机械原理大作业——凸轮

大作业（二）凸轮机构设计题号： 6班 级 ： 姓 名 ： 学 号 ： 同组者 ： 成 绩 ： 完成时间 ： 目录一 凸轮机构题目要求1二 摆杆的运动规律及凸轮轮廓线方程2三 计算程序3四 运算结果及凸轮机构图94.1 第一组（A组）机构图及计算结果94.2 第二组（B组）机构图及计算结果144.3 第三组（C组）机构图及计算结果19五 心得体会24第一组（A组）24第二组（B组）24第三组（C组）24六 参考资料25附录 程序框图26一 凸轮机构题目要求（摆动滚子推杆盘形凸轮机构）题目要求：试用计算机辅助设计完成下列偏置直动滚子推杆盘形凸轮机构或摆动滚子推杆盘形凸轮机构的设计，已知数据如下各表所示。凸轮沿逆时针方向作匀速转动。表一 摆动滚子推杆盘形凸轮机构的已知参数题号初选的基圆半径R0/mm机架长度Loa/mm摆杆长度Lab/mm滚子半径Rr/mm推杆摆角许用压力角许用最小曲率半径amin12A156055102435700.3RrB207065142640700.3RrC227268182845650.35Rr要求：1） 凸轮理论轮廓和实际轮廓的坐标值2） 推程和回程的最大压力角，及凸轮对应的转角3） 凸轮实际轮廓曲线的最小曲率4） 半径及相应凸轮转角5） 基圆半径6） 绘制凸轮理论廓线和实际廓线7）计算点数：N：72120推杆运动规律：1)推程运动规律：等加速等减速运动2)回程运动规律：余弦加速度运动二 摆杆的运动规律及凸轮轮廓线方程1） 推程：1，运动规律：等加速等减速运动；2，轮廓线方程：A：等加速推程段 设定推程加速段边界条件为： 在始点处 =0，s=0，v=0。 在终点处 。 整理得： （ 注意：的变化范围为00/2。）B：等减速推程段 设定推程减速段边界条件为： 在始点处 在终点处 ，s= h，v=0。 整理得： （注意：的变化范围为0/20）2） 回程（1）运动规律：余弦加速度运动；（2）轮廓线方程：三 计算程序（matlab）function pushbutton1_Callback(hObject, eventdata, handles)% hObject handle to pushbutton1 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)t1=0;t5=360;%输入disp(凸轮运动规律：近休；等加速等减速运动；远休；余弦加速度运动); r0=str2num(get(handles.edit1,string);%初选基圆半径L1=str2num(get(handles.edit2,string);%机架长度 L2=str2num(get(handles.edit3,string);%摆杆长度Rr=str2num(get(handles.edit4,string);%滚子半径Q0=str2num(get(handles.edit5,string);%摆杆摆角a1=str2num(get(handles.edit6,string);a2=str2num(get(handles.edit7,string);ppk=str2num(get(handles.edit8,string);Pk=ppk*Rr;t2=str2num(get(handles.edit9,string);t3=str2num(get(handles.edit10,string);t4=str2num(get(handles.edit11,string); rm=str2num(get(handles.edit12,string); n=str2num(get(handles.edit12,string); fprintf(初选基圆半径R0=%dn机架长度Loa=%dn摆杆长度Lab=%dn滚子半径Rr=%dn推杆摆角=%dn推程许用压力角【a1】=%dn回程许用压力角【a2】=%dn许用最小曲率半径Pmin=%dn,r0,L1,L2,Rr,Q0,a1,a2,Pk); fprintf(凸轮近休起始转角：%dn凸轮近休结束转角：%dn凸轮推程结束转角：%dn凸轮远休结束转角：%dn凸轮回程结束转角：%dn,t1,t2,t3,t4,t5); a1=a1*pi/180;a2=a2*pi/180;Q0=(Q0*pi)/180;x=zeros(1,n+1);y=zeros(1,n+1);xx=zeros(1,n+1);yy=zeros(1,n+1);W=2*pi/n;zx=zeros(1,n+1);zy=zeros(1,n+1);zxx=zeros(1,n+1);zyy=zeros(1,n+1);max=90;for R0=r0:rmQ01=acos(L12+L22-R02)/(2*L1*L2);%q01机架与摆杆夹角 i=0;for th=(t1*pi/180):(2*pi/n):(t2*pi/180) i=i+1; x(i)=L1*sin(th)-L2*sin(th+Q01); y(i)=L1*cos(th)-L2*cos(th+Q01); xx(i)=(R0-Rr)/R0*x(i);yy(i)=(R0-Rr)/R0*y(i);end i=i-1;max1=0;th1=0;k=100;thk=0; t=t2; if rem(t,360/n)0 i=i+1; end while rem(t,360/n)0 t=t+1; end for th=(t2*pi/180):(2*pi/n):(t3-t2)/2+t2)*pi/180) i=i+1; Q=2*Q0*(th-t2*pi/180)2/(t3-t2)*pi/180)2; x(i)=L1*sin(th)-L2*sin(th+Q+Q01);y(i)=L1*cos(th)-L2*cos(th+Q+Q01); DX1=L1*cos(th)-L2*cos(th+64800*Q0*(th-1/180*t2*pi)2/(t3-t2)2/pi2+Q01)*(1+*Q0*(th-1/180*t2*pi)/(t3-t2)2/pi2);%x轴角速度 