机械原理课程设计说明书-牛头刨床机构方案分析.docx

机械原理课程设计说明书题目：牛头刨床机构方案分析 班 级 ：机械0907姓 名 ：张某学 号 ：2009*指导教师 ： 成 绩 ： 2011年 9月 26日牛头刨床机构方案分析一、题目说明（图b）所示为两种牛头刨床主机构的运动简图，已知，l1=0.1m，l0=0.4m，l3=0.75m，l4=0.15m，ly=0.738m，l3=0.375m，a=0.05m，b=0.15，c=0.4m，d=0.1m。只计构件3、5的质量，其余略去不计，m3=30kg，js3=0.7kgm2，m5=95kg。工艺阻力q如图所示，q=9000n。主轴1的转速为60r/min(顺时针方向)，许用运转不均匀系数=0.03。工艺阻力如下图所示。二、内容要求与作法1.进行运动分析，绘制出滑枕5的位移、速度和加速度线图。2.进行动态静力分析，绘制固定铰链处的反力矢端图和平衡力矩td的线图。3.以主轴为等效构件，计算飞轮转动惯量。4.对两种机构方案进行综合评价，主要比较如下几项内容：工作行程中滑枕 5 的速度均匀程度。固定铰链处的反力大小及方向变化。平衡力矩平均值及波动情况。飞轮转动惯量大小。三、课程设计说明书内容上机结束后，每位学生整理出课程设计说明书一份，其内容应包括：1.机构简图和已知条件。2.滑枕初始位置及行程 h 的确定方法。3.杆组的拆分方法及所调用的杆组子程序中虚参与实参对照表。4.飞轮转动惯量的计算方法。5.自编程序中主要标识符说明。6.自编程序及计算结果清单。7.各种线图：滑枕的位移、速度和加速度线图，平衡力矩线图固定铰链处反力矢端图等效转动惯量，等效阻力矩，等效构件角速度线图。8.以一个位置为例，用图解法做机构的运动分析，与解析法计算结果比较误差。四、滑枕初始位置及行程 h 的确定方法（1）主动件1绕1点转动，且长度小于1、2点间距离。所以，当构件1转至下图所示位置时，滑枕出在其初始位置。（2）2.行程h的确定方法以1点为坐标原点建立平面直角坐标系：由机构运动分析得到：1杆与2杆两次垂直，得到滑枕的左右极限位置，当滑枕运动到左极限位置和右极限滑枕6点的行程h，由平面几何知识求得，得出行程h375mm。5点左极限位置为。五、飞轮转动惯量的计算方法。 计算等效驱动力矩td1（常数）： 由于一周期内驱动力的功等于阻力功，所以有td1=;计算间隔i-1、i内的盈亏功：e=0;e=e+e;挑选出e和e：最大盈亏功为：e-e；计算飞轮转动惯量： jf= 。六、杆组的拆分方法及所调用的杆组子程序中虚参与实参对照表1、杆组的拆分方法（附图）1、2、3、4、5、6、7、8、9、10、代表机构中的各运动点，其中4、8分别表示、构件的质心；10点表示工艺阻力在滑枕上的作用点；表示主动件、表示导杆、表示滑块、表示连杆、表示滑枕、表示机架。5、9两点为滑枕上的两个参考点。2、所调用的杆组子程序中虚参与实参对照表(1)对主动件1进行运动分析，可求出3点的运动状态。调用bark函数形式参数n1n2n3kr1r2gamtwepvpap实参1301r130.00.0twepvpap(2) 现已知2、3点的运动状态可调用rprk函数可知构件3运动参数，主动件1逆时针转动，m值取1.形式参数mn1n2k1k2r1r2vr2ar2twepvpap实参123320.0&r2&vr2&ar2twepvpap(3) 已求出构件3的运动状态，并2点的运动参数，调用bark函数求4点的运动参数。形式参数n1n2n3kr1r2gamtwepvpap实参2603r260.00.0twepvpap(4)调用rprk函数，求构件5的运动参数。形式参数n1n2n3n4k1k2k3r1gam1gam2r2vr2ar2实参65674560.00.0gam3&r2&vr2&ar2形式参数r3vr3ar3twepvpap实参&r3&vr3&ar3twepvpap七、动态静力分析在运动分析的基础上，进行动态静力学分析。简易求法求解平衡力矩时，构件3的质心4运动状态。(1)调用back求4点的运动参数。形式参数n1n2n3kr1r2gamtwepvpap实参2403r240.00.0twepvpap(2)调用rppf函数求6点的运动副反力。形式参数n1n2n3n4ns1ns2nn1nn2nexfk1k2k3实参69670801010456形式参数pvpaptwefrfkpk实参pvpaptwefrfkpk(2)调用rprf函数求2、3点的运动副反力。形式参数n1n2ns1ns2nn1nn2nexfk1k2实参264060034形式参数pvpaptwefrfkpk实参pvpaptwefrfkpk(3)调用barf函数求固定铰支座1点的运动副反力。