哈工大机械原理大作业连杆142015版.docx

harbin institute of technology机械原理大作业连杆课程名称： 机械原理 设计题目： 连杆机构运动分析 院 系： xx学院 班 级： xxxxxxxx 姓 名： xxxxxxxxx 学 号： xxxxxxxxxxx 指导教师： 焦映厚 陈照波 设计时间： 2015年xxxxxxxxxx 哈尔滨工业大学题目14如图所示机构，已知各机构尺寸为lab=200mm，lbd=700mm，lac=400mm，lae=800mm，构件l的角速度为1=10rad/s，试求构件2上点d的轨迹及构建5的角位移、角速度和角加速度，并对计算结果进行分析。（题中构建尺寸满足lbd-lablae= -1 and x = -0.5 and x 0.5 and x = -1 and x = -0.5 and x 0.5 and x = 1 then arccos = atn(sqr(1 - x * x) / x)end functionprivate sub command1_click()line1.visible = falseline2.visible = falseline3.visible = false画坐标系lab = 200lac = 400lbd = 700lae = 800lce = 400pi = 3.1416dim i, j as integerdim beta, xb, yb, xd, yd as doublepicture1.backcolor = vbwhitepicture1.fillstyle = 0picture1.scale (-400, 440)-(1500, -440)picture1.line (-400, 0)-(1500, 0)picture1.line (0, -440)-(0, 440)for i = 0 to 22picture1.currentx = -68picture1.currenty = 440 - 40 * ipicture1.print & 440 - 40 * i & picture1.drawstyle = 2picture1.line (-400, 440 - 40 * i)-(1500, 440 - 40 * i)nextfor j = 0 to 70picture1.currentx = 1520 - 80 * jpicture1.currenty = -5picture1.print 1520 - 80 * jpicture1.drawstyle = 2picture1.line (1520 - 80 * j, 440)-(1520 - 80 * j, -440)next画d点位移图线for sita = 0 to 2 * pi step 0.001xb = lab * cos(sita)yb = lab * sin(sita)lbc = sqr(lab 2 + lac 2 - 2 * lab * lac * cos(sita)beta = arcsin(lab * sin(sita) / lbc)xd = xb + lbd * cos(beta)yd = yb - lbd * sin(beta)picture1.pset (xd, yd)nextend subprivate sub command2_click()d点角位移图line1.visible = falseline2.visible = falseline3.visible = falselab = 200lac = 400lbd = 700lae = 800lce = 400pi = 3.1416dim i, j as integerdim beta, xb, yb, xd, yd, gama, gama1 as doublepicture1.backcolor = vbwhitepicture1.fillstyle = 0picture1.scale (-20, 360)-(360, -80)picture1.line (-0, 0)-(360, 0)picture1.line (0, 360)-(0, -80)for i = 0 to 22picture1.currentx = -15picture1.currenty = 360 - 20 * ipicture1.print & 360 - 20 * i & picture1.drawstyle = 2picture1.line (0, 360 - 20 * i)-(360, 360 - 20 * i)nextfor j = 0 to 18picture1.currentx = 360 - 20 * jpicture1.currenty = -5picture1.print 360 - 20 * jpicture1.drawstyle = 2picture1.line (360 - 20 * j, 360)-(360 - 20 * j, -80)nextfor sita = 0 to 360 step 0.01xb = lab * cos(sita * pi / 180)yb = lab * sin(sita * pi / 180)lbc = sqr(lab 2 + lac 2 - 2 * lab * lac * cos(sita * pi / 180)beta = arcsin(lab * sin(sita * pi / 180) / lbc)xd = xb + lbd * cos(beta)yd = yb - lbd * sin(beta)gama = arccos(xd - 800) / sqr(xd - 800) 2 + yd 2)if yd = 0 thengama1 = 2 * pi - gamaelsegama1 = gamaend ifpicture1.pset (sita, gama1 * 180 / pi)nextend subprivate sub command3_click()画角角速度line1.visible = falseline2.visible = falseline3.visible = falselab = 200lac = 400lbd = 700lae = 800lce = 400pi = 3.1416dim beta, xb, yb, xd, yd, gama, gama1, beta0, xb0, yb0, xd0, yd0, gama0, gama10, lbc0, w, sita0 as doubledim i, j as integerpicture1.backcolor = vbwhitepicture1.fillstyle = 0picture1.scale (-20, 90)-(360, -540)picture1.line (-0, 0)-(360, 0)picture1.line (0, 360)-(0, -540)for i = 0 to 22picture1.currentx = -15picture1.currenty = 90 - 30 * ipicture1.print & 90 - 30 * i & picture1.drawstyle = 2picture1.line (0, 90 - 30 * i)-(360, 90 - 30 * i)nextfor j = 0 to 18picture1.currentx = 360 - 20 * jpicture1.currenty = -5picture1.print 360 - 20 * jpicture1.drawstyle = 2picture1.line (360 - 20 * j, 360)-(360 - 20 * j, -540)nextfor sita = 0 to 360 step 0.01xb = lab * cos(sita * pi / 180)yb = lab * sin(sita * pi / 180)lbc = sqr(lab 2 + lac 2 - 2 * lab * lac * cos(sita * pi / 180)beta = arcsin(lab * sin(sita * pi / 180) / lbc)xd = xb + lbd * cos(beta)yd = yb - lbd * sin(beta)gama = arccos(xd - 800) / sqr(xd - 800) 2 + yd 2)if yd = 0 thengama1 = 2 * pi - gamaelsegama1 = gamaend ifsita0 = sita + 0.001xb0 = lab * cos(sita0 * pi / 180)yb0 = lab * sin(sita0 * pi / 180)lbc0 = sqr(lab 2 + lac 2 - 2 * lab * lac * cos(sita0 * pi / 180)beta0 = arcsin(lab * sin(sita0 * pi / 180) / lbc0)xd0 = xb + lbd * cos(beta0)yd0 = yb - lbd * sin(beta0)gama0 = arccos(xd0 - 800) / sqr(xd0 - 800) 2 + yd0 2)if yd0 = 0 thengama10 = 2 * pi - gama0elsegama10 = gama0end ifw = (gama10 - gama1) / (pi / 180000)picture1.pset (sita, w * 180 / pi)nextend subprivate sub command4_click() 画运动图 timer1.enabled = trueend subprivate sub command5_click()画角加速度line1.visible = falseline2.visible = falseline3.visible = falselab = 200lac = 400lbd = 700lae = 800lce = 400pi = 3.1416dim w2, a, sita0, sita02, gama102, gama12, sita2, beta, xb, yb, xd, yd, gama, gama1, beta0, xb0, yb0, xd0, yd0, gama0, gama10, lbc0, w1, beta2, xb2, yb2, xd2, yd2, lbc2, lbc02, gama2, beta02, xb02, yb02, xd02, yd02, gama02 as doubledim i, j as integerpicture1.backcolor = vbwhitepicture1.fillstyle = 0picture1.scale (-20, 140000)-(360, -140000)picture1.line (-0, 0)-(360, 0)picture1.line (0, 140000)-(0, -140000)for i = 0 to 22picture1.currentx = -15picture1.currenty = 140000 - 10000 * ipicture1.print & 140000 - 10000 * i & picture1.drawstyle = 2picture1.line (0, 140000 - 10000 * i)-(360, 140000 - 10000 * i)nextfor j = 0 to 18picture1.currentx = 360 - 20 * jpicture1.currenty = -5picture1.print 360 - 20 * jpicture1.drawstyle = 2picture1.line (360 - 20 * j, 360)-(360 - 20 * j, -540)nextfor sita = 0 to 360 step 0.01xb = lab * cos(sita * pi / 180)yb = lab * sin(sita * pi / 180)lbc = sqr(lab 2 + lac 2 - 2 * lab * lac * cos(sita * pi / 180)beta = arcsin(lab * sin(sita * pi / 180) / lbc)xd = xb + lbd * cos(beta)yd = yb - lbd * sin(beta)gama = arccos(xd - 800) / sqr(xd - 800) 2 + yd 2)if yd = 0 thengama1 = 2 * pi - gamaelsegama1 = gamaend ifsita0 = sita + 0.001xb0 = lab * cos(sita0 * pi / 180)yb0 = lab * sin(sita0 * pi / 180)lbc0 = sqr(lab 2 + lac 2 - 2 * lab * lac * cos(sita0 * pi / 180)beta0 = arcsin(lab * sin(sita0 * pi / 180) / lbc0)xd0 = xb + lbd * cos(beta0)yd0 = yb - lbd * sin(beta0)gama0 = arccos(xd0 - 800) / sqr(xd0 - 800) 2 + yd0 2)if yd0 = 0 thengama10 = 2 * pi - gama0elsegama10 = gama0end ifw1 = (gama10 - gama1) / (pi / 180000)sita2 = sita + 0.01xb2 = lab * cos(sita2 * pi / 180)yb2 = lab * sin(sita2 * pi / 180)lbc2 = sqr(lab 2 + lac 2 - 2 * lab * lac * cos(sita2 * pi / 180)beta2 = arcsin(lab * sin(sita2 * pi / 180) / lbc2)xd2 = xb + lbd * cos(beta2)yd2 = yb - lbd * sin(beta2)gama2 = arccos(xd2 - 800) / sqr(xd2 - 800) 2 + yd2 2)if yd = 0 thengama12 = 2 * pi - gama2elsegama12 = gamaend ifsita02 = sita2 + 0.001xb02 = lab * cos(sita02 * pi / 180)yb02 = lab * sin(sita02 * pi / 180)lbc02 = sqr(lab 2 + lac 2 - 2 * lab * lac * cos(sita02 * pi / 180)beta02 = arcsin(lab * sin(sita02 * pi / 180) / lbc02)xd02 = xb02 + lbd * cos(beta02)yd02 = yb02 - lbd * sin(beta02)gama02 = arccos(xd02 - 800) / sqr(xd02 - 800) 2 + yd02 2)if yd02 = 0 thengama102 = 2 * pi - gama02elsegama102 = gama02end ifw2 = (gama102 - gama12) / (pi / 180000)a = (w2 - w1) / 0.01picture1.pset (sita, a * 180 / pi)nextend subprivate sub form_load()timer1.enabled = falseend subprivate sub timer1_timer() 动画 dim k as integer dim a as integer dim beta as double lab = 200 lac = 400 lbd = 700 lae = 800 lce = 400 pi = 3.1416 dim i, j as integer dim xb, yb, xd, yd as double画坐标系picture1.backcolor = vbwhitepicture1.fillstyle = 0picture1.scale (-400, 440)-(1500, -440)picture1.line (-400, 0)-(1500, 0)picture1.line (0, -440)-(0, 440)for i = 0 to 22picture1.currentx = -68picture1.currenty = 440 - 40 * ipicture1.print & 440 - 40 * i & picture1.drawstyle = 2picture1.line (-400, 440 - 40 * i)-(1500, 440 - 40 * i)nextfor j = 0 to 70picture1.currentx = 1520 - 80 * jpicture1.currenty = -5picture1.print 1520 - 80 * jpicture1.drawstyle = 2picture1.line (1520 - 80 * j, 440)-(1520 - 80 * j, -440)next text1.t