机械原理课程设计--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 ：姓 名 ： 学 号 ：指导教师 ：成 绩 ： 2013 年 9 月 30 日 目录一、机构简图和已知条件1二、滑枕初始位置及行程H 的确定方法1三、杆组的拆分方法2四、机构的运动分析24.1所调用的杆组子程序中虚参与实参对照表24.2源程序34.3运行结果5五、机构的动态静力分析65.1所调用的杆组子程序中虚参与实参对照表65.2源程序75.3运行结果9六、自编程序中主要标识符说明12七、飞轮的转动惯量126.1 飞轮转动惯量的计算方法126.2 源程序126.3运行结果14八、 主要的收获和建议15九、参考文献15东北大学机械原理课程设计 牛头刨床机构方案分析一、机构简图和已知条件如图所示为一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。二、滑枕初始位置及行程H 的确定方法l0l1H如图所示曲柄滑块摆杆机构，构件1为曲柄， B点的行程即为A点的行程。已知初始位置取滑枕 5 的左极限位置。滑枕5初始位置为主动件在机架左侧垂直3构件时对应的位置，此时滑枕达到左极限位置；理论计算： H=0.375 滑枕行程H的确定方法也可由运动分析的结果读出。滑枕5的左极限为-0.188，右极限为0.187，所以行程H为0.375三、杆组的拆分方法 RPP杆组四、机构的运动分析4.1所调用的杆组子程序中虚参与实参对照表4.1.1调用bark函数，求点3的运动参数形式参数n1n2n3kr1r2gamtwepvpap实值1301r130.00.0twepvpap4.1.2调用rprk函数求构件的运动参数形式参数mn1n2k1k2r1r2vr2ar2twepvpap实值123320.0&r2&vr2&ar2twepvpap4.1.3调用bark函数求点4的运动参数形式参数n1n2n3kr1r2gamtwepvpap实值20430.0r240.0twepvpap4.1.4调用rppk函数求点7的运动参数形式参数n1n2n3n4k1k2k3r1gam1gam2实值46474560.00.0gam4r2vr2ar2r3vr3ar3twepvpap&r2&vr2&ar2&r3&vr3&ar3twepvpap4.1.5调用bark函数求点5的运动参数形式参数n1n2n3kr1r2gamtwepvpap实值20530.0r250.0twepvpap4.1.6调用bark函数求点8的运动参数形式参数n1n2n3kr1r2gamtwepvpap实值70850.0r78gam4twepvpap4.1.7调用bark函数求点9的运动参数形式参数n1n2n3kr1r2gamtwepvpap实值70950.0r79gam5twepvpap4.2源程序#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,r24,r25,r78,r79;double gam2,gam3;double gam4,gam5;double pi,dr;double r2,vr2,ar2,r3,vr3,ar3;int i;FILE *fp; char *m=p,vp,ap; r13=0.1 ; r24=0.75; r25=0.375;r78=0.05; r79=sqrt(0.25*0.25+0.1*0.1); gam2=90.0; gam3=-atan(2/5); t6=0.0; w6=0.0; e6=0.0; e1=0.0; del=10.0;pi=4.0*atan(1.0); dr=pi/180.0;w1=-2*pi;gam4=gam2*dr; gam5=gam3*dr;p11=0.0;p12=0.0;p21=0.0; p22=-0.4; p61=0.0;p62=0.338;printf( n TheKinematic Parametersof Point 7n);printf(No THETA1 S7 V7 A7n);printf( deg m m/s m/s/sn);if(fp=fopen(MA 运动,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;i=ic;i+) t1=(double)(270*dr-acos(0.1/0.4)-(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(2,0,4,3,0.0,r24,0.0,t,w,e,p,vp,ap);bark(2,0,5,3,0.0,r25,0.0,t,w,e,p,vp,ap);rppk(4,6,4,7,4,5,6,0.0,0.0,gam4,&r2,&vr2,&ar2,&r3,&vr3,&ar3,t,w,e,p,vp,ap); bark(7,0,8,5,0.0,r78,gam4,t,w,e,p,vp,ap);bark(7,0,9,5,0.0,r79,gam5,t,w,e,p,vp,ap);printf(n%2d %12.3f%12.3f%12.3f%12.3f,i+1,t1/dr,p71,vp71,ap71);fprintf(fp,n%2d %12.3f%12.3f%12.3f%12.3f,i+1,t1/dr,p71,vp71,ap71); pdrawi=p71;vpdrawi=vp71;apdrawi=ap71; if(i%25)=0)getch();fclose(fp);getch();draw1(del,pdraw,vpdraw,apdraw,ic); 