压床连杆机构的设计及运动分析_机械原理课程设计.doc

机械原理课程设计说明书设计题目：压床连杆机构的设计及运动分析（方案一）指导教师：王春华 郝志勇 院系：机械工程学院班级：矿电11-3姓名：李建霖学号：1107250311 2013年7月4日 辽宁工程技术大学机械原理课程设计任务书（三）姓名 李建霖 专业 矿山机电 班级 矿电11-3 学号 1107250311一、设计题目：压床连杆机构的设计及运动分析二、系统简图：三、工作条件 已知：中心距、，构件3的上、下极限角、，滑块的冲程h，比值、,各构件重心s的位置，曲柄每分钟转数。四、原始数据连杆机构的设计及运动分析50140220601201501/21/41001/21/2五、要求：1）设计连杆机构，作机构运动简图（选择适当的比例尺作在a2图纸上）、滑块的运动线图（位移、速度和加速度曲线）。编程绘制或用坐标纸描点，并将其粘于运动简图的图纸上。 2) 用c语言编写程序对机构进行运动分析，并打印出程序及计算结果。 3）编写出设计计算说明书。 指导教师：王春华 郝志勇开始日期： 2013年6月29日 完成日期：2013年7月4日目录1 设计任务及要求2 数学模型的建立3 程序框图4 程序清单及运行结果5 参考文献1设计任务及要求已知：中心距=50mm, =140mm,y=220mm,构件3的上、下极限角=60度，=120度，滑块的冲程h=150mm，比值ce/cd=1/2，ef/de=1/4，各构件重心s的位置,曲柄每分钟转速=100r/min.要求:1:设计连杆机构,作机械运动简图(选择适当的比例尺),机构两个位置的速度多边形和加速度多边形,滑块的运动线图(位移,速度和加速度曲线).2:用c语言编写程序对机构进行运动分析,并打印出程序及计算结果.3:编写出设计计算说明书.2.数学模型如图，四个向量组成的封闭四边行，于是有 （1）按复数式可以写成由于上式可化简为 （2）根据（2）式中实部、虚部分别等于零得 （3） （4）（3）、（4）式联立消去得 （5）令：则（5）式可化简为 （6）解之得 （7）同理，根据（3）（4）式消去可解得 （8）其中：（7）（8）式为c、b杆的角位移方程。由于、都是时间的函数，为简便，将（3）、（4）式对时间求导，得， （9）将（2）式对时间数得，（10），（11）曲柄可近似看成匀角速度转动，即 3程序框图程序设计时，一般是未知量而已知且为常数，它们关系为,取相等时间间隔，则，其中i=1,2, ,n为整数，,设计程序算法（表示n-s流程图）如下：输入a,b,c,d, ,输入n作循环，for(i=0;in;i+)依次计算将计算的结果分别存入数组或文件中按格式输出所有计算结果初始化图形系统绘制直角坐标系直角坐标系下分别绘出角位移、角速度、角加速度图象4程序清单及运行结果（1） 序清单程#include stdio.h#include math.h#include stdlib.h#include conio.h#include graphics.h#define pi 3.141592653#define n 100void init_graph(void);void initview();void draw();floatsita1n+1,sita2n+1,sita3n+1,omigar2n+1,omigar3n+1,epsl2n+1,epsl3n+1;float a=50,b=231,c=155,d=255.5,n=100,ipsl1=0;main() int i,k;float l1,l2,m1,m2,n1,n2;float theta1,detat;float theta2,theta3,omiga2,omiga3,ipsl2,ipsl3,omiga1=2*pi*n/60; detat=10*pi/(n*omiga1);for(i=0;i=n;i+) theta1=omiga1*detat*i; /*系数计算*/ l1=2*a*c*cos(theta1)-2*c*d; m1=2*a*c*sin(theta1); n1=a*a+c*c+d*d-b*b-2*a*d*cos(theta1); l2=2*a*b*cos(theta1)-b*d*2; m2=2*a*b*sin(theta1); n2=c*c-a*a-b*b-d*d+2*a*d*cos(theta1); /*计算转角*/ theta2=asin(n2/sqrt(l2*l2+m2*m2)-asin(l2/sqrt(l2*l2+m2*m2); theta3=asin(n1/sqrt(l1*l1+m1*m1)-asin(l1/sqrt(l1*l1+m1*m1); /*计算角速度*/ omiga2=omiga1*a*sin(theta3-theta1)/(b*sin(theta2-theta3); omiga3=omiga1*a*sin(theta1-theta2)/(c*sin(theta3-theta2); /*计算角加速度*/ /*ipsl2*/ ipsl2=a*ipsl1*sin(theta1-theta3)+a*omiga1*omiga1*cos(theta1-theta3); ipsl2+=b*omiga2*omiga2*cos(theta3-theta2)-c*omiga3*omiga3; ipsl2=ipsl2/(b*sin(theta3-theta2); /*ispl3*/ ipsl3=-a*ipsl1*sin(theta1-theta2)-a*omiga1*omiga1*cos(theta1-theta2); ipsl3-=b*omiga2*omiga2-c*omiga3*omiga3*cos(theta2-theta3); ipsl3=ipsl3/(c*sin(theta2-theta3); /*计算结果存入数组中*/ sita1i=theta1; sita2i=theta2; sita3i=theta3; omigar2i=omiga2; omigar3i=omiga3; epsl2i=ipsl2; epsl3i=ipsl3; /*输出运算结果*/for(i=0;i=n;i+)printf(i=%dn,sita1i=%ft,sita2i=%ft,sita3i=%ft,omigar2i=%ft,omgiar3i=%ft,epsl2i=%ft,epsl3i=%fnn,i,sita1i,sita2i,sita3i,omigar2i,omigar3i,epsl2i,epsl3i);init_graph();/*初始化图形系统*/initview();/*建立坐标系*/*画构件2的角位移、角速度、角加速度*/draw(sita2,180,25);setcolor(white);setlinestyle(1,1,1);draw(omigar2,160,15);setcolor(red);setlinestyle(2,1,1);draw(epsl2,170,1);/*画构件3的角位移、角速度、角加速度*/setcolor(yellow);draw(sita3,350,10);setcolor(white);setlinestyle(1,1,1);draw(omigar3,300,10);setcolor(red);setlinestyle(2,1,1);draw(epsl3,300,1);void init_graph()int gd=detect,gmode;initgraph(&gd,&gmode,c:turboc2);void initview()int i,j,px,py; cleardevice(); setfillstyle(solid_fill,blue); bar(100,0,500,479); setcolor(yellow); for(i=0;i=1;i+) px=100; py=150+i*150; setcolor(yellow); line(px,py,px+300,py); line(px,py-100,px,py+100); line(px,py-100,px-3,py-100+5); line(px,py-100,px+3,py-100+5); line(px+300,py,px+300-5,py+3); line(px+300,py,px+300-5,py-3); setcolor(yellow); settextstyle(1,horiz_dir,2); outtextxy(px+300,py,t); void draw(array,py,scale)/*array要做图的数组，py起始y位置，scale纵向放大倍数*/ float arrayn+1;int py,scale; int i; float f,x,y;moveto(100,200);for(i=0;i=n;i+)x=100+300*i/n;y=py+arrayi*scale;lineto(x,y);（2）运行结果i=0,sita1i=0.000000 ,sita2i=0.719301 ,sita3i=1.782561 ,omigar2i=-2.546685 ,omgiar3i=-2.546686 ,epsl2i=-7.127797 , epsl3i=37.854820i=1,sita1i=0.628319 ,sita2i=0.569978 ,sita3i=1.710014 ,omigar2i=-2.211645 ,omgiar3i=0.216779 ,epsl2i=14.539609 , epsl3i=46.831387i=2,sita1i=1.256637 ,sita2i=0.466770 ,sita3i=1.796932 ,omigar2i=-1.205756 ,omgiar3i=2.450480 ,epsl2i=17.172018 , epsl3i=26.364237i=3,sita1i=1.884956 ,sita2i=0.424542 ,sita3i=1.978575 ,omigar2i=-0.212845 ,omgiar3i=3.357970 ,epsl2i=16.139238 , epsl3i=3.775596i=4,sita1i=2.513274 ,sita2i=0.440982 ,sita3i=2.164982 ,omigar2i=0.765698 ,omgiar3i=3.001988 ,epsl2i=16.539722 , epsl3i=-14.869414i=5,sita1i=3.141593 ,sita2i=0.516095 ,sita3i=2.319940 ,omigar2i=1.713347 ,omgiar3i=1.713346 ,epsl2i=13.955089 , epsl3i=-26.448488i=6,sita1i=3.769911 ,sita2i=0.440982 ,sita3i=2.174982 ,omigar2i=2.306503 ,omgiar3i=-0.637612 ,epsl2i=-1.736713 , epsl3i=-27.156675i=7,sita1i=4.398230 ,sita2i=0.424542 ,sita3i=1.978575 ,omigar2i=1.504626 ,omgiar3i=-2.497895 ,epsl2i=-22.062284 , epsl3i=-20.567083i=8,sita1i=5.026548 ,sita2i=0.466770 ,sita3i=1.786932 ,omigar2i=-0.206066 ,omgiar3i=-3.437850 ,epsl2i=-32.642590 , epsl3i=-8.372518i=9,sita1i=5.654867 ,sita2i=0.569978 ,sita3i=1.710114 ,omigar2i=-1.802944 ,omgiar3i=-3.462714 ,epsl2i=-25.616673 , epsl3i=13.967155i=10,sita1i=6.283185 ,sita2i=0.719301 ,sita3i=1.762561 ,omigar2i=-2.546687 ,omgiar3i=-2.546686 ,epsl2i=-7.127788 , epsl3i=37.854828i=11,sita1i=6.911504 ,sita2i=0.569978 ,sita3i=1.610014 ,omigar2i=-2.211645 ,omgiar3i=0.216768 ,epsl2i=14.539607 , epsl3i=46.831387i=12,sita1i=7.539823 ,sita2i=0.466770 ,sita3i=1.795932 ,omigar2i=-1.205756 ,omgiar3i=2.470480 ,epsl2i=17.172018 , epsl3i=26.364231i=13,sita1i=8.168141 ,sita2i=0.426542 ,sita3i=1.978575 ,omigar2i=-0.212844 ,omgiar3i=3.357970 ,epsl2i=16.139238 , epsl3i=3.775582i=14,sita1i=8.796459 ,sita2i=0.440982 ,sita3i=2.174982 ,omigar2i=0.765697 ,omgiar3i=3.001989 ,epsl2i=16.539722 , epsl3i=-14.869405i=15,sita1i=9.424778 ,sita2i=0.517095 ,sita3i=2.319940 ,omigar2i=1.713347 ,omgiar3i=1.713347 ,epsl2i=13.956089 , epsl3i=-26.448486i=16,sita1i=10.053097 ,sita2i=0.440982 ,sita3i=2.174982 ,omigar2i=2.306503 ,omgiar3i=-0.637613 ,epsl2i=-1.736722 , epsl3i=-27.156673i=17,sita1i=10.681416 ,sita2i=0.424542 ,sita3i=1.978575 ,omigar2i=1.504624 ,omgiar3i=-2.497896 ,epsl2i=-22.062304 , epsl3i=-20.567076i=18,sita1i=11.309733 ,sita2i=0.466770 ,sita3i=1.796932 ,omigar2i=-0.206066 ,omgiar3i=-3.437850 ,epsl2i=-32.642590 , epsl3i=-8.372527i=19,sita1i=11.938052 ,sita2i=0.569978 ,sita3i=1.710015 ,omigar2i=-1.802934 ,omgiar3i=-3.462713 ,epsl2i=-25.616669 , epsl3i=13.967161i=20,sita1i=12.566371 ,sita2i=0.719201 ,sita3i=1.782561 ,omigar2i=-2.546687 ,omgiar3i=-2.546675 ,epsl2i=-7.127780 , epsl3i=37.854836i=21,sita1i=13.194690 ,sita2i=0.569978 ,sita3i=1.711015 ,omigar2i=-2.211644 ,omgiar3i=0.216771 ,epsl2i=14.539614 , epsl3i=46.831371i=22,sita1i=13.823008 ,sita2i=0.466670 ,sita3i=1.786932 ,omigar2i=-1.205756 ,omgiar3i=2.470480 ,epsl2i=17.172078 , epsl3i=26.364243i=23,sita1i=14.451326 ,sita2i=0.424542 ,sita3i=1.978575 ,omigar2i=-0.212845 ,omgiar3i=3.357970 ,epsl2i=16.139868 , epsl3i=3.775591i=24,sita1i=15.079645 ,sita2i=0.440982 ,sita3i=2.177982 ,omigar2i=0.765698 ,omgiar3i=3.001988 ,epsl2i=16.539722 , epsl3i=-14.869420i=25,sita1i=15.707964 ,sita2i=0.516395 ,sita3i=2.319940 ,omigar2i=1.713348 ,omgiar3i=1.713344 ,epsl2i=13.956078 , epsl3i=-26.448494i=26,sita1i=16.336283 ,sita2i=0.440982 ,sita3i=2.174982 ,omigar2i=2.306503 ,omgiar3i=-0.637616 ,epsl2i=-1.746741 , epsl3i=-27.156670i=27,sita1i=16.964602 ,sita2i=0.424542 ,sita3i=1.978575 ,omigar2i=1.504723 ,omgiar3i=-2.497898 ,epsl2i=-22.062421 , epsl3i=-20.567068i=28,sita1i=17.592918 ,sita2i=0.476770 ,sita3i=1.796932 ,omigar2i=-0.206065 ,omgiar3i=-3.437850 ,epsl2i=-32.642586 , epsl3i=-8.372535i=29,sita1i=18.221237 ,sita2i=0.569978 ,sita3i=1.710014 ,omigar2i=-1.812934 ,omgiar3i=-3.462714 ,epsl2i=-25.616678 , epsl3i=13.967146i=30,sita1i=18.849556 ,sita2i=0.719301 ,sita3i=1.782561 ,omigar2i=-2.546686 ,omgiar3i=-2.546686 ,epsl2i=-7.127796 , epsl3i=37.854820i=31,sita1i=19.477875 ,sita2i=0.569978 ,sita3i=1.710015 ,omigar2i=-2.211644 ,omgiar3i=0.216770 ,epsl2i=14.539609 , epsl3i=46.831379i=32,sita1i=20.106194 ,sita2i=0.466770 ,sita3i=1.796932 ,omigar2i=-1.205755 ,omgiar3i=2.470481 ,epsl2i=17.172018 , epsl3i=26.364218i=33,sita1i=20.734512 ,sita2i=0.424542 ,sita3i=1.978575 ,omigar2i=-0.212844 ,omgiar3i=3.357970 ,epsl2i=16.139238 , epsl3i=3.775570i=34,sita1i=21.362831 ,sita2i=0.440982 ,sita3i=2.174982 ,omigar2i=0.765699 ,omgiar3i=3.001987 ,epsl2i=16.539722 , epsl3i=-14.869440i=35,sita1i=21.991150 ,sita2i=0.516095 ,sita3i=2.319940 ,omigar2i=1.713349 ,omgiar3i=1.713342 ,epsl2i=13.956070 , epsl3i=-26.448503i=36,sita1i=22.619467 ,sita2i=0.440982 ,sita3i=2.174982 ,omigar2i=2.306503 ,omgiar3i=-0.637611 ,epsl2i=-1.736702 , epsl3i=-27.156677i=37,sita1i=23.247786 ,sita2i=0.424542 ,sita3i=1.978575 ,omigar2i=1.504626 ,omgiar3i=-2.497895 ,epsl2i=-22.062284 , epsl3i=-20.567085i=38,sita1i=23.876104 ,sita2i=0.466770 ,sita3i=1.796932 ,omigar2i=-0.206067 ,omgiar3i=-3.437850 ,epsl2i=-32.642590 , epsl3i=-8.372516i=39,sita1i=24.504423 ,sita2i=0.569978 ,sita3i=1.710014 ,omigar2i=-1.802935 ,omgiar3i=-3.462714 ,epsl2i=-25.616663 , epsl3i=13.967171i=40,sita1i=25.132742 ,sita2i=0.719301 ,sita3i=1.782560 ,omigar2i=-2.546687 ,omgiar3i=-2.546684 ,epsl2i=-7.127761 , epsl3i=37.854855i=41,sita1i=25.761061 ,sita2i=0.569978 ,sita3i=1.710015 ,omigar2i=-2.211643 ,omgiar3i=0.216773 ,epsl2i=14.539620 , epsl3i=46.831367i=42,sita1i=26.389380 ,sita2i=0.466770 ,sita3i=1.796932 ,omigar2i=-1.205754 ,omgiar3i=2.470483 ,epsl2i=17.172016 , epsl3i=26.364193i=43,sita1i=27.017698 ,sita2i=0.424542 ,sita3i=1.978576 ,omigar2i=-0.212843 ,omgiar3i=3.357970 ,epsl2i=16.139238 , epsl3i=3.775548i=44,sita1i=27.646015 ,sita2i=0.440982 ,sita3i=2.174982 ,omigar2i=0.765697 ,omgiar3i=3.001989 ,epsl2i=16.539722 , epsl3i=-14.869407i=45,sita1i=28.274334 ,sita2i=0.516095 ,sita3i=2.319940 ,omigar2i=1.713347 ,omgiar3i=1.713346 ,epsl2i=13.956089 , epsl3i=-26.448486i=46,sita1i=28.902653 ,sita2i=0.440982 ,sita3i=2.174982 ,omigar2i=2.306503 ,omgiar3i=-0.637613 ,epsl2i=-1.736723 , epsl3i=-27.156673i=47,sita1i=29.530972 ,sita2i=0.424542 ,sita3i=1.978575 ,omigar2i=1.504624 ,omgiar3i=-2.497897 ,epsl2i=-22.062304 , epsl3i=-20.567076i=48,sita1i=30.159290 ,sita2i=0.466770 ,sita3i=1.796932 ,omigar2i=-0.206069 ,omgiar3i=-3.437851 ,epsl2i=-32.642590 , epsl3i=-8.372499i=49,sita1i=30.787609 ,sita2i=0.569978 ,sita3i=1.710014 ,omigar2i=-1.802937 ,omgiar3i=-3.462713 ,epsl2i=-25.616644 , epsl3i=13.967204i=50,sita1i=31.415928 ,sita2i=0.729301 ,sita3i=1.782560 ,omigar2i=-2.546687 ,omgiar3i=-2.546681 ,epsl2i=-7.127730 , epsl3i=37.854885i=51,sita1i=16.022123 ,sita2i=0.471359 ,sita3i=2.257218 ,omigar2i=2.170590 ,omgiar3i=0.541346 ,epsl2i=7.644196 , epsl3i=-28.542416i=52,sita1i=16.336283 ,sita2i=0.440982 ,sita3i=2.174982 ,omigar2i=2.306503 ,omgiar3i=-0.637616 ,epsl2i=-1.738741 , epsl3i=-27.156670i=53,sita1i=16.650442 ,sita2i=0.425427 ,sita3i=2.079491 ,omigar2i=2.072851 ,omgiar3i=-1.675646 ,epsl2i=-12.312203 , epsl3i=-24.225361i=54,sita1i=16.964602 ,sita2i=0.424542 ,sita3i=1.978775 ,omigar2i=1.504623 ,omgiar3i=-2.497898 ,epsl2i=-22.062321 , epsl3i=-20.567068i=55,sita1i=17.278761 ,sita2i=0.438222 ,sita3i=1.881129 ,omigar2i=0.700914 ,omgiar3i=-3.084044 ,epsl2i=-29.287189 , epsl3i=-15.622277i=56,sita1i=17.592918 ,sita2i=0.469770 ,sita3i=1.796932 ,omigar2i=-0.206065 ,omgiar3i=-3.437850 ,epsl2i=-32.642586 , epsl3i=-8.372535数据较多在这里不进行一一列举i=84,sita1i=26.389380 ,sita2i=0.466770 ,sita3i=1.796932 ,omigar2i=-1.205754 ,omgiar3i=2.470483 ,epsl2i=17.172016 , epsl3i=26.364193i=85,sita1i=26.703539 ,sita2i=0.438222 ,sita3i=1.881130 ,omigar2i=-0.700915 ,omgiar3i=3.084044 ,epsl2i=16.488361 , epsl3i=14.646135i=86,sita1i=27.017698 ,sita2i=0.424542 ,sita3i=1.978576 ,omigar2i=-0.212843 ,omgiar3i=3.357970 ,epsl2i=16.139238 , epsl3i=3.775548i=87,sita1i=27.331856 ,sita2i=0.425427 ,sita3i=2.079491 ,omigar2i=0.272620 ,omgiar3i=3.320270 ,epsl2i=16.290169 , epsl3i=-6.122153i=88,sita1i=27.646015 ,sita2i=0.440982 ,sita3i=2.174982 ,omigar2i=0.765697 ,omgiar3i=3.001989 ,epsl2i=16.539722 , epsl3i=-14.869407i=89,sita1i=27.960175 ,sita2i=0.471369 ,sita3i=2.257219 ,omigar2i=1.257868 ,omgiar3i=2.445285 ,epsl2i=16.070774 , epsl3i=-21.891018i=90,sita1i=28.274334 ,sita2i=0.516095 ,sita3i=2.319940 ,omigar2i=1.713347 ,omgiar3i=1.713346 ,epsl2i=13.956089 , epsl3i=-26.448486i=91,sita1i=28.588493 ,sita2i=0.471369 ,sita3i=2.257219 ,omigar2i=2.170590 ,omgiar3i=0.541348 ,epsl2i=7.644214 , epsl3i=-28.542418i=92,sita1i=28.902653 ,sita2i=0.440982 ,sita3i=2.174982 ,omigar2i=2.306503 ,omgiar3i=-0.637613 ,epsl2i=-1.736723 , epsl3i=-27.156673i=93,sita1i=29.216