/限定角度大小for(int i=0;i2*PI)valuei-=2*PI;while(valuei0)valuei+=2*PI;/*角速度求解*/void Solutionspeed(double a2NN,double b2N,double value18,double ang1)double ang2,ang3;ang2=value0;ang3=value1;double p2N;GaussianE(a2,b2,p2);value4=p20;value5=p21;value6=p22;value7=p23;value14=-l3*value5*sin(ang3)-l2g*value4*sin(ang2-inang);value15=l3*value5*cos(ang3)+l2g*value4*cos(ang2-inang);/*角加速度求解*/void Solutionacceleration(double a3NN,double da3NN,double db3N,double value18)int i,j;double ang2,ang3;ang2=value0;ang3=value1;double bkN=0;double p3N;for(i=0;iN;i+)for(j=0;jN;j+)bki+=-da3ij*value4+j;bki+=db3i*as1;GaussianE(a3,bk,p3);value8=p30;value9=p31;value10=p32;value11=p33;value16=-l3*value9*sin(ang3)-l3*value5*value5*cos(ang3)-l2g*value8*sin(ang2-inang)-l2g*value4*value4*cos(ang2-inang);value17=l3*value9*cos(ang3)-l3*value5*value5*sin(ang3)+l2g*value8*cos(ang2-inang)-l2g*value4*value4*sin(ang2-inang);/*高斯消去法解矩阵方程*/void GaussianE(double a4NN,double b4N,double p4N)int i,j,k;double a4gNN,b4gN,t;for(i=0;iN;i+)for(j=0;jN;j+)a4gij=a4ij;for(i=0;iN;i+)b4gi=b4i;/施主对角线上的值竟可能大if(a4g00a4g11)for(j=0;jN;j+)t=a4g0j;a4g0j=a4g1j;a4g1j=t;t=b4g0;b4g0=b4g1;b4g1=t;if(a4g22a4g33)for(j=0;jN;j+)t=a4g2j;a4g2j=a4g3j;a4g3j=t;t=b4g2;b4g2=b4g1;b4g3=t;/初等行变换for(j=0;jN;j+)for(i=0;iN;i+)if(i!=j)for(k=0;kN;k+)if(k!=j)a4gik-=a4gij/a4gjj*a4gjk; b4gi-=b4gj*a4gij/a4gjj;a4gij=0;for(i=0;iN;i+)b4gi/=a4gii;p40=b4g0;p41=b4g1;p42=b4g2;p43=b4g3;/创建系数矩阵Avoid FoundmatrixA(double value518,double a5NN)double ang2,ang3,ang5,ang6;ang2=value50;ang3=value51;ang5=value52;ang6=value53;a500=-l2*sin(ang2);a501=l3*sin(ang3);a510=l2*cos(ang2);a511=-l3*cos(ang3);a520=-l2*sin(ang2)-l2g*sin(ang2-inang);a522=l5*sin(ang5);a523=l6*sin(ang6);a530=l2*cos(ang2)+l2g*cos(ang2-inang);a532=-l5*cos(ang5);a533=-l6*cos(ang6);a502=a503=a512=a513=a521=a531=0;/创建系数矩阵Bvoid FoundmatrixB(double value618,double ang1,double b6N)b60=b62=l1*sin(ang1)*as1;b61=b63=-l1*cos(ang1)*as1;/创建矩阵DAvoid FoundmatrixDA(double value718,double da7NN)double ang2,ang3,ang5,ang6,as2,as3,as5,as6;ang2=value70;ang3=value71;ang5=value72;ang6=value73;as2=value74;as3=value75;as5=value76;as6=value77;da700=-l2*as2*cos(ang2);da701=l3*as3*cos(ang3);da710=-l2*as2*sin(ang2);da711=l3*as3*sin(ang3);da720=as2*(-l2*cos(ang2)-l2g*cos(ang2-inang);da722=as5*l5*cos(ang5);da723=as6*l6*cos(ang6);da730=as2*(-l2*sin(ang2)-l2g*sin(ang2-inang);da732=as5*l5*sin(ang5);da733=as6*l6*sin(ang6);da702=da703=da712=da713=da721=da731=0;/创建矩阵DBvoid FoundmatrixDB(double value818,double ang1,double db8N)db80=db82=l1*as1*cos(ang1);db81=db83=l1*as1*sin(ang1);五、计算结果数据A组ang1ang2ang3ang5ang6as2as3as5as6036.79969.573302.46392.665-0.434-0.434-3.708-4.9641032.70966.003286.567.799-0.379-0.276-2.489-3.7952029.27864.073277.17552.863-0.306-0.111-1.888-3.0623026.59763.731270.38344.249-0.2310.039-1.644-2.6354024.63664.755264.24839.673-0.1630.161-1.603-2.4355023.30166.865257.84137.316-0.1060.256-1.689-2.4296022.4969.79250.48135.42-0.0580.325-1.871-2.6077022.11373.301241.27231.876-0.0190.374-2.118-2.9538022.09977.209228.85123.8250.0150.405-2.303-3.3249022.39681.365212.2658.5940.0440.424-2.115-3.29510022.96885.644193.797-12.3280.070.431-1.472-2.65411023.7989.946178.11-33.3190.0940.428-0.845-1.91212024.84694.183167.251-50.8840.1170.418-0.857-1.5613026.12398.28160.521-64.7210.1390.4