形式参数n1ns1nn1k1papefrtb实参1031papefr&tb八、程序清单：运动状态分析：#include graphics.h#include subk.c#include draw.cmain()static double p202,vp202,ap202,del;static double t10,w10,e10,pdraw370,vpdraw370,apdraw370;static int ic;double r13,r26,gam3,r24; double pi,dr;double r2,vr2,ar2,r3,vr3,ar3;int i;file *fp;r13=0.1; r26=0.75; ;r24=0.375;gam3=90.0; w1=6.28; e1=0.0; w6=0.0; t6=0.0; e6=0.0; del=5.0; pi=4.0*atan(1.0);dr=pi/180.0; gam3=gam3*dr;p21=0.0;p22=0.0; p11=0.0;p12=0.4; p51=0.0;p52=0.738; p72=0.738;printf( n thekinematic parametersof point 7n);printf(no theta1 s7 v7 a7n);printf( deg m m/s m/s/sn);if(fp=fopen(file1,w)=null)printf( cant open this file.n);exit(0);fprintf(fp, n the kinematic parameters of point 7n);fprintf(fp,no theta1 s7 v7 a7n);fprintf(fp,deg m m/s m/s/s);ic=(int)(360.0/del);for(i=0;i0&pnexf1=0.23125&pnexf1=0.56875)fenexf1=-9000.0;elsefenexf1=0.0;main()static double p202,vp202,ap202,del;static double t10,w10,e10,tbdraw370,tb1draw370,fr1draw370,fr3draw370,fr2draw370,bt1draw370,bt2draw370,bt3draw370,w1draw370; static double fr202,fe202,fk202,pk202;static int ic;double r13,r26,r24,gam3; double pi,dr; double r1,vr1,ar1;double r2,vr2,ar2,r3,vr3,ar3; double fr1,fr2,bt2,we3,we5,bt1,tb1,tb; double tr100,td=0,e1100,e2100,e100,max,min,jf,je100; int i;file *fp;sm3=30.0; sm5=95.0; sj3=0.7; r13=0.1; r24=0.375; r26=0.75; gam3=90.0; w1=-6.28; e1=0.0; w6=0.0; t6=0.0; e6=0.0; del=5.0;pi=4.0*atan(1.0);dr=pi/180.0; gam3=gam3*dr; p21=0.0;p22=0.0; p11=0.0;p12=0.4; p51=0.0;p52=0.738; p72=0.738;printf(n the kineto-static analysis of a six-bar linkasen); printf( no theta1 fr1 bt1 fr2 bt2 tb tb1n); printf( (deg.) (n) (deg.) (n) (deg.) (n.m) (n.m)n);if(fp=fopen(file,w)=null)printf(cant open this file.n);exit(0);fprintf(fp,n the kineto-static analysis of a six-bar linkasen);fprintf(fp, no theta1 fr1 bt1 fr2 bt2 tb tb1n);fprintf(fp, (deg.) (n) (deg.) (n) (deg.) (n.m) (n.m)n);ic=(int)(360.0/del);for(i=0;i=ic;i+) t1=(1.5*pi-75.52*dr-(double)(i)*del*dr); bark(1,3,0,1,r13,0.0,0.0,t,w,e,p,vp,ap);rprk(1,2,3,3,2,0.0,&r2,&vr2,&ar2,t,w,e,p,vp,ap);bark(2,6,0,3,r26,0.0,0.0,t,w,e,p,vp,ap);rppk(6,5,6,7,4,5,6,0.0,0.0,gam3,&r2,&vr2,&ar2,&r3,&vr3,&ar3,t,w,e,p,vp,ap);bark(2,4,0,3,r24,0.0,0.0,t,w,e,p,vp,ap); p101=p71+0.4;p102=0.638; p81=p71+0.15;p82=0.788; vp81=vp71;vp82=0; ap81=ap71;ap82=0; vp101=vp71;vp102=0; ap101=ap71;ap102=0; rppf(6,9,6,7,0,8,0,10,10,4,5,6,p,vp,ap,t,w,e,fr,fk,pk); rprf(2,3,4,0,6,0,0,3,2,p,vp,ap,t,w,e,fr,fk,pk); barf(1,1,3,1,p,ap,e,fr,&tb); fr1=sqrt(fr11*fr11+fr12*fr12);bt1=atan2(fr12,fr11);fr2=sqrt(fr21*fr21+fr22*fr22);bt2=atan2(fr22,fr21); we3=-(ap41*vp41+(ap42+9.81)*vp42)*sm3-e3*w3*sj3; extf(p,vp,ap,t,w,e,10,fe); we5=-(ap81*vp81)*sm5+fe101*vp101;tb1=-(we3+we5)/w1;printf( %3d%6.0f%11.3f%11.3f%11.3f%11.3f%11.3f%11.3fn, i,t1/dr,fr1,bt1/dr,fr2,bt2/dr,tb,tb1);fprintf(fp, %3d%6.0f%11.3f%11.3f%11.3f%11.3f%11.3f%11.3fn, i,t1/dr,fr1,bt1/dr,fr2,bt2/dr,tb,tb1);tbdrawi=tb;tb1drawi=tb1; fr1drawi=fr1; fr2drawi=fr2; bt1drawi=bt1; bt2drawi=bt2; bt3drawi=bt1; bt3drawi=bt1;if(i%16=0) getch();tri=tb;td+=tb1;ei=0.5*0.7*w3*w3+0.5*30*(vp41*vp41+vp42*vp42)+0.5*95*vp81*vp81;jei=2*ei/w1/w1;w1drawi=w1; td=(td-0.007)/72;max=0.0; min=0.0;e10=0.0;e20=0.0;for(i=0;iic;i+)if(maxe2i) min=e2i;jf=(max-min)/(6.28*6.28*0.03);printf(n jf=%10.3f,jf); fclose(fp); getch(); draw2(del,tbdraw,tb1draw,ic); draw3(del,bt1draw,fr1draw,bt2draw,fr2draw,bt1draw,fr1draw,ic); draw2(del,je,w1draw,ic); _七、计算结果清单：运动状态分析： the kinematic parameters of point 7no theta1 s7 v7 a7deg m m/s m/s/s 1 0.000 0.182 -0.269 -5.982 2 5.000 0.178 -0.349 -5.525 3 10.000 0.172 -0.422 -5.088 4 15.000 0.166 -0.490 -4.671 5 20.000 0.159 -0.552 -4.275 6 25.000 0.151 -0.609 -3.897 7 30.000 0.142 -0.661 -3.536 8 35.000 0.132 -0.707 -3.192 9 40.000 0.122 -0.750 -2.86110 45.000 0.111 -0.787 -2.54311 50.000 0.100 -0.820 -2.23612 55.000 0.089 -0.849 -1.93713 60.000 0.077 -0.874 -1.64714 65.000 0.064 -0.895 -1.36315 70.000 0.052 -0.912 -1.08416 75.000 0.039 -0.925 -0.81017 80.000 0.026 -0.935 -0.53818 85.000 0.013 -0.940 -0.26919 90.000 0.000 -0.942 0.00020 95.000 -0.013 -0.940 0.26921 100.000 -0.026 -0.935 0.53822 105.000 -0.039 -0.925 0.81023 110.000 -0.052 -0.912 1.08424 115.000 -0.064 -0.895 1.36325 120.000 -0.077 -0.874 1.64726 125.000 -0.089 -0.849 1.93727 130.000 -0.100 -0.820 2.23628 135.000 -0.111 -0.787 2.54329 140.000 -0.122 -0.750 2.86130 145.000 -0.132 -0.707 3.19231 150.000 -0.142 -0.661 3.53632 155.000 -0.151 -0.609 3.89733 160.000 -0.159 -0.552 4.27534 165.000 -0.166 -0.490 4.67135 170.000 -0.172 -0.422 5.08836 175.000 -0.178 -0.349 5.52537 180.000 -0.182 -0.269 5.98238 185.000 -0.185 -0.182 6.45839 190.000 -0.187 -0.089 6.94840 195.000 -0.187 0.011 7.44741 200.000 -0.187 0.118 7.94442 205.000 -0.184 0.231 8.42543 210.000 -0.180 0.352 8.87044 215.000 -0.174 0.478 9.25445 220.000 -0.167 0.608 9.54246 225.000 -0.157 0.742 9.69747 230.000 -0.146 0.877 9.67548 235.000 -0.133 1.010 9.42949 240.000 -0.118 1.138 8.91750 245.000 -0.102 1.257 8.10851 250.000 -0.083 1.362 6.98752 255.000 -0.064 1.449 5.56353 260.000 -0.043 1.515 3.87454 265.000 -0.022 1.556 1.99055 270.000 -0.000 1.570 0.00056 275.000 0.022 1.556 -1.99057 280.000 0.043 1.515 -3.87458 285.000 0.064 1.449 -5.56359 290.000 0.083 1.362 -6.98760 295.000 0.102 1.257 -8.10861 300.000 0.118 1.138 -8.91762 305.000 0.133 1.010 -9.42963 310.000 0.146 0.877 -9.67564 315.000 0.157 0.742 -9.69765 320.000 0.167 0.608 -9.54266 325.000 0.174 0.478 -9.25467 330.000 0.180 0.352 -8.87068 335.000 0.184 0.231 -8.42569 340.000 0.187 0.118 -7.94470 345.000 0.187 0.011 -7.44771 350.000 0.187 -0.089 -6.94872 355.000 0.185 -0.182 -6.45873 360.000 0.182 -0.269 -5.982动态静力分析： the kineto-static analysis of a six-bar linkase no theta1 fr1 bt1 fr2 bt2 tb tb1 (deg.) (n) (deg.) (n) (deg.) (n.m) (n.m) 0 194 1517.810 14.478 658.598 -175.078 0.007 0.007 1 189 1389.057 14.423 587.176 -177.532 -11.968 -11.968 2 184 1267.595 14.263 523.696 179.383 -21.538 -21.538 3 179 1154.105 14.005 468.413 175.652 -28.946 -28.946 4 174 1048.703 13.658 421.260 171.279 -34.450 -34.450 5 169 951.130 13.228 381.947 166.304 -38.304 -38.304 6 164 15910.661 12.723 6809.269 -151.974 -752.911 -752.911 7 159 15605.595 12.149 6513.478 -152.744 -842.362 -842.362 8 154 15327.443 11.512 6238.809 -153.734 -923.114 -923.114 9 149 15074.421 10.819 5984.695 -154.944 -995.682 -995.682 10 144 14844.815 10.075 5750.716 -156.373 -1060.526 -1060.526 11 139 14637.012 9.285 5536.619 -158.020 -1118.053 -1118.053 12 134 14449.520 8.455 5342.301 -159.881 -1168.621 -1168.621 13 129 14280.984 7.589 5167.799 -161.948 -1212.540 -1212.540 14 124 14130.181 6.693 5013.262 -164.212 -1250.077 -1250.077 15 119 13996.025 5.770 4878.915 -166.658 -1281.462 -1281.462 16 114 13877.557 4.824 4765.021 -169.268 -1306.889 -1306.889 17 109 13773.945 3.860 4671.831 -172.019 -1326.524 -1326.524 18 104 13684.472 2.881 4599.546 -174.884 -1340.503 -1340.503 19 99 13608.533 1.892 4548.268 -177.830 -1348.936 -1348.936 20 94 