平面六杆机构的运动分析zhongjiban.doc

第 20 页平面六杆机构的运动分析（题号 4 - A）成 绩 _ 指导老师 王三民 班 级 05011104 姓 名 曹辉 钱彦懿 吴欣然 目录1. 题目说明22. 题目分析31）建立封闭图形：32） 机构运动分析4A角位移分析4B角速度分析4C角加速度分析：4DE点的运动状态53. 流程图54. 源程序7a. 求从动件的角位移错误!未定义书签。b求从动件的角速度错误!未定义书签。c求从动件的角加速度错误!未定义书签。d求E点的轨迹错误!未定义书签。e求E点的速度错误!未定义书签。f求E点的速度错误!未定义书签。5. 计算结果和曲线图：10a.各从动件的角位移与1的关系曲线和计算数据：错误!未定义书签。b.各从动件角速度与1的关系曲线和计算结果：错误!未定义书签。c.各从动件角加速度与1的关系曲线和计算结果错误!未定义书签。d.E点运动分析结果：166. 心得体会211. 题目说明下图为一平面六杆机构。一直各构件的尺寸如下表一，又知原动件1以角速度为1rad/s沿逆时针方向回转，要求个从动件的角位移、角速度、及角加速度以及E点的位移、速度及加速度变化情况。 表一题号L1L2L2L3L4L5L6（xG）L4（YG） L74-A26.5105.665.067.5106.437.428.0600153.541.7题目要求：三人一组计算出原动件从到变化时（计算点数N=36）所要求的各运动变量的大小，并绘出运动曲线图及E点的轨迹曲线。2. 题目分析1）建立封闭图形： L2- L3= L4 - L1 L2 + L2+ L5 -L6+ L7= L4- L12） 机构运动分析A角位移分析 由图形封闭性得： B角速度分析 上式对时间求一阶导数，可得速度方程：化为矩阵形式为：C角加速度分析： 角速度矩阵对时间求一阶导数，可得加速度矩阵为： DE点的运动状态位移：速度： 加速度： 3. 流程图 创建fsolve函数入口文件结束将以上各参数分别带入E点的位移、速度、加速度解析方程式，进行求解。绘制E点的位移、速度、加速度随th1变化的曲线function5.m,function6.m,function7.m利用角加速度矩阵求出从动件角加速度K=A(C-B) 绘制角速度随th1的变化曲线function4.m利用角速度矩阵W=AB，w2(m)=W(1),w3(m)=W(2),w5(m)=W(3),w6(m)=W(4) 绘制角速度随th1的变化曲线function2.m调用MATLAB系统函数fsolve求解各从动件的角位移分别存至th2,th3,th5,th6。绘制角位移随th1的变化曲线function2.m 4. 源程序thed1=0:360;thed2=0:360;thed3=0:360;thed5=0:360;thed6=0:360;thed22=0:360;m=36.77905;69.573132;-23.200947;-57.53719284;92.66548461; l1=26.5;l2=105.6;l3=67.5;l4=106.4;l5=37.4;l6=28;a=60; for i=1:1:361 x = fsolve(x) myfunatu(x,thed1(i),l1,l2,l3,l4,l5,l6,a),m(1);m(2);m(3);m(4);m(5); m=x; thed2(i)=x(1); thed3(i)=x(2); thed22(i)=x(3); thed5(i)=x(4); thed6(i)=x(5);endfigure(1);x=0:360;y1=thed2;thed3;thed5;thed6;plot(x,y1,LineWidth,2.5);title();xlabel(theta1);ylabel(theta2,theta3,theta5,theta6);legend(theta2,theta3,theta5,theta6); ex=0:360;ey=0:360;emap=0:360;for i=1:1:361 ex(i)=l4+l3*cosd(thed3(i)+65*cosd(thed22(i); ey(i)=l3*sind(thed3(i)+65*sind(thed22(i); emap(i)=(ex(i)2+ey(i)2)0.5;endfigure(2);x=0:360;y1=ex;ey;emap;plot(ex,ey,LineWidth,2.5);title(E);xlabel(theta1);ylabel(Ex,Ey,Emap);legend(Ex,Ey,Emap);plot(ex,ey,LineWidth,2.5);title(E);xlabel(Ex);ylabel(Ey); w2=0:360;w3=0:360;w22=0:360;w5=0:360;w6=0:360;for i=1:1:361V1=-l2*sind(thed2(i) l3*sind(thed3(i) 0 0 0; l2*cosd(thed2(i) -l3*cosd(thed3(i) 0 0 0; 0 -l3*sind(thed3(i) -65*sind(thed22(i) l5*sind(thed5(i) l6*sind(thed6(i); 0 l3*cosd(thed3(i) 65*cosd(thed22(i) -l5*cosd(thed5(i) -l6*cosd(thed6(i); 1 0 -1 0 0;V2= l1*sind(thed1(i); -l1*cosd(thed1(i); 