哈工大机械原理大作业.doc

1.原题如下:设计直动从动件盘形凸轮机构，其原始参数见表1表一： 凸轮机构原始参数升程（mm)升程运动角（）升程运动规律升程许用压力角（）回程运动角（）回程运动规律回程许用压力角（）远休止角（）近休止角（）140150正弦加速度30100等减等加速603575解答如下：1.凸轮推杆运动规律（1） 推程运动规律 推程 式中 且 （2）回程运动规律 回程 式中 3.运动线图及凸轮线图采用Matlab编程，其源程序如下：clearclc x1=linspace(0,5*pi/6,300); x2=linspace(5*pi/6,43*pi/36,300); x3=linspace(43*pi/36,7*pi/4,300); x4=linspace(7*pi/4,2*pi,300);t1=x1/(5*pi/6)s1=140*(10*t1.3-15*t1.4+6*t1.5);s2=140;t2=9*x3/(5*pi)-43/20;s3=140*(1-(10*t2.3-15*t2.4+6*t2.5);s4=0;plot(x1,s1,k,x2,s2,k,x3,s3,k,x4,s4,k) ;xlabel(角度/rad);ylabel(位移s/mm);grid;clearclc x1=linspace(0,5*pi/6,300); x2=linspace(5*pi/6,43*pi/36,300); x3=linspace(43*pi/36,7*pi/4,300); x4=linspace(7*pi/4,2*pi,300);f1=5*pi/6;t1=x1/f1;f2=5*pi/9;t2=(x3-43*pi/36)*9/(5*pi);v1=(t1.2-2*t1.3+t1.4)*4200/f1;v2=0;v3=-30*140*(t2.2-2*t2.3+t2.4)/f2;v4=0;plot(x1,v1,k,x2,v2,k,x3,v3,k,x4,v4,k)xlabel(角度/rad );ylabel(速度v/(mm/s);grid;clearclc x1=linspace(0,5*pi/6,300); x2=linspace(5*pi/6,43*pi/36,300); x3=linspace(43*pi/36,7*pi/4,300); x4=linspace(7*pi/4,2*pi,300);f1=5*pi/6;t1=x1/f1;f2=5*pi/9;t2=(x3-43*pi/36)/f2;a1=60*140*(t1-3*t1.2+2*t1.3)/f12;a2=0;a3=-60*140*(t2-3*t2.2+2*t2.3)/f22;a4=0;plot(x1,a1,k,x2,a2,k,x3,a3,k,x4,a4,k)xlabel(角度/rad);ylabel(加速度a/ );grid;可得运动规律图如下：推杆位移：推杆速度;推杆加速度：3、凸轮机构的-s线图，并依次确定凸轮的基圆半径和偏距（1）凸轮机构的 -s线图：Clearclc x1=linspace(0,5*pi/6,300); x2=linspace(5*pi/6,43*pi/36,300); x3=linspace(43*pi/36,7*pi/4,300); x4=linspace(7*pi/4,2*pi,300);f1=5*pi/6;t1=x1/f1;f2=5*pi/9;t2=(x3-43*pi/36)/f2;s1=140*(10*t1.3-15*t1.4+6*t1.5);s2=140;t2=9*x3/(5*pi)-43/20;s3=140*(1-(10*t2.3-15*t2.4+6*t2.5);s4=0;v1=(t1.2-2*t1.3+t1.4)*4200/f1;v2=0;v3=-30*140*(t2.2-2*t2.3+t2.4)/f2;v4=0;plot(v1,s1,r,v2,s2,r,v3,s3,r,v4,s4,r);xlabel(ds/d);ylabel(位移s/mm);grid;如图：2）确定凸轮的基圆半径和偏距：clearclc x1=linspace(0,5*pi/6,300); x2=linspace(5*pi/6,43*pi/36,300); x3=linspace(43*pi/36,7*pi/4,300); x4=linspace(7*pi/4,2*pi,300);f1=5*pi/6;t1=x1/f1;f2=5*pi/9;t2=(x3-43*pi/36)/f2;s1=140*(10*t1.3-15*t1.4+6*t1.5);s2=140;t2=9*x3/(5*pi)-43/20;s3=140*(1-(10*t2.3-15*t2.4+6*t2.5);s4=0;v1=(t1.2-2*t1.3+t1.4)*4200/f1;v2=0;v3=-30*140*(t2.2-2*t2.3+t2.4)/f2;v4=0; k1=tan(pi/2-40*pi/180);k2=-tan(pi/6); f=sym(-k1*(2*k/f13-6*k2/f14+4*k3/f15)+k2/f13-2*k3/f14+k4/f15=0);k=solve(f);t01=k/f1;s01=140*(10*t01.3-15*t01.4+6*t01.5);v01=(t01.2-2*t01.3+t01.4)*4200/f1;c=87.5056;d=37.7790;%求出推程切点坐标x=-200:1:200;y5=k1*(x-c)+d;f2=5*pi/9;k2=-tan(pi/6);f=sym(-k2*(-2*(k*9/(5*pi)-43/20)*9/(5*pi)+6*(k*9/(5*pi)-43/20)2*9/(5*pi)-4*(k*9/(5*pi)-43/20)3*9/(5*pi)-(k*9/(5*pi)-43/20)2+2*(k*9/(5*pi)-43/20)3-(k*9/(5*pi)-43/20)4=0);k=solve(f);t02=k*9/(5*pi)-43/20;s02=140*(1-(10*t02.3-15*t02.4+6*t02.5);v02=-30*140*(t02.2-2*t02.3+t02.4)/f2;o=29.1715;p= -118.4712;%求出回程切点坐标y6=k2*(x-p)+o; y7=x*-k1; plot(v1,s1,v2,s2,v3,s3,v4,s4,x,y5,x,y6,x,y7);xlabel(ds/d);ylabel(位移s/mm);grid;如图：由图确定回转中心所在的区域，取偏距 e=20mm， mm，则 mm。