DY1=-L1*sin(th)+L2*sin(th+64800*Q0*(th-1/180*t2*pi)2/(t3-t2)2/pi2+Q01)*(1+*Q0*(th-1/180*t2*pi)/(t3-t2)2/pi2);%y轴角速度 ths1=DX1/sqrt(DX12+DY12); thc1=-DY1/sqrt(DX12+DY12); xx(i)=x(i)-Rr*thc1;yy(i)=y(i)-Rr*ths1; dQ1=*Q0*(th-1/180*t2*pi)/(t3-t2)2/pi2;%角速度 a=atan(L2*abs(dQ1)-(L1*cos(Q01+Q)-L2)/(L1*sin(Q01+Q); if amax1 max1=a; th1=th; end %K1=subs(K1); K1=(L1*cos(th)-L2*cos(th+64800*Q0*(th-1/180*t2*pi)2/(t3-t2)2/pi2+Q01)*(1+*Q0*(th-1/180*t2*pi)/(t3-t2)2/pi2)*(-L1*cos(th)+L2*cos(th+64800*Q0*(th-1/180*t2*pi)2/(t3-t2)2/pi2+Q01)*(1+*Q0*(th-1/180*t2*pi)/(t3-t2)2/pi2)2+*L2*sin(th+64800*Q0*(th-1/180*t2*pi)2/(t3-t2)2/pi2+Q01)*Q0/(t3-t2)2/pi2)-(-L1*sin(th)+L2*sin(th+64800*Q0*(th-1/180*t2*pi)2/(t3-t2)2/pi2+Q01)*(1+*Q0*(th-1/180*t2*pi)/(t3-t2)2/pi2)2-*L2*cos(th+64800*Q0*(th-1/180*t2*pi)2/(t3-t2)2/pi2+Q01)*Q0/(t3-t2)2/pi2)*(-L1*sin(th)+L2*sin(th+64800*Q0*(th-1/180*t2*pi)2/(t3-t2)2/pi2+Q01)*(1+*Q0*(th-1/180*t2*pi)/(t3-t2)2/pi2)/(L1*cos(th)-L2*cos(th+64800*Q0*(th-1/180*t2*pi)2/(t3-t2)2/pi2+Q01)*(1+*Q0*(th-1/180*t2*pi)/(t3-t2)2/pi2)2+(-L1*sin(th)+L2*sin(th+64800*Q0*(th-1/180*t2*pi)2/(t3-t2)2/pi2+Q01)*(1+*Q0*(th-1/180*t2*pi)/(t3-t2)2/pi2)2)(3/2); kr=1/abs(K1); if kkr k=kr; thk=th; endendi=i-1;t=round(t3-t2)/2+t2);if(t(t3-t2)/2+t2) t=t+1; i=i+1;endif(t(t3-t2)/2+t2|rem(t,360/n)0) i=i+1;endwhile rem(t,360/n)0 t=t+1;endfor th=(t*pi/180):(2*pi/n):(t3*pi/180) i=i+1; Q=Q0-2*Q0*(t3*pi/180-th)2/(t3-t2)*pi/180)2; x(i)=L1*sin(th)-L2*sin(th+Q+Q01);y(i)=L1*cos(th)-L2*cos(th+Q+Q01); DX2=L1*cos(th)+L2*cos(-th-Q0+64800*Q0*(1/180*t3*pi-th)2/(t3-t2)2/pi2-Q01)*(-1-*Q0*(1/180*t3*pi-th)/(t3-t2)2/pi2); DY2=-L1*sin(th)+L2*sin(-th-Q0+64800*Q0*(1/180*t3*pi-th)2/(t3-t2)2/pi2-Q01)*(-1-*Q0*(1/180*t3*pi-th)/(t3-t2)2/pi2); ths2=DX2/sqrt(DX22+DY22); thc2=-DY2/sqrt(DX22+DY22); xx(i)=x(i)-Rr*thc2;yy(i)=y(i)-Rr*ths2; dQ2=*Q0*(1/180*t3*pi-th)/(t3-t2)2/pi2; a=atan(L2*abs(dQ2)-(L1*cos(Q01+Q)-L2)/(L1*sin(Q01+Q); if amax1 max1=a; th1=th; end %K2=subs(K2);K2=(L1*cos(th)+L2*cos(-th-Q0+64800*Q0*(1/180*t3*pi-th)2/(t3-t2)2/pi2-Q01)*(-1-*Q0*(1/180*t3*pi-th)/(t3-t2)2/pi2)*(-L1*cos(th)+L2*cos(-th-Q0+64800*Q0*(1/180*t3*pi-th)2/(t3-t2)2/pi2-Q01)*(-1-*Q0*(1/180*t3*pi-th)/(t3-t2)2/pi2)2+*L2*sin(-th-Q0+64800*Q0*(1/180*t3*pi-th)2/(t3-t2)2/pi2-Q01)*Q0/(t3-t2)2/pi2)-(-L1*sin(th)-L2*sin(-th-Q0+64800*Q0*(1/180*t3*pi-th)2/(t3-t2)2/pi2-Q01)*(-1-*Q0*(1/180*t3*pi-th)/(t3-t2)2/pi2)2+*L2*cos(-th-Q0+64800*Q0*(1/180*t3*pi-th)2/(t3-t2)2/pi2-Q01)*Q0/(t3-t2)2/pi2)*(-L1*sin(th)+L2*sin(-th-Q0+64800*Q0*(1/180*t3*pi-th)2/(t3-t2)2/pi2-Q01)*(-1-*Q0*(1/180*t3*pi-th)/(t3-t2)2/pi2)/(L1*cos(th)+L2*cos(-th-Q0+64800*Q0*(1/180*t3*pi-th)2/(t3-t2)2/pi2-Q01)*(-1-*Q0*(1/180*t3*pi-th)/(t3-t2)2/pi2)2+(-L1*sin(th)+L2*sin(-th-Q0+64800*Q0*(1/180*t3*pi-th)2/(t3-t2)2/pi2-Q01)*(-1-*Q0*(1/180*t3*pi-th)/(t3-t2)2/pi2)2)(3/2); kr=1/abs(K2); if