0; 0; 0;V3=V1V2;w2(i)=V3(1);w3(i)=V3(2);w22(i)=V3(3);w5(i)=V3(4);w6(i)=V3(5);endfigure(3);y2=w2;w3;w22;w5;w6;plot(x,y2,LineWidth,2.5);title();xlabel(theta1);ylabel(omega2,omega3,omega2,omega5,omega6);legend(omega2,omega3,omega2,omega5,omega6); evx=0:360;evy=0:360;evmap=0:360;for i=1:1:361 evx(i)=l3*w3(i)*cosd(thed3(i)+65*w22(i)*cosd(thed22(i); evy(i)=-l3*w3(i)*sind(thed3(i)-65*w22(i)*sind(thed22(i); evmap(i)=(evx(i)2+evy(i)2)0.5;end figure(4);x=0:360;y1=evx;evy;evmap;plot(x,y1,LineWidth,2.5);title(E)xlabel(theta1);ylabel(Evx,Evy,Evmap);legend(Evx,Evy,Evmap);plot(evx,evy,LineWidth,2.5);title(E);xlabel(Evx);ylabel(Evy); a2=0:360;a3=0:360;a22=0:360;a5=0:360;a6=0:360;for i=1:1:361A111=-l2*w2(i)*cosd(thed2(i) l3*w3(i)*cosd(thed3(i) 0 0 0; -l2*w2(i)*sind(thed2(i) l3*w3(i)*sind(thed3(i) 0 0 0; 0 -l3*w3(i)*cosd(thed3(i) -65*w22(i)*cosd(thed22(i) l5*w5(i)*cosd(thed5(i) l6*w6(i)*cosd(thed6(i); 0 -l3*w3(i)*sind(thed3(i) -65*w22(i)*sind(thed22(i) l5*w5(i)*sind(thed5(i) l6*w6(i)*sind(thed6(i); 0 0 0 0 0;A112=w2(i);w3(i);w22(i);w5(i);w6(i);A11=A111*A112;A12=l1*cosd(thed1(i); l1*sind(thed1(i); 0; 0; 0;A1=A11+A12;A2=-l2*sind(thed2(i) l3*sind(thed3(i) 0 0 0; l2*cosd(thed2(i) -l3*cosd(thed3(i) 0 0 0; 0 -l3*sind(thed3(i) -65*sind(thed22(i) l5*sind(thed5(i) l6*sind(thed6(i); 0 l3*cosd(thed3(i) 65*cosd(thed22(i) -l5*cosd(thed5(i) -l6*cosd(thed6(i); 1 0 -1 0 0;A3=A2A1;a2(i)=A3(1);a3(i)=A3(2);a22(i)=A3(3);a5(i)=A3(4);a6(i)=A3(5);endfigure(5);y3=a2;a3;a22;a5;a6;plot(x,y3,LineWidth,2.5);title();xlabel(alpha1);ylabel(alpha2,alpha3,alpha2,alpha5,alpha6);legend(alpha2,alpha3,alpha2,alpha5,alpha6); eax=0:360;eay=0:360;eamap=0:360;for i=1:1:361 eax(i)=-(-l3*a3(i)*cosd(thed3(i)+90)+l3*w3(i)2*cosd(thed3(i)-65*a22(i)*cosd(thed22(i)+90)+65*w22(i)2*cosd(thed22(i); eay(i)=-(-l3*a3(i)*sind(thed3(i)+90)+l3*w3(i)2*sind(thed3(i)-65*a22(i)*sind(thed22(i)+90)+65*w22(i)2*sind(thed22(i); eamap(i)=(eax(i)2+eay(i)2)0.5;end figure(6);x=0:360;y1=eax;eay;eamap;plot(x,y1,LineWidth,2.5);title(E);xlabel(theta1);ylabel(Eax,Eay,Eamap);legend(Eax,Eay,Eamap);plot(eax,eay,LineWidth,2.5);title(E);xlabel(Eax);ylabel(Eay) 5. 