13545.627 0.896 4517.968 179.176 -1351.913 -1351.913 21 89 13495.350 -0.104 4508.461 176.171 -1349.499 -1349.499 22 84 13457.388 -1.103 4519.392 173.191 -1341.742 -1341.742 23 79 13431.515 -2.098 4550.245 170.271 -1328.668 -1328.668 24 74 13417.585 -3.086 4600.354 167.444 -1310.286 -1310.286 25 69 13415.529 -4.062 4668.936 164.738 -1286.584 -1286.584 26 64 13425.349 -5.022 4755.125 162.179 -1257.534 -1257.534 27 59 13447.114 -5.964 4858.007 159.786 -1223.086 -1223.086 28 54 13480.956 -6.882 4976.663 157.575 -1183.173 -1183.173 29 49 13527.066 -7.772 5110.195 155.557 -1137.708 -1137.708 30 44 13585.690 -8.631 5257.759 153.740 -1086.581 -1086.581 31 39 13657.122 -9.453 5418.584 152.131 -1029.665 -1029.665 32 34 13741.699 -10.233 5591.984 150.731 -966.813 -966.813 33 29 13839.800 -10.967 5777.369 149.542 -897.857 -897.857 34 24 13951.832 -11.649 5974.246 148.563 -822.615 -822.615 35 19 14078.235 -12.274 6182.216 147.796 -740.891 -740.891 36 14 14219.470 -12.834 6400.972 147.238 -652.483 -652.483 37 9 970.802 166.676 389.499 12.615 37.626 37.626 38 4 1069.969 166.263 430.410 7.760 33.449 33.449 39 -1 1177.042 165.934 479.236 3.518 27.570 27.570 40 -6 1292.215 165.696 536.227 -0.078 19.734 19.734 41 -11 1415.273 165.557 601.393 -3.030 9.682 9.682 42 -16 1545.386 165.525 674.396 -5.356 -2.818 -2.818 43 -21 1680.832 165.607 754.393 -7.089 -17.940 -17.940 44 -26 1818.665 165.811 839.825 -8.261 -35.731 -35.731 45 -31 1954.327 166.143 928.153 -8.906 -56.038 -56.038 46 -36 2081.270 166.610 1015.582 -9.051 -78.402 -78.402 47 -41 2190.629 167.216 1096.804 -8.717 -101.952 -101.952 48 -46 2271.114 167.965 1164.867 -7.917 -125.302 -125.302 49 -51 2309.259 168.858 1211.264 -6.648 -146.507 -146.507 50 -56 2290.232 169.892 1226.419 -4.888 -163.105 -163.105 51 -61 2199.360 171.063 1200.658 -2.576 -172.322 -172.322 52 -66 2024.384 172.362 1125.762 0.422 -171.456 -171.456 53 -71 1758.216 173.775 997.021 4.403 -158.422 -158.422 54 -76 1401.674 175.285 815.702 10.087 -132.375 -132.375 55 -81 965.398 176.872 592.604 19.538 -94.212 -94.212 56 -86 470.147 178.510 360.051 40.560 -46.760 -46.760 57 -91 55.042 0.173 246.946 97.463 5.504 5.504 58 -96 576.684 1.834 405.751 145.712 57.194 57.194 59 -101 1061.831 3.463 641.