四、滚子半径的确定及凸轮理论轮廓和实际轮廓的绘制.（1）确定滚子半径clearclc s0=80; e=20;r0=sqrt(s02+e2); for x1=0:0.01:5*pi/6; t1=x1/(5*pi/6);s1=140*(10*t1.3-15*t1.4+6*t1.5);xx1=(s0+s1)*cos(x1)-e*sin(x1);y1=(s0+s1)*sin(x1)+e*cos(x1);dxx1=-(s0+s1)*sin(x1)-e*cos(x1);dy1=(s0+s1)*cos(x1)-e*sin(x1);d2xx1=-(s0+s1)*cos(x1)+e*sin(x1);d2y1=-(s0+s1)*sin(x1)-e*cos(x1);p1=(dxx12+dy12)1.5/(dxx1*d2y1-d2xx1*dy1);plot(x1,p1);hold on;end for x2=5*pi/6:0.01:43*pi/36;s2=140;xx2=(s0+s2)*cos(x2)-e*sin(x2);y2=(s0+s2)*sin(x2)+e*cos(x2);dxx2=-(s0+s2)*sin(x2)-e*cos(x2);dy2=(s0+s2)*cos(x2)-e*sin(x2);d2xx2=-(s0+s2)*cos(x2)+e*sin(x2);d2y2=-(s0+s2)*sin(x2)-e*cos(x2);p2=(dxx22+dy22)1.5/(dxx2*d2y2-d2xx2*dy2);plot(x2,p2);hold on;end for x3=43*pi/36:0.01:7*pi/4;t2=9*x3/(5*pi)-43/20;s3=140*(1-(10*t2.3-15*t2.4+6*t2.5);xx3=(s0+s3)*cos(x3)-e*sin(x3);y3=(s0+s3)*sin(x3)+e*cos(x3);dxx3=-(s0+s3)*sin(x3)-e*cos(x3);dy3=(s0+s3)*cos(x3)-e*sin(x3);d2xx3=-(s0+s3)*cos(x3)+e*sin(x3);d2y3=-(s0+s3)*sin(x3)-e*cos(x3);p3=(dxx32+dy32)1.5/(dxx3*d2y3-d2xx3*dy3);plot(x3,p3);hold on;endfor x4=7*pi/4:0.01:2*pi; s4=0;xx4=(s0+s4)*cos(x4)-e*sin(x4);y4=(s0+s4)*sin(x4)+e*cos(x4);dxx4=-(s0+s4)*sin(x4)-e*cos(x4);dy4=(s0+s4)*cos(x4)-e*sin(x4);d2xx4=-(s0+s4)*cos(x4)+e*sin(x4);d2y4=-(s0+s4)*sin(x4)-e*cos(x4);p4=(dxx42+dy42)1.5/(dxx4*d2y4-d2xx4*dy4);plot(x4,p4);hold on;end grid ;如图：可知最小曲率半径为所以，小滚子 取小滚子曲率半径 mm （2） 确定凸轮理论廓线，基元及实际廓线。clearclc s0=80; e=20;r0=sqrt(s02+e2);for x1=0:0.001:5*pi/6; t1=x1/(5*pi/6);s1=140*(10*t1.3-15*t1.4+6*t1.5);xx1=(s0+s1)*cos(x1)-e*sin(x1);y1=(s0+s1)*sin(x1)+e*cos(x1);plot(xx1,y1);hold on;endfor x2=5*pi/6:0.001:43*pi/36;s2=140;xx2=(s0+s2)*cos(x2)-e*sin(x2);y2=(s0+s2)*sin(x2)+e*cos(x2);plot(xx2,y2);hold on;endfor x3=43*pi/36:0.001:7*pi/4;t2=9*x3/(5*pi)-43/20;s3=140*(1-(10*t2.3-15*t2.4+6*t2.5);xx3=(s0+s3)*cos(x3)-e*sin(x3);y3=(s0+s3)*sin(x3)+e*cos(x3);plot(xx3,y3);hold on;endfor x4=7*pi/4:0.001:2*pi; s4=0;xx4=(s0+s4)*cos(x4)-e*sin(x4);y4=(s0+s4)*sin(x4)+e*cos(x4);plot(xx4,y4);hold on;endgrid ; s0=80; e=20;r0=sqrt(s02+e2);for fai=0:0.01:2*pi; a=r0*cos(fai); b=r0*sin(fai); plot(a,b); hold on;endfor x1=0:0.05:5*pi/6; t1=x1/(5*pi/6);s1=140*(10*t1.3-15*t1.4+6*t1.5);xx1=(s0+s1)*cos(x1)-e*sin(x1);y1=(s0+s1)*sin(x1)+e*cos(x1);plot(xx1,y1);hold on;for fai=0:0.1:2*pi; a=xx1+15*cos(fai); b=y1+15*sin(fai); plot(a,b); hold on;endendfor x2=5*pi/6:0.05:43*pi/36;s2=140;xx2=(s0+s2)*cos(x2)-e*sin(x2);y2=(s0+s2)*sin(x2)+e*cos(x2);plot(xx2,y2);hold on;for fai=0:0.1:2*pi; a=xx2+15*cos(fai); b=y2+15*sin(fai); plot(a,b); hold on;endendfor x3=43*pi/36:0.05:7*pi/4;t2=9*x3/(5*pi)-43/20;s3=140*(1-(10*t2.3-15*t2.4+6*t2.5);xx3=(s0+s3)*cos(x3)-e*sin(x3);y3=(s0+s3)*sin(x3)+e*cos(x3);plot(xx3,y3);hold on;for fa