kkr k=kr; thk=th; end endif maxmax1|max0 t=t-1; endfor th=(t*pi/180):2*pi/n:(t4*pi/180) i=i+1; x(i)=L1*sin(th)-L2*sin(th+Q0+Q01);y(i)=L1*cos(th)-L2*cos(th+Q0+Q01); xx(i)=(rh-Rr)/rh*x(i);yy(i)=(rh-Rr)/rh*y(i);endi=i-1;t=round(t4);if rem(t,360/n)0 i=i+1;end while rem(t,360/n)0 t=t+1; endfor th=(t*pi/180):(2*pi/n):(t5*pi/180) i=i+1; Q=Q0*(1+cos(pi*(th-(t*pi/180)/(2*pi-t4*pi/180)/2; Q1=-pi*(Q0)*sin(pi*(th-(t*pi/180)/(2*pi-t4*pi/180)/2/(2*pi-t4*pi/180); Q2=-pi2*(Q0)*cos(pi*(th-(t*pi/180)/(2*pi-t4*pi/180)/2/(2*pi-t4*pi/180)2; x(i)=L1*sin(th)-L2*sin(th+Q+Q01);y(i)=L1*cos(th)-L2*cos(th+Q+Q01); DX3=L1*cos(th)-L2*cos(th+Q+Q01)*(1+Q1); DY3=-L1*sin(th)+L2*sin(th+Q+Q01)*(1+Q1); ths3=DX3/sqrt(DX32+DY32); thc3=-DY3/sqrt(DX32+DY32); xx(i)=x(i)-Rr*thc3;yy(i)=y(i)-Rr*ths3; dQ3=Q1; a=atan(L2*abs(dQ3)+(L1*cos(Q01+Q)-L2)/(L1*sin(Q01+Q); if amax2 max2=a; th2=th; end %K3=subs(K3); K3=(DX3*(-L1*cos(th)+L2*cos(th+Q+Q01)*(1+Q1)2+L2*sin(th+Q+Q01)*(Q2)-(-L1*sin(th)+L2*sin(th+Q+Q01)*(1+Q1)2-L2*cos(th+Q+Q01)*(Q2)*(-L1*sin(th)+L2*sin(th+Q+Q01)*(1+Q1)/(L1*cos(th)-L2*cos(th+Q+Q01)*(1+Q1)2+(-L1*sin(th)+L2*sin(th+Q+Q01)*(1+Q1)2)(3/2); kr=1/abs(K3); if kkr k=kr; thk=th; endendth1=th1*180/pi;th2=th2*180/pi;thk=thk*180/pi;d(1)=max1*180/pi;d(2)=th1;d(3)=max2*180/pi;d(4)=th2;d(5)=k;d(6)=thk;d(7)=R0;data(1,:)=x;data(2,:)=y;data(3,:)=xx;data(4,:)=yy;if max1a1|max2a2|(k-Rr)a1 disp(无法满足条件，求出的结果为推程压力角最小时的解！);endfprintf(推程最大压力角=%fn对应转角=%fn回程最大压力角=%fn对应转角=%fn最小曲率半径Pmin=%fn对应转角=%fn最后确定基圆半径=%fn,d(1),d(2),d(3),d(4),d(5),d(6),d(7);disp(正在导出数据，请稍候);title=凸轮转角;理论轮廓X;理论轮廓Y;实际轮廓X;实际轮廓Y;xlswrite(data.xls, title);dd=0:360/n:360;dd=dd data;xlswrite(data.xls, dd,A2:E362);disp(数据导出完毕，请查看当前目录下的data.xls文件);四 运算结果及凸轮机构图4.1 A组4.1.1 交互界面图及凸轮机构图4.1.2 轮廓线坐标凸轮转角理论轮廓X理论轮廓Y实际轮廓X实际轮廓Y0-24.716710.86667-15.56246.3-24.114112.14535-15.1837.647076-23.445413.39074-14.76198.9-22.712514.59942-14.30059.1922312-21.917315.7681-13.79989.9280615-21.06216.89355-13.261310.6366818-20.14917.9727-12.686411.3161421-19.180819.00258-12.076811.9645924-18.1619.98038-11.434112.5802427-17.089420.90342-10.7613.1614130-15.97221.76916-10.056413.7065133-14.810822.57524-9.325314.2140436-13.60923.31943-8.5686114.6826139-12.369923.99971-7.7884415.1109