机械原理大作业1.doc

哈尔滨工业大学课程设计说明书（论文）Harbin Institute of Technology机械原理大作业（一）课程名称：机械原理 设计题目：连杆机构运动分析 院 系：能源学院 班 级：1002101班 设 计 者：鲍立斌 学 号：1100200305 指导教师：陈明 设计时间：2012.5.202012.6.20 哈尔滨工业大学1.设计题目（28题） 如机构运动简图所示机构，已知机构各构件的尺寸为AB=61mm, EF=132mm, BC=CE=CD=200mm, FG=160mm，AD=152mm, AG=472mm，DG=332mm, =114。 。构件1的角速度1=10rad/s，试求构件2上点E的轨迹及构件5的角位置、角速度和角加速度，并对计算结果进行分析。2.机构的结构分析，组成机构的基本杆组划分 该机构有5个构件，7个低副，自由度为1 该机构可以划分成两个RR杆组和两个RRR杆组，依次为：RR杆组AB；RRR杆组BCD；RR杆组BE；RRR杆组EFG。3.各基本杆组的运动分析数学模型（1）RR杆组数学模型：已知运动副A的位置、速度、加速度和构件的角位置、角速度、角加速度即所求B点到A点的距离，求B点的位置、速度和加速度。 1.位置关系 2.速度和加速的分析对上式求导即可得到，求一次到可得速度方程 再对时间求导即可得到加速度方程（2）RRR杆组数学模型： 已知两个杆杆长和两个运动副B、D的位置、速度和加速度。求内运动副C的位置、速度和加速度，以及两杆的角位置、角速度和角加速度。1.位置方程2.速度方程两杆角速度为其中内运动副C点的速度3.加速度方程两杆角加速度内运动副C的加速度其中4.建立坐标系 以A点为坐标的原点，向上为Y轴正方向，向左为X轴正方向，且假设D、G在同一水平线上，即两点的Y轴坐标相同，则几个已知点的坐标为A（0，0），D（134.72，-70.38），G（466.72，-70.38）。5.计算编程1）RR模块Public L As DoublePublic f As DoublePublic delt As DoublePublic w As DoublePublic e As DoublePublic xA As DoublePublic yA As DoublePublic vxA As DoublePublic vyA As DoublePublic axA As DoublePublic ayA As DoublePublic xB As DoublePublic yB As DoublePublic vxB As DoublePublic vyB As DoublePublic axB As DoublePublic ayB As DoublePublic Sub cal() xB = xA + L * Cos(f + delt) yB = yA + L * Sin(f + delt) vxB = vxA - w * L * Sin(f + delt) vyB = vyA + w * L * Cos(f + delt) axB = axA - w 2 * L * Cos(f + delt) - e * L * Sin(f + delt) ayB = ayA - w 2 * L * Sin(f + delt) + e * L * Cos(f + delt)End Sub2）RRR模块Public Li As DoublePublic Lj As DoublePublic fi As DoublePublic fj As DoublePublic wi As DoublePublic wj As DoublePublic ei As DoublePublic ej As DoublePublic xB As DoublePublic yB As DoublePublic vxB As DoublePublic vyB As DoublePublic axB As DoublePublic ayB As DoublePublic xC As DoublePublic yC As DoublePublic vxC As DoublePublic vyC As DoublePublic axC As DoublePublic ayC As DoublePublic xD As DoublePublic yD As DoublePublic vxD As DoublePublic vyD As DoublePublic axD As DoublePublic ayD As DoublePublic M As SinglePublic Sub cal() Dim LBD As Double Dim JCBD As Double Dim val As Double Dim fDB As Double Dim Ci As Double Dim Cj As Double Dim Si As Double Dim Sj As Double Dim G1 As Double Dim G2 As Double Dim G3 As Double Dim pi As Double pi = 3.1415926 LBD = Sqr(xD - xB) 2 + (yD - yB) 2) If LBD Li + Lj Or LBD Abs(Li - Lj) Then If MsgBox(RRR杆组杆长不符合要求, vbOKOnly, 提示) = 1 Then End Else End If Else End If If LBD Abs(Li - Lj) Then val = (Li 2 + LBD 2 - Lj 2) / (2 * Li * LBD) JCBD = Atn(-val / Sqr(1 - val * val) + 2 * Atn(1) Else End If If LBD = Li + Lj Then JCBD = 0 Else End If If LBD = Abs(Li - Lj) Then If Li Lj Then JCBD = 0 End If If Li xB And yD = yB Then 第一象限 fDB = Atn(yD - yB) / (xD - xB) End If If xD = xB And yD yB Then fDB = pi / 2 End If If xD = yB Then 第二象限 fDB = pi + Atn(yD - yB) / (xD - xB) End If If xD xB And yD yB Then 第三象限 fDB = pi + Atn(yD - yB) / (xD - xB) End If If xD = xB And yD xB And yD xD And yC = yD Then 第一象限 fj = Atn(yC - yD) / (xC - xD) End If If xC = xD And yC yD Then fj = pi / 2 End If If xC = yD Then 第二象限 fj = pi + Atn(yC - yD) / (xC - xD) End If If xC xD And yC yD Then 第三象限 fj = pi + Atn(yC - yD) / (xC - xD) End If If xC = xD And yC xD And yC = yD Then 第四象限 fj = 2 * pi + Atn(yC - yD) / (xC - xD) End If Ci = Li * Cos(fi): Si = Li * Sin(fi) Cj = Lj * Cos(fj): Sj = Lj * Sin(fj) G1 = Ci * Sj - Cj * Si wi = (Cj * (vxD - vxB) + Sj * (vyD - vyB) / G1 wj = (Ci * (vxD - vxB) + Si * (vyD - vyB) / G1 vxC = vxB - wi * Li * Sin(fi) vyC = vyB + wi * Li * Cos(fi) G2 = axD - axB + wi 2 * Ci - wj 2 * Cj G3 = ayD - ayB + wi 2 * Si - wj 2 * Sj ei = (G2 * Cj + G3 * Sj) / G1 ej = (G2 * Ci + G3 * Si) / G1 axC = axB - ei * Li * Sin(fi) - wi 2 * Li * Cos(fi) ayC = ayB + ei * Li * Cos(fi) - wi 2 * Li * Sin(fi) End Sub3）计算以及绘图程序Private f5(3600) As Double Private w5(3600) As Double Private e5(3600) As Double Private xe(3600) As Double Private ye(3600) As Double Private Sub c1_Click() Picture1.Scale (-10, 300)-(360, -300) Picture1.Line (-10, 0)-(360, 0) X Picture1.Line (0, 300)-(0, -300) Y For i = -0 To 360 Step 36 X轴坐标 Picture1.DrawStyle = 2 Picture1.Line (i, 300)-(i, -300) Picture1.CurrentX = i - 10: Picture1.CurrentY = 0 Picture1.Print i Next i For i = -300 To 300 Step 30 Y轴坐标 Picture1.DrawStyle = 2 Picture1.Line (-10, i)-(1000, i) Picture1.CurrentX = -10: Picture1.CurrentY = i Picture1.Print i Next i For i = 0 To 3600 Step 1 Picture1.PSet (i / 10, f5(i) Next i End SubPrivate Sub Command1_Click() Picture1.Scale (-10, 10)-(360, -10) Picture1.Line (-10, 0)-(360, 0) X Picture1.Line (0, 10)-(0, -10) Y For i = -0 To 360 Step 36 X轴坐标 Picture1.DrawStyle = 2 Picture1.Line (i, 10)-(i, -10) Picture1.CurrentX = i - 10: Picture1.CurrentY = 0 Picture1.Print i Next i For i = -10 To 10 Step 1 Y轴坐标 Picture1.DrawStyle = 2 Picture1.Line (-10, i)-(1000, i) Picture1.CurrentX = -10: Picture1.CurrentY = i Picture1.Print i Next i For i = 0 To 3600 Picture1.PSet (i / 10, w5(i) Next iEnd SubPrivate Sub Command2_Click() Picture1.Scale (-10, 300)-(360, -300) Picture1.Line (-10, 0)-(360, 0) X Picture1.Line (0, 300)-(0, -300) Y For i = -0 To 360 Step 36 X轴坐标 Picture1.DrawStyle = 2 Picture1.Line (i, 300)-(i, -300) Picture1.CurrentX = i - 10: Picture1.CurrentY = 0 Picture1.Print i Next i For i = -300 To 300 Step 30 Y轴坐标 Picture1.DrawStyle = 2 Picture1.Line (-10, i)-(1000, i) Picture1.CurrentX = -10: Picture1.CurrentY = i Picture1.Print i Next i For i = 0 To 3600 Picture1.PSet (i / 10, e5(i) Next iEnd SubPrivate Sub Command3_Click() Picture1.Scale (-10, 100)-(1000, -10) Picture1.Line (-10, 0)-(1000, 0) X Picture1.Line (0, 100)-(0, -10) Y For i = -0 To 1000 Step 100 X轴坐标 Picture1.DrawStyle = 2 Picture1.Line (i, 100)-(i, -100) Picture1.CurrentX = i - 10: Picture1.CurrentY = 0 Picture1.Print i Next i For i = 0 To 100 Step 10 Y轴坐标 Picture1.DrawStyle = 2 Picture1.Line (-10, i)-(1000, i) Picture1.CurrentX = -10: Picture1.CurrentY = i Picture1.Print i Next iFor i = 0 To 3600 Picture1.PSet (xe(i), ye(i) Next iEnd SubPrivate Sub Form_Load() Dim i As Single Dim pi As Double Dim pa As Double Dim RR1 As RR Dim RR2 As RR Dim RRR1 As RRR Dim RRR2 As RRR Set RR1 = New RR Set RR2 = New RR Set RRR1 = New RRR Set RRR2 = New RRR pi = 3.1415926 pa = pi / 180 For i = 0 To 3600 Step 1 确定点B RR1.xA = 0: RR1.yA = 0 RR1.vxA = 0: RR1.vyA = 0 A点 RR1.axA = 0: RR1.ayA = 0 RR1.f = i * pa / 10: RR1.delt = 0 RR1.w = 10: RR1.e = 0 RR1.L = 61 RR1.cal 确定点C RRR1.xB = RR1.xB: RRR1.yB = RR1.yB RRR1.vxB = RR1.vxB: RRR1.vyB = RR1.vyB RRR1.axB = RR1.axB: RRR1.ayB = RR1.ayB RRR1.xD = 134.72: RRR1.yD = -70.38 D位置 RRR1.vxD = 0: RRR1.vyD = 0 RRR1.axD = 0: RRR1.ayD = 0 RRR1.Lj = 200: RRR1.Li = 200 RRR1.M = 1 RRR1.cal 确定点E RR2.xA = RR1.xB: RR2.yA = RR1.yB RR2.vxA = RR1.vxB: RR2.vyA = RR1.vyB RR