-0.513-1.22114027.615102.17156.563-75.5880.160.377-0.298-0.96515029.314105.794154.233-84.2470.180.347-0.182-0.77616031.211109.099152.704-91.2620.1990.313-0.134-0.63417033.293112.039151.401-97.0320.2170.274-0.134-0.52518035.542114.577149.925-101.8610.2320.232-0.166-0.44519037.932116.679148.01-106.0040.2450.188-0.22-0.38820040.431118.319145.494-109.70.2540.14-0.285-0.35521042.996119.475142.298-113.1730.2580.091-0.355-0.34322045.574120.129138.407-116.6250.2560.04-0.423-0.3523048.103120.26133.85-120.2110.248-0.014-0.487-0.36924050.51119.848128.684-124.010.232-0.069-0.545-0.39125052.711118.867122.962-128.0140.207-0.128-0.599-0.40826054.609117.285116.716-132.1160.171-0.189-0.651-0.4127056.095115.063109.921-136.1350.124-0.256-0.709-0.39128057.048112.159102.484-139.8520.064-0.326-0.781-0.34929057.34108.52894.227-143.068-0.008-0.401-0.874-0.29230056.841104.14184.895-145.693-0.093-0.477-0.998-0.23531055.44399.00674.133-147.897-0.188-0.549-1.164-0.21732053.08493.20361.308-150.504-0.284-0.608-1.426-0.34633049.79786.93144.511-156.605-0.371-0.64-2.045-1.05234045.75580.5515.94-178.722-0.432-0.627-3.914-3.81235041.28174.575-27.282-226.975-0.455-0.558-3.977-4.898A2组ang1aas2aas3aas5aas6xeyeveae00.2320.833-0.707-7.337170.80237.64839.712267.81402100.3860.9533.292-1.312172.71731.86330.02575.04383200.4370.9183.8091.002172.8927.49920.650871.34835300.4150.7853.5291.836171.63824.74515.544159.59839400.3590.6213.342.232169.29523.43316.48245.01181500.2990.4653.5082.7166.13723.22720.032131.21475600.2480.3334.2333.655162.3823.76623.357619.74525700.2070.2265.8895.741158.19524.73625.68910.88359800.1780.148.7199.694153.73425.89626.97134.615676900.1570.0710.14812.954149.13127.07227.32343.1328871000.1430.0126.2889.681144.51628.15826.88446.0016811100.133-0.0381.8874.451140.00929.10225.77898.778491200.127-0.0812.3862.175135.7229.89424.120511.111731300.123-0.1191.5741.697131.74430.56522.017313.106111400.119-0.1530.9171.254128.1631.16919.589414.839571500.114-0.1830.4480.934125.02731.7816.988416.322791600.106-0.2090.1210.708122.3832.48114.426317.511351700.096-0.231-0.1050.537120.23733.35512.218618.33571800.082-0.25-0.2560.392118.59334.47310.791318.726131900.062-0.265-0.3480.256117.43135.89310.527518.637692000.038-0.277-0.3930.126116.72537.65111.414718.075772100.008-0.288-0.40.01116.44539.75413.034117.11934220-0.027-0.299-0.382-0.08116.56942.18714.920415.96623230-0.069-0.311-0.35-0.127117.08944.90316.761515.02240-0.118-0.326-0.317-0.121118.01647.82918.392114.98325250-0.173-0.344-0.298-0.06119.38750.86619.774216.69316260-0.235-0.366-0.310.045121.26953.88320.997320.60356270-0.305-0.391-0.3650.174123.75556.71722.30226.57647280-0.379-0.417-0.4660.292126.95559.16824.091234.15089290-0.454-0.435-0.6120.35130.98160.98526.849742.62384300-0.518-0.432-0.810.268135.9161.87330.916750.8505310-0.555-0.389-1.14-0.151141.72861.50336.199857.04043320-0.538-0.276-2.049-1.643148.25659.56741.958958.95638330-0.441-0.07-6.064-8.026155.08655.88946.780255.50107340-0.2520.229-12.674-20.776161.58450.58948.822350.89729350-0.0040.56410.4157.935167.01644.20946.538555.42417B组ang1ang2ang3ang5ang6as2as3as5as6037.58772.605312.318110.829-0.378-0.378-4.453-5.4881033.99269.454292.36383.064-0.337-0.249-3.106-4.2282030.89467.648280.78666.361-0.281-0.112-2.374-3.4223028.39467.178272.80