4.3运行结果 The Kinematic Parameters of Point 7No THETA1 S7 V7 A7 deg m m/s m/s/s 1 194.478 -0.188 0.000 7.402 2 184.478 -0.185 0.192 6.414 3 174.478 -0.177 0.357 5.484 4 164.478 -0.165 0.497 4.634 5 154.478 -0.150 0.615 3.862 6 144.478 -0.131 0.712 3.160 7 134.478 -0.110 0.791 2.513 8 124.478 -0.087 0.852 1.909 9 114.478 -0.063 0.897 1.33510 104.478 -0.038 0.927 0.78211 94.478 -0.012 0.941 0.24112 84.478 0.014 0.940 -0.29713 74.478 0.040 0.924 -0.83914 64.478 0.066 0.893 -1.39415 54.478 0.090 0.847 -1.97016 44.478 0.113 0.784 -2.57817 34.478 0.133 0.703 -3.23018 24.478 0.151 0.604 -3.93919 14.478 0.167 0.484 -4.71920 4.478 0.178 0.341 -5.57821 -5.522 0.185 0.173 -6.51522 -15.522 0.187 -0.022 -7.50723 -25.522 0.184 -0.244 -8.48224 -35.522 0.174 -0.491 -9.29825 -45.522 0.156 -0.757 -9.71426 -55.522 0.132 -1.024 -9.39827 -65.522 0.10 -1.269 -8.01428 -75.522 0.062 -1.458 -5.40329 -85.522 0.019 -1.560 -1.78730 -95.522 -0.024 -1.554 2.19531 -105.522 -0.066 -1.442 5.73132 -115.522 -0.103 -1.245 8.21633 -125.522 -0.135 -0.997 9.47634 -135.522 -0.159 -0.729 9.69835 -145.522 -0.175 -0.465 9.22736 -155.522 -0.185 -0.219 8.38437 -165.522 -0.187 0.000 7.402五、机构的动态静力分析5.1所调用的杆组子程序中虚参与实参对照表5.1.1调用rppf函数求点7的反作用力形式参数n1n2n3n4ns1ns2nn1nn2nexfk1k2k3实值4104708099456pvpaptwefrfkpkpvpaptwefrfkpk5.1.2调用rprf函数求点2的反作用力形式参数n1n2ns1ns2nn1nn2nexfk1k2实值235040032pvpaptwefrfkpkpvpaptwefrfkpk5.1.3调用barf函数求点1的反作用力形式参数n1ns1nn1k1papefrtb实值1031papefr&tb5.2源程序#include graphics.h #include subk.c#include subf.c#include draw.cstatic double sm10,sj10;main()static double p202,vp202,ap202,del;static double t10,w10,e10,tbdraw370,tb1draw370; static double sita1370,fr1draw370,sita2370,fr2draw370,sita3370,fr3draw370;static double fr202,fe202,fk202,pk202,fr1,bt1,fr2,bt2,tb1,tb;static int ic;double r13,r24,r25,r78,r79;double gam2,gam3;double gam4,gam5;double pi,dr,we3,we5;double r2,vr2,ar2,r3,vr3,ar3;int i;FILE *fp;char *m=tb,tb1,fr1,fr2; sm3=30.0; sm5=95.0; sj3=0.7;r13=0.1 ; r24=0.75; r25=0.375;r78=0.05; r79=sqrt(0.25*0.25+0.1*0.1); gam2=90.0; gam3=-atan(2/5); t6=0.0; w6=0.0; e6=0.0; e1=0.0; del=10.0; pi=4.0*atan(1.0); w1=-2*pi; dr=pi/180.0; t6=t6*dr;gam4=gam2*dr; gam5=gam3*dr;p11=0.0;p12=0.0;p21=0.0; p22=-0.4; p61=0.0;p62=0.338;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(MA 静力,w)=NULL) printf(Cant open this file.n);exit(0);fprintf(fp,n The Kineto-static Analysis of a Six-bar