342-11.096924.61421-6.9869215.4978445-9.7934625.16124-6.1662515.8422648-8.463225.63931-5.3286816.1432751-7.1097426.0471-4.476516.4000354-5.736826.3835-3.6120616.6118357-4.3481326.64758-2.7377116.7781160-2.9475426.83863-1.8558616.898463-1.5390226.98491-0.5655217.032466-0.1204427.114760.17.15081691.27.227132.17.25252722.27.320133.17.33589754.27.391014.17.39869785.27.436125.17.43815817.27.450937.17.45094848.27.429978.17.433188710.5409827.3668510.0206417.38049012.2275727.2542711.4129617.287519313.9667427.0840512.8306217.14889615.7607226.8471714.2765316.957929917.610826.5337915.7532416.7078310219.5172226.1333617.2626916.3908210521.47925.6346918.806115.9985310823.4938925.0260420.3837915.5219711125.5581924.2952321.9950114.9515811427.6666723.429823.6377614.2773211729.8124822.4171525.3087213.4887612031.9870521.2447127.0030712.5752212334.1249419.8831728.3805211.6977212636.1545418.3199729.7104810.6731312938.0579116.5688630.976439.13239.8188914.6449532.163118.13541.4231912.5644433.256726.13842.858410.3444834.244985.14144.1148.35.11723.14445.181375.35.864361.14746.053753.36.479070.15046.726260.36.9556-1.6959515347.19575-2.2086137.28985-3.5771815647.46086-4.8788737.4793-5.4858715947.52185-7.5589537.523-7.4074716247.38056-10.230937.42144-9.3276816547.04034-12.877337.17653-11.232516846.50591-15.481536.79152-13.108617145.78331-18.027336.27087-14.942917444.87977-20.499735.62019-16.723417743.80362-22.884234.84614-18.438618042.56416-25.167733.95632-20.077918341.18866-27.360832.85899-21.827618639.70025-29.47931.67159-23.517418938.10304-31.516330.39738-25.142719236.40138-33.467329.03986-26.699119534.59995-35.326527.60273-28.182419832.70369-37.088926.08995-29.588320130.71779-38.749724.50567-30.913220428.64769-40.304222.85421-32.153420726.49907-41.748321.14011-33.305421024.27782-43.077919.36806-34.366221321.99002-44.289517.54293-35.332721619.64195-45.379615.66972-36.202421917.24005-46.345413.75356-36.972922214.79089-47.184211.7997-37.64222512.30119-47.89369.-38.2082289.77777-48.47187.-38.66922317.-48.91715.-39.02452344.-49.22833.-39.27282372.-49.40461.-39.4134240-0.51375-49.4455-0.40985-39.446243-3.10082-49.3508-2.47374-39.3705246-5.67939-49.1209-4.53084-39.1871249-8.2424-48.7563-6.57552-38.8963252-10.7828-48.2582-8.60218-38.4988255-13.2937-47.6277-10.6053-37.9958258-15.7681-46.8667-12.5793-37.3887261-18.1993-45.9772-14.5188-36.6791264-20.5806-44.9617-16.4186-35.869267-22.9055-43.823-18.2733-34.9606270-25.1677-42.5642-20.0779-33.9563273-27.31-41.1513-21.3987-33.0855276-29.2689-39.5616-22.5