机械原理课程设-计码头吊车机构的设计及分析.doc

机械原理课程设计说明书题目：码头吊车机构的设计及分析 班 级 ：机械1415姓 名 ：学 号 ：指导教师 ： 成 绩 ： 2016年11月18日一、题目说明图示为某码头吊车机构简图。它是由曲柄摇杆机构与双摇杆机构串联成的。已知：lo1x=2.86m, lo1y=4m, lo4x=5.6m, lo4y=8.1m, l3=4m, l3=28.525m, a3=25, l3=8.5m, a3=7, l4=3.625m, l4=8.35m, a4=184, l4=1m, a4=95, l5=25.15m, l5=2.5m, a5=24。图中S3、S4、S5为构件3、4、5的质心，构件质量分别为：m3=3500kg, m4=3600kg, m5=5500kg,K点向左运动时载重Q为50kN，向右运动时载重为零，曲柄01A的转速n3=1.1r/min.二、机构简图三、求连架杆O3C摆动范围1、拆分杆组2、列形参和实参的表格对主动件运动分析形式参数N1N2N3kR1R2gamtwepvpap实值4503R450.00.0twepvpap对rrr杆运动分析形式参数mN1N2N3K1K2R1R2twepvpap实值157645R56R67twepvpap用bark杆求10点形式参数N1N2N3kR1R2gamtwepvpap实值501040.0R510176twepvpap3、编写程序/* Note:Your choice is C IDE */#include subk.cmain() static double p202,vp202,ap202,del; static double t10,w10,e10; int ic; /*定义静态变量*/ double r45,r56,r67,r510,gam; double pi,dr; double r2; int i; FILE*fp; char*m=p,vp,ap; r45=28.525;r56=3.625;r67=25.15;r510=8.35; gam=176.0; w3=15.0; del=1.0; /*步长1*/ p41=0.0; p42=0.0; p71=5.6; p72=8.1; /*变量赋值*/ pi=4.0*atan(1.0);/*/ dr=pi/180.0; /*弧度*/ gam=gam*dr; /*计算gam*/ printf(n the kinematic parameters of point10n); printf(NO THETA1 S10 V10 A10n); printf( deg m m/s m/s/sn); if(fp=fopen(20148285,w)=NULL) printf(can,t open this file.n); exit(0); fprintf(fp,n the kinematic parameters of point11n); fprintf(fp,NO THETA1 S10 V10 A10n); fprintf(fp, deg m m/s m/s/sn);ic=(int)(360.0/del); for(i=0;i=ic;i+) t3=(i)*del*dr; bark(4,5,0,3,r45,0.0,0.0,t,w,e,p,vp,ap); rrrk(1,5,7,6,4,5,r56,r67,t,w,e,p,vp,ap); bark(5,0,10,4,0.0,r510,gam,t,w,e,p,vp,ap);printf(n%2d%12.3f%12.3f%12.3f%12.3f,i+1,t3/dr,p102,vp102,ap102); /*运算结果输出*/ fprintf(fp,n%2d%12.3f%12.3f%12.3f%12.3f,i+1,t3/dr,p102,vp102,ap102);/*结果入filel文件*/ if(i%16)=0) getch();/*停*/ fclose(fp); getch();4、O3C在93至135之间摆动时为K点近似水平运动,得O3C摆角为93135。 Deg m m/s m/s/s94 93.000 20.156 -124.441 367165.19795 94.000 20.127 25.142 43585.49096 95.000 20.176 53.182 11987.30597 96.000 20.244 60.791 2608.13298 97.000 20.315 61.275 -1276.11199 98.000 20.385 58.575 -3155.842100 99.000 20.451 54.272 -4137.438101 100.000 20.511 49.122 -4660.849102 101.000 20.565 43.524 -4928.159103 102.000 20.612 37.712 -5041.901104 103.000 20.653 31.829 -5057.946105 104.000 20.686 25.967 -5008.356106 105.000 20.713 20.192 -4912.192107 106.000 20.733 14.550 -4781.005108 107.000 20.747 9.077 -4621.793109 108.000 20.755 3.803 -4438.657110 109.000 20.756 -1.244 -4233.755111 110.000 20.752 -6.041 -4007.871112 111.000 20.742 -10.562 -3760.740113 112.000 20.727 -14.784 -3491.225114 113.000 20.708 -18.678 -3197.403115 114.000 20.684 -22.214 -2876.559116 115.000 20.656 -25.360 -2525.130117 116.000 20.625 -28.077 -2138.574118 117.000 20.591 -30.321 -1711.173119 118.000 20.555 -32.040 -1235.737120 119.000 20.517 -33.174 -703.189121 120.000 20.478 -33.650 -101.983122 121.000 20.439 -33.379 582.738123 122.000 20.401 -32.254 1370.353124 123.000 20.364 -30.140 2286.547125 124.000 20.331 -26.870 3366.016126 125.000 20.302 -22.226 4656.661127 126.000 20.280 -15.925 6226.325128 127.000 20.266 -7.590 8174.020129 128.000 20.263 3.300 10649.527130 129.000 20.275 17.487 13889.468131 130.000 20.306 36.068 18288.309132 131.000 20.361 60.760 24550.172133 132.000 20.450 94.436 34050.297134 133.000 20.586 142.381 49830.626135 134.000 20.791 215.776 79985.448136 135.000 21.109 344.361 153865.3685、K点坐标位置图四、曲柄摇杆机构尺寸的设计。由O3C摆角范围求得O3B摆角为68110 通过作图法计算得L1=1.387m,L2=2.783m。五、求K点水平位移、速度和加速度 1、拆分杆组2、列形参实参表对主动件运动分析形式参数N1N2N3kR1R2gamtwepvpap实值1201R120.00.0twepvpap对组成的rrr杆组运动分析形式参数mN1N2N3K1K2R1R2twepvpap实参142332R34R23twepvpap用bark函数求5点形式参数N1N2N3kR1R2gamtwepvpap实参40530.0R4525twepvpap对组成的rrr杆组运动分析形式参数mN1N2N3K1K2R1R2twepvpap实参157645R56R67twepvpap用bark函数求8，9,10,11形式参数N1N2N3kR1R2gamtwepvpap实参501040.0R510176twepvpap实参70850.0R78-156twepvpap实参50940.0R5995twepvpap实参401130.0R41118twepvpap3、编写程序#include subk.cmain()static double p202,vp202,ap202,del;static double t10,w10,e10;/*定义静态变量*/int ic;double r12,r34,r23,r45,r56,r67,r510,r78,r59,r411;double pi ,dr;double r2,vr2,ar2;/*定义局部变量*/int i; FILE*fp;char *m=p,vp,ap; r56=3.625,r67=25.15,r510=8.35; r12=1.387,r34=4.0,r23=2.783,r45=28.525; pi=4.0*atan(1.0); dr=pi/180.0; w1=0.0367*pi;del=1.0; e1=0.0,r411=8.5,r59=1.0,r78=2.5; p11=2.86; p12=4.0; p41=0.0; p42=0.0; p71=5.6; p72=8.1;/*变量赋值*/ printf(n The Kinematic Parameters of Point 10n); printf(No THETA1 s10 v10 a10n); printf( deg m m/s m/s/sn);/*写表头*/ if(fp=fopen(20148285.txt,w)=NULL) printf(Cant open this file.n);exit(0); fprintf(fp,n The kinematic parameters of point 10n); fprintf(fp,No THETA1 S10 V10 A10n); fprintf(fp, deg m m/s m/s/sn); ic=(int)(360.0/del);for(i=0;i=ic;i+) t1=i*del*dr;bark(1,2,0,1,r12,0.0,0.0,t,w,e,p,vp,ap); rrrk(1,4,2,3,3,2,r34,r23,t,w,e,p,vp,ap); bark(4,0,5,3,0.0,r45,25.0*dr,t,w,e,p,vp,ap); rrrk(1,5,7,6,4,5,r56,r67,t,w,e,p,vp,ap); bark(5,0,10,4,0.0,r510,176.0*dr,t,w,e,p,vp,ap); bark(4,0,11,3,0.0,r411,18.0*dr,t,w,e,p,vp,ap); bark(5,0,9,4,0.0,r59,95.0*dr,t,w,e,p,vp,ap); bark(7,0,8,5,0.0,r78,-156.0*dr,t,w,e,p,vp,ap); printf(n%2d %12.3f %12.3f %12.3f %12.3f,i+1,t1/dr,p102,vp102,ap102); fprintf(fp,n%2d %12.3f %12.3f %12.3f %12.3f,i+1,t1/dr,p102,vp102,ap102);/*结果显示屏幕上*/if(i%16)=0)getch(); fclose(fp); getch();4、 运行结果(一部分)89 88.000 20.752 0.017 -0.03690 89.000 20.755 0.011 -0.03691 90.000 20.756 0.006 -0.03692 91.000 20.756 0.000 -0.03693 92.000 20.756 -0.005 -0.03694 93.000 20.755 -0.011 -0.03595 94.000 20.753 -0.016 -0.03596 95.000 20.750 -0.021 -0.03597 96.000 20.746 -0.026 -0.03498 97.000 20.742 -0.031 -0.03399 98.000 20.737 -0.036 -0.033100 99.000 20.731 -0.041 -0.032101 100.000 20.724 -0.046 -0.031102 101.000 20.717 -0.051 -0.030103 102.000 20.709 -0.055 -0.029104 103.000 20.700 -0.059 -0.028105 104.000 20.691 -0.063 -0.026106 105.000 20.681 -0.067 -0.025107 106.000 20.671 -0.071 -0.024108 107.000 20.660 -0.074 -0.022109 108.000 20.648 -0.078 -0.021110 109.000 20.636 -0.081 -0.019111 110.000 20.624 -0.083 -0.017112 111.000 20.611 -0.086 -0.016113 112.000 20.598 -0.088 -0.014114 113.000 20.584 -0.090 -0.012115 114.000 20.570 -0.092 -0.010116 115.000 20.556 -0.093 -0.008117 116.000 20.542 -0.094 -0.006118 117.000 20.528 -0.095 -0.004119 118.000 20.513 -0.096 -0.002120 119.000 20.499 -0.096 -0.000121 120.000 20.484 -0.096 0.002122 121.000 20.470 -0.095 0.004123 122.000 20.456 -0.095 0.006124 123.000 20.441 -0.093 0.008125 124.000 20.427 -0.092 0.010126 125.000 20.413 -0.090 0.013127 126.000 20.400 -0.088 0.015128 127.000 20.387 -0.086 0.017129 128.000 20.374 -0.083 0.019130 129.000 20.362 -0.080 0.022131 130.000 20.350 -0.076 0.024132 131.000 20.339 -0.073 0.026133 132.000 20.328 -0.069 0.028134 133.000 20.318 -0.064 0.030135 134.000 20.308 -0.059 0.032136 135.000 20.300 -0.054 0.034137 136.000 20.292 -0.049 0.036138 137.000 20.285 -0.043 0.038139 138.000 20.279 -0.037 0.040140 139.000 20.274 -0.031 0.042141 140.000 20.269 -0.025 0.044142 141.000 20.266 -0.018 0.045143 142.000 20.264 -0.011 0.047144 143.000 20.263 -0.004 0.048145 144.000 20.263 0.003 0.049146 145.000 20.264 0.011 0.050147 146.000 20.266 0.019 0.051K点水平位移、速度和加速度线图六、对机构动态静力分析 1、拆分杆组2、列形参实参表对主动件运动分析形式参数N1N2N3kR1R2gamtwepvpap实值1201R120.00.0twepvpap对组成的rrr杆组运动分析形式参数mN1N2N3K1K2R1R2twepvpap实参142332R34R23twepvpap用bark函数求5点形式参数N1N2N3kR1R2gamtwepvpap实参40530.0R4525twepvpap对组成的rrr杆组运动分析形式参数mN1N2N3K1K2R1R2twepvpap实参157645R56R67twepvpap用bark函数求8，9,10,11形式参数N1N2N3kR1R2gamtwepvpap实参501040.0R510176twepvpap实参70850.0R78-156twepvpap实参50940.0R5995twepvpap实参401130.0R41118twepvpap对rrr杆组动态静力分析形式参数N1N2N3Ns1Ns2Nn1Nn2nexfK1K2pvpaptwefr实参576981001045pvpaptwefr对rrr杆组动态静力分析形式参数N1N2N3Ns1Ns2Nn1Nn2nexfK1K2pvpaptwefr实参42311050032pvpaptwefr用barf函数求1点运动副反力及力矩形式参数N1Ns1Nn1K1pvpapefrtb实参1021pvpapefr&tb3、编写程序#includesubk.c#includesubf.cmain() static double p202,vp202,ap202,del; static double t10,w10,e10; static double sita1370,sita2370,sita3370; static double fr202,fe202,tb,tb1,fr1,bt1,fr4,bt4,fr7,bt7,we1,we2,we3,we4,we5; int ic; double r12,r23,r34,r45,r56,r67,r59,r78,r510,r411; double pi,dr; int i; FILE *fp; char *m=tb,tb1,fr1,fr4,fr7; sm1=0.0;sm2=0.0;sm3=3500;sm4=3600;sm5=5500; sj1=0.0;sj2=0.0;sj3=252875;sj4=3600;sj5=34375; r12=1.387;r23=2.783;r34=4.0;r45=28.525;r56=3.625;r67=25.15;r510=8.35;r78=2.5;r59=1.0;r411=8.5; pi=4.0*atan(1.0); w1=2.2*pi/60;e1=0.0;del=1; dr=pi/180.0; p11=2.86; p12=4.0; p41=0.0; p42=0.0; p71=5.6; p72=8.1; printf(n The Kinet0-static Analysis of a six-bar Linkase.n); printf(No HETA1 fr1 sita1 fr4 sita4 fr7 sita7 tb tb1n); printf( deg N radian N radian N radian N.m