Linkagen);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=0)fenexf1=0.0; if(p71-(0.188*0.95)&p710)fenexf1=-9000.0;elsefenexf1=0.0;5.3运行结果 The Kineto-static Analysis of a Six-bar Linkage NO THETA1 FR1 BT1 FR2 BT2 TB TB1 (deg.) (N) (deg.) (N) (deg.) (N.m) (N.m) 0 194 1519.212 14.478 659.183 -175.054 -0.000 -0.000 1 184 1268.754 14.262 524.129 179.413 -21.562 -21.562 2 174 1049.654 13.658 421.563 171.314 -34.485 -34.485 3 164 861.681 12.723 350.206 160.848 -40.779 -40.779 4 154 700.665 11.512 305.827 148.844 -42.200 -42.200 5 144 561.399 10.074 282.280 136.619 -40.108 -40.108 6 134 14449.842 8.455 5342.350 -159.882 -1168.678 -1168.678 7 124 14130.417 6.692 5013.291 -164.213 -1250.121 -1250.121 8 114 13877.714 4.823 4765.036 -169.270 -1306.920 -1306.920 9 104 13684.554 2.881 4599.553 -174.885 -1340.520 -1340.520 10 94 13545.637 0.895 4517.969 179.175 -1351.917 -1351.917 11 84 13457.325 -1.104 4519.387 173.190 -1341.732 -1341.732 12 74 13417.449 -3.086 4600.341 167.443 -1310.262 -1310.262 13 64 13425.136 -5.023 4755.099 162.178 -1257.497 -1257.497 14 54 13480.659 -6.882 4976.619 157.574 -1183.124 -1183.124 15 44 13585.300 -8.631 5257.689 153.740 -1086.520 -1086.520 16 34 13741.205 -10.234 5591.876 150.730 -966.742 -966.742 17 24 13951.216 -11.650 5974.088 148.563 -822.536 -822.536 18 14 14218.709 -12.834 6400.747 147.238 -652.399 -652.399 19 4 14547.495 -13.737 6869.713 146.748 -454.729 -454.729 20 -6 14941.990 -14.304 7380.086 147.085 -228.119 -228.119 21 -16 1546.948 165.525 675.075 -5.382 -2.828 -2.828 22 -26 1820.504 165.811 840.689 -8.281 -35.776 -35.776 23 -36 2083.367 166.610 1016.628 -9.067 -78.491 -78.491 24 -46 2273.380 167.966 1166.050 -7.930 -125.437 -125.437 25 -56 2292.468 169.893 1227.626 -4.901 -163.273 -163.273 26 -66 2026.281 172.362 1126.804 0.409 -171.622 -171.622 27 -76 1402.867 175.286 816.346 10.070 -132.490 -132.490 28 -86 470.357 178.511 360.110 40.542 -46.781 -46.781 29 -96 577.511 1.835 406.098 145.759 57.276 57.276 30 -106 1484.572 5.037 858.293 171.324 139.002 139.002 31 -116 2070.306 7.919 1146.850 -179.715 172.757 172.757 32 -126 2301.930 10.335 1227.534 -174.689 160.317 160.317 33 -136 2259.572 12.203 1153.302 -171.864 120.656 120.656 34 -146 2057.935 13.499 998.650 -170.923 73.678 73.678 35 -156 1791.669 14.242 822.474 -171.919 31.836 31.836 36 -166 1519.212 14.478 659.183 -175.054 -0.000 -0.000平衡力矩线图：固定铰链处反力矢端图：24六、自编程序中主要标识符说明n:关键点，k:构件号，r：距离，gam：关键点位置角度，m：装配模式，ns：质心，nn：外力作用点，fr：运动副反力，bt：反力方向fk：内移动副反力，pk：内移动副反力作用点，fe：工艺阻力，tb：平衡力矩，extf（）：工艺阻力函数，nexf：工艺阻力作用点，dr：度转化弧度，sm:质量，sj:转动惯量，Td：驱动力矩，Tr：阻力矩，E：盈亏功,b:不均匀系数，Jf：飞轮转动惯量七、飞轮的转动惯量6.1 飞轮转动惯量的计算方法1、一周期内驱动力矩功等于阻力功，所以：t*Td=1/2(Tr0+Tr1)+1/2(Tr1+Tr2)+.