656.344-0.2190.016-2.041-2.9644026.49867.903266.14350.484-0.1610.126-1.946-2.7565025.15569.615259.60546.954-0.1090.213-2.008-2.7586024.29572.099252.3244.019-0.0640.28-2.195-2.9657023.84875.156243.20139.515-0.0260.329-2.471-3.3588023.75478.618230.59530.3210.0070.361-2.672-3.7539023.96882.343213.32313.5590.0360.382-2.396-3.60410024.45686.213194.072-8.6730.0610.391-1.62-2.77311025.19190.129177.843-30.2640.0850.391-0.931-1.93912026.15694.005166.525-48.0090.1080.383-0.904-1.56813027.33897.766159.316-61.880.1290.368-0.562-1.22214028.726101.348154.865-72.7430.1490.347-0.347-0.96415030.309104.691152.063-81.3990.1680.321-0.227-0.77616032.077107.746150.115-88.4320.1850.289-0.172-0.63717034.013110.467148.469-94.2520.2010.254-0.163-0.53218036.099112.817146.745-99.1670.2150.215-0.186-0.45519038.309114.762144.685-103.4280.2260.173-0.229-0.40120040.608116.277142.129-107.2550.2330.129-0.284-0.36821042.957117.339138.989-110.8450.2360.083-0.345-0.35322045.305117.926135.237-114.3660.2330.034-0.406-0.35323047.593118.021130.883-117.940.224-0.016-0.464-0.36324049.754117.602125.964-121.6260.207-0.068-0.519-0.37425051.709116.647120.518-125.4060.182-0.123-0.57-0.3826053.372115.129114.568-129.1880.148-0.181-0.62-0.37327054.645113.019108.101-132.8150.104-0.242-0.674-0.34928055.424110.287101.057-136.1010.05-0.305-0.737-0.30529055.602106.9193.326-138.867-0.016-0.37-0.812-0.24630055.079102.88284.761-141.005-0.09-0.435-0.904-0.18231053.77698.23675.185-142.556-0.171-0.493-1.015-0.13432051.66393.06864.327-143.913-0.251-0.537-1.167-0.15833048.78787.57251.336-146.604-0.322-0.557-1.49-0.47634045.382.05430.838-158.958-0.371-0.54-3.036-2.62735041.45976.921-11.492-204.165-0.391-0.479-4.538-5.328B2组ang1aas2aas3aas5aas6xeyeveae00.1630.677-4.676-11.1167.7739.6333.833954.0189100.290.781.546-3.301169.60834.70426.336560.1739200.3480.7733.3340.045169.96230.8118.915258.9206300.3490.6873.6581.464169.0428.15114.454651.3746400.3180.5663.772.235167.09326.66414.699540.7494500.2760.4414.1543.014164.35726.13517.559129.7894600.2360.3275.1744.364161.0326.29720.572620.0023700.2020.2317.4387.211157.27726.90222.848811.9133800.1760.1511.37212.608153.24327.74124.22065.52535900.1560.08212.99716.378149.05928.66324.74061.183871000.1420.0257.52911.201144.84629.56624.51413.750461100.132-0.0232.2194.787140.71730.39523.65156.801711200.124-0.0662.3692.25136.77231.13522.26059.323741300.118-0.1031.5651.716133.131.80220.445311.43781400.112-0.1370.9291.253129.77432.43718.324613.22421500.106-0.1660.4780.922126.84833.09816.041314.70931600.097-0.1910.1650.69124.35933.8513.788715.87581700.086-0.213-0.0510.516122.32534.75811.835516.67991800.071-0.232-0.1970.373120.75135.88310.530117.0811900.052-0.247-0.2880.248119.62437.26910.178517.05522000.029-0.26-0.3370.134118.92938.94310.801516.6262100-0.271-0.3530.037118.64640.9112.093215.8766220-0.034-0.282-0.346-0.033118.76143.15113.670215.0066230-0.073-0.294-0.324-0.068119.27145.62215.254414.3882240-0.117-0.307-0.301-0.058120.18948.25616.696714.6044250-0.167-0.322-0.287-0.004121.54750.95817.964216.2741260-0.223-0.339-0.2940.087123.40153.60919.136719.6792270-0.283-0.356-0.3290.196125.82156.05920.425124.6446280-0.344-0.371-0.3920.301128.88958.12722.148330.7052290-0.403-0.375-0.4770.367132.67559.59724.648937.1573300-0.449-0.358-0.5770.35137.