N.mn); if(fp=fopen(20148285.txt,w)=NULL) printf(Cant open this file.n); exit(0); fprintf(fp,n The Kinet0-static Analysis of a six-bar Linkase.n); fprintf(fp,No HETA1 fr1 sita1 fr4 sita2 fr7 sita3 tb tb1n); fprintf(fp, deg N radian N radian N radian N.m N.mn); ic=(int)(360.0/del); for(i=0;i=ic;i+) t1=(i*del)*dr; bark(1,2,0,1,r12,0.0,0.0,t,w,e,p,vp,ap); rrrk(1,4,2,3,3,2,r34,r23,t,w,e,p,vp,ap); bark(4,0,5,3,0.0,r45,25.0*dr,t,w,e,p,vp,ap); rrrk(1,5,7,6,4,5,r56,r67,t,w,e,p,vp,ap); bark(5,0,10,4,0.0,r510,176.0*dr,t,w,e,p,vp,ap); bark(4,0,11,3,0.0,r411,18.0*dr,t,w,e,p,vp,ap); bark(5,0,9,4,0.0,r59,95.0*dr,t,w,e,p,vp,ap); bark(7,0,8,5,0.0,r78,-156.0*dr,t,w,e,p,vp,ap); rrrf(5,7,6,9,8,10,0,10,4,5,p,vp,ap,t,w,e,fr); rrrf(4,2,3,11,0,5,0,0,3,2,p,vp,ap,t,w,e,fr); barf(1,0,2,1,p,ap,e,fr,&tb); fr1=sqrt(fr11*fr11+fr12*fr12); bt1=atan2(fr12,fr11); fr4=sqrt(fr41*fr41+fr42*fr42); bt4=atan2(fr42,fr41); fr7=sqrt(fr71*fr71+fr72*fr72); bt7=atan2(fr72,fr71); we3=-(ap111*vp111+(ap112+9.81)*vp112)*sm3-e3*w3*sj3; we5=-(ap81*vp81+(ap82+9.81)*vp82)*sm5-e5*w5*sj5; extf(p,vp,ap,t,w,e,11,fe); we4=-(ap91*vp91+(ap92+9.81)*vp92)*sm4+fe102*vp102; tb1=-(we3+we4+we5)/w1; printf(n%2d %10.3f %10.3f %10.3f %10.3f %10.3f %10.3f %10.3f %10.3f %10.3f,i+1,t1/dr,fr1,bt1/dr,fr4,bt4/dr,fr7/dr,bt7/dr,tb,tb1); fprintf(fp,n%2d %10.3f %10.3f %10.3f %10.3f %10.3f %10.3f %10.3f %10.3f %10.3f,i+1,t1/dr,fr1,bt1/dr,fr4,bt4/dr,fr7/dr,bt7/dr,tb,tb1); sita1i=bt1; sita2i=bt4; sita3i=bt7; if(i%10)=0)getch(); fclose(fp); getch(); extf(p,vp,ap,t,w,e,nexf,fe) double p202,vp202,ap202,t10,w10,e10,fe202; int nexf; fenexf1=0.0; if(vpnexf10) fenexf2=-50000.0; else fenexf2=0.0;4、运行结果（一部分）1 0.000 73988.299 -174.158 119909.180 59.161 1753469.004 67.247 -10444.968 -10444.968 2 1.000 76200.686 -173.637 122249.519 58.772 1723264.514 66.390 -9879.152 -9879.152 3 2.000 78415.202 -173.116 124620.104 58.410 1693644.817 65.507 -9259.539 -9259.539 4 3.000 80613.589 -172.597 127002.985 58.076 1664950.978 64.608 -8583.630 -8583.630 5 4.000 82773.764 -172.080 129376.178 57.774 1637564.115 63.707 -7849.388 -7849.388 6 5.000 84869.793 -171.564 131713.563 57.505 1611898.128 62.821 -7055.465 -7055.465 7 6.000 86872.146 -171.050 133985.064 57.274 1588388.578 61.971 -6201.457 -6201.457 8 7.000 88748.335 -170.538 136157.218 57.082 1567478.030 61.182 -5288.171 -5288.171 9 8.000 90463.997 -170.028 138194.203 56.933 1549598.731 60.480 -4317.871 -4317.87110 9.000 91984.432 -169.520 140059.359 56.830 1535154.046 59.895 -3294.461 -3294.46111 10.000 93276.532 -169.015 141717.131 56.773 1524500.273 59.452 -2223.584 -2223.58412 11.000 94310.937 -168.513 143135.293 56.765 1517930.284 59.174 -1112.571 -1112.57113 12.000 5880.112 11.987 115509.834 94.375 3286445.089 87.347 -1.840 29.75114 13.000 5350.119 12.484 115781.315 94.143 3272936.456 87