+1/2(Trn-1+Trn)因为Trn=Tr0，所以由上式可得：Td=/tTri=1/nTri2、间隔i-1、i内的盈亏功变化量E: E=Td-1/2*（Tri+Tri-1）3、计算各点的盈亏功Ei：Ei=Ei-1+Ei4、找出最大和最小盈亏功：Emax,Emin5、计算飞轮的转动惯量Jf: Jf=(Emax-Emin)/W6.2 源程序#include graphics.h #include stdio.h#include subk.c #include subf.c extf(p,vp,ap,t,w,e,nexf,fe) double p202,vp202,ap202,t10,w10,e10,fe202;int nexf;fenexf2=0.0;if(vpnexf1=0)fenexf1=0.0; if(p71-(1.88*0.95)&p710)fenexf1=-9000.0;elsefenexf1=0.0;main()static double p202,vp202,ap202,del;static double t10,w10,e10,Tr370;static double fr202,fe202,fk202,pk202,tb;static int ic;double Td,sum1=0.0,D370,E370,Max,Min,Jf,q;double r13,r24,r25,r78,r79;double gam2,gam3;double gam4,gam5;double pi,dr,we3,we5;double r2,vr2,ar2,r3,vr3,ar3;int i,j; FILE *fp;E0=0.0; Max=E0; Min=E0; q=0.03; sm3=30.0; sm5=95.0; sj3=0.7;r13=0.1 ; r24=0.75; r25=0.375;r78=0.05; r79=0.27; gam2=90.0; gam3=-atan(2/5); t6=0.0; w6=0.0; e6=0.0; e1=0.0; del=15.0; pi=4.0*atan(1.0); w1=-2*pi; dr=pi/180.0; t6=t6*dr;gam4=gam2*dr; gam5=gam3*dr;p11=0.0; p12=0.0;p21=0.0; p22=-0.4; p61=0.0;p62=0.338;printf(n The Kineto-statia Analysis of Ntbcn);printf(nNo Theta1 Tr E n); printf( deg N.M 1/sn); if(fp=fopen(DEYANG F ,w)=NULL) printf(Cant open this file./n); exit(0); fprintf(fp,n The Kineto-statia Analysis of Ntbcn); fprintf(fp,nNo Theta1 Tr E n); fprintf(fp, deg N.M 1/sn); ic=(int)(360.0/del); for(i=0;i=ic;i+) t1=(double)(270*dr-acos(0.1/0.4)-(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(2,0,4,3,0.0,r24,0.0,t,w,e,p,vp,ap);bark(2,0,5,3,0.0,r25,0.0,t,w,e,p,vp,ap); rppk(4,6,4,7,4,5,6,0.0,0.0,gam4,&r2,&vr2,&ar2,&r3,&vr3,&ar3,t,w,e,p,vp,ap); bark(7,0,8,5,0.0,r78,gam4,t,w,e,p,vp,ap);bark(7,0,9,5,0.0,r79,gam5,t,w,e,p,vp,ap); rppf(4,10,4,7,0,8,0,9,9,4,5,6,p,vp,ap,t,w,e,fr,fk,pk);rprf(2,3,5,0,4,0,0,3,2,p,vp,ap,t,w,e,fr,fk,pk);barf(1,0,3,1,p,ap,e,fr,&tb); Tri=tb; Di=t1; for(j=1;j=ic;j+) sum1=sum1+Trj-1; Td=sum1/ic; for(j=1;j=ic;j+) Ej=Ej-1+del*dr*(Td-0.5*(Trj+Trj-1); for(j=1;j=ic;j+) if(Max=Ej) Min=Ej; Jf=(Max-Min)/(w1*w1*q); for(j=0;j=ic;j+) printf(n%3d%13.3f%16.3f%16.3fn,j,Dj/dr,Trj,Ej); fprintf(fp,n%3d%13.3f%16.3f%16.3fn,j,Dj/dr,Trj,Ej); if(j%12=0) getch(); printf(n Jf=%4.3f Td=%4.3