计算结果和曲线图：角位移数据：00.69331.55122.61032.22560.17450.63621.50202.33931.89310.34910.58271.47172.13771.65640.52360.53511.46111.97601.49180.69810.49451.46911.83131.37530.87270.46131.49371.68351.27921.04720.43501.53202.92163.26481.22170.41521.58132.58082.87831.39630.40131.63880.92670.62681.57080.39281.70220.55010.18701.74530.38931.76920.2454-0.22261.91990.39061.83790.0463-0.54612.09440.39651.90661.62342.34582.26890.40701.97361.54872.39782.44350.42202.03741.48642.45222.61800.44162.09661.43432.50112.79250.46582.15011.39132.53822.96710.49442.19671.35662.55843.14160.52722.23551.32862.55763.31610.56382.26611.30522.53303.49070.60362.28791.28312.48283.66520.64582.30081.25782.40623.83970.68932.3047-0.3675-1.44634.01430.73302.2996-0.4526-1.44914.18880.77552.2856-0.5536-1.46044.36330.81542.2627-0.6706-1.48514.53790.85112.2310-0.8037-1.52744.71240.88102.19030.72911.36574.88690.90322.14070.53221.08665.06150.91612.08220.29340.76965.23600.91812.01520.00370.40435.41050.90801.9404-1.7351-2.06315.58510.88511.8598-0.7828-0.51805.75960.85001.77605.03315.26415.93410.80421.69323.44343.19396.10870.75061.61654.32714.63826.28320.69331.55122.61032.2256角位移变化曲线为：角速度数据：0-0.3317-0.3317-1.8144-2.219510-0.3198-0.2296-1.3229-1.608820-0.2913-0.1170-1.0160-1.126730-0.2513-0.0056-0.8584-0.781740-0.21130.0959-0.8183-0.579550-0.17010.1829-0.8977-0.557160-0.13140.2535-1.1528-0.817270-0.09610.3083-1.6614-1.507280-0.06380.3485-2.1640-2.359690-0.03400.3755-2.0288-2.5356100-0.00610.3907-1.4364-2.1100110-0.02070.3953-0.8709-1.60951200.04690.3901-0.4747-1.21721300.07300.3761-0.2274-0.93081400.09920.3537-0.0873-0.71621500.12540.3239-0.0228-0.54601600.15130.2875-0.0131-0.40341700.17630.2456-0.0432-0.28021800.19940.1994-0.1013-0.17511900.21960.1503-0.1771-0.09062000.23570.0995-0.2627-0.03122100.24650.0480-0.3522-0.01022200.2510-0.0035-0.4426-0.00202300.2484-0.0547-0.5331-0.03152400.2376-0.1056-0.6241-0.09862500.2182-0.1564-0.7163-0.18872600.1894-0.2073-0.8099-0.29872700.1508-0.2586-0.9043-0.41932800.1023-0.3100-0.9998-0.54132900.0441-0.3603-1.1015-0.6622300-0.0223-0.4073-1.2275-0.8007310-0.0943-0.4472-1.4249-1.0242320-0.1671-0.4744-1.7958-1.4919330-0.2342-0.4817-2.4081-2.3519340-0.2879-0.4622-2.7801-3.0370350-0.3215-0.4117-2.4284-2.8444360-0.3317-0.3317-1.8144-2.2195角速度变化曲线为角加速度数据：00.36681.02033.17104.4379100.50011.10931.41593.0684200.50591.00490.56472.1660300.43970.80660.14991.4401400.35550.6003-0.07660.8279500.28090.4249-0.25640.2855600.22350.2873-0.4867-0.2674700.18240.1819-0.8669-0.9647800.15400.1004-1.5098-1.9860900.13500.0358-2.3170-3.28251000.1225-0.01710.81392.17461100.1143-0.06182.70213.87881200.1089-0.10072.29002.90531300.1047-0.13521.39791.57061400.1005-0.16571.63941.72221500.0951-0.19340.44160.21951600.0876-0.21760.57410.86911700.0771-0.23860.25350.57881800.0626-0.25670.03400.35901900.0435-0.2722-0.1185-0.42002000.0194-0.2858-0.1895-0.4521210-0.0101-0.2987-0.2423-0.4593220-0.0456-0.3121-0.2751-0.4507230-0.0874-0.3273-0.2899-0.4400240-0.1360-0.3457-0.2965-0.4483250-0.1920-0.3682-0.3162-0.5057260-0.2557-0.3952-0.3063-0.0407270-0.3266-0.4258-0.5773-0.9520280-0.4026-0.4563-0.5191-0.0210290-0.4783-0.4788-0.8122-0.2190300-0.5421-0.4782-4.0865-4.6403310-0.5734-0.4293-7.9155-7.9315320-0.5419-0.2971-10.8534-13.2996330-0.4154-0.0485-3.4274-7.7578340-0.18320.315711.05279.85073500.11050.71976.69947.09093600.36671.02023.17094.4379角加速度曲线为：.E点运动数据：0178.817727.071711.7606-39.670841.3774-65.176150.760582.610910179.925421.04911.2654-28.775428.8032-53.896470.231188.528120179.397217.1106-6.9117-16.411217.8073-40.020468.522679.353530177.641815.2289-12.8853-5.559114.0333-29.073854.703261.949440174.991715.0067-17.26682.525217.4505-21.622037.986643.709150171.677415.9470-20.55967.816721.9955-16.360523.150728.348260167.862317.6009-23.034410.800725.4409-12.093311.609916.764270163.678019.6168-24.799512.057927.5755-8.15763.29838.799280159.245121.7401-25.885812.111528.5791-4.2953-2.27154.858990154.681223.7998-26.301111.394728.6633-0.4750-5.60905.6291100150.102625.6933-26.058610.258128.00503.2239-7.14767.8410110145.621527.3726-25.19018.983326.74406.6755-7.24799.8536120141.342828.8341-23.75077.793424.99669.7448-6.224511.5631130137.359730.1080-21.81806.858822.870712.3096-4.371213.0627140133.750031.2502-19.48866.299120.481314.2787-1.975914.4147150130.573632.3328-16.87136.184017.968915.60480.675215.6194160127.871033.4359-14.07856.533415.520616.29623.302416.6274170125.663434.6389-11.21587.320113.393216.42265.645217.3657180123.954836.0125-8.37138.474211.911816.11447.477717.7649190122.736637.6122-5.60559.890211.368315.55538.622417.7852200121.992039.4725-2.943311.436611.809314.96668.955917.4416210121.704041.6033-0.369012.964912.970114.58788.405116.8360220121.861443.98782.174814.316914.481114.65426.931116.2107230122.466946.58114.784415.328916.058215.37384.503416.0198240123.542749.30897.588415.830417.555216.90131.068516.9350250125.135752.066510.735115.637118.967319.3014-3.482919.6131260127.318654.714714.37231