904-32.1186279-31.031-37.8161-23.6501-31.0691282-32.5865-35.9367-24.5775-29.9487285-33.929-33.9453-25.3742-28.767288-35.0557-31.8639-26.0427-27.5319291-35.9668-29.7139-26.5861-26.2494294-36.6656-27.5158-27.0073-24.9243297-37.1582-25.289-27.3086-23.561300-37.453-23.0519-27.4925-22.1642303-37.5607-20.8211-27.5611-20.739306-37.494-18.612-27.5171-19.2913309-37.267-16.4382-27.3641-17.8278312-36.8954-14.3114-27.1066-16.3559315-36.3956-12.242-26.7507-14.8829318-35.7852-10.238-26.3035-13.4157321-35.082-8.30604-25.7735-11.9601324-34.304-6.45055-25.1698-10.5207327-33.4693-4.67408-24.5021-9.10009330-32.5955-2.9772-23.7801-7.69831333-31.6996-1.35847-23.0132-6.31296336-30.79750.-22.2102-4.93874339-29.90411.-21.3795-3.56753342-29.03243.-20.5287-2.18861345-28.19364.-19.6659-0.78943348-27.39685.-18.80030.351-26.64857.-17.9432.354-25.95248.-17.10763.357-25.30939.-16.30935.360-24.716710.86667-15.56246.4.1.3 计算初值及计算结果4.2 B组4.2.1 交互界面图及凸轮机构图4.2.2 轮廓线坐标凸轮转角理论轮廓X理论轮廓Y实际轮廓X实际轮廓Y0-48.234126.42857-35.956319.70133-46.784928.91673-34.87621.556116-45.207431.32563-33.723.351839-43.505933.64867-32.431725.0835512-41.685335.87948-31.074526.7465215-39.750438.01195-29.632128.3361818-37.706540.04023-28.108529.8481721-35.559341.95876-26.507831.2783524-33.314643.76229-24.834532.622827-30.978645.44586-23.093133.8778330-28.557747.00488-21.288535.0433-26.058548.43505-19.425436.1061336-23.487949.73247-17.509237.073339-20.852950.89357-15.544937.9388542-18.160851.91518-13.53838.7004145-15.418952.7945-11.494139.355948-12.632753.5485-9.2449739.9645651-9.8037354.19405-6.9637240.4851454-6.933754.72824-4.6516340.9154857-4.0243355.1479-2.3101241.2532460-1.077655.449610.41.49585631.55.62972.41.64053664.55.684244.41.68431697.55.609077.41.624037211.0340655.399829.41.456317514.1280255.0519112.2561641.177617817.2408954.5606314.7486240.784258120.3681153.9210917.2516640.272378423.5045253.1283719.7614739.638018726.644452.1774422.2737938.877159029.781451.0633324.7838937.985689332.908549.7811127.2864936.959529636.0179948.3259629.775835.79469939.1014646.6932832.2454134.4869410242.1497244.8787134.6883333.0327210545.1528842.8782537.0969131.428310848.1002540.6883339.4628729.6703511150.9803938.3058541.7772827.7558411453.7811135.7283644.030525.6821911756.4894832.9540746.2122623.447312059.0918529.9819948.3116221.0496612361.5739126.8120150.3170118.4884212663.920723.4449952.2162215.7635112966.1070919.8846453.9383812.9620313268.0607716.1505255.4364510.0985313569.760112.2635656.745587.13871.194888.57.855663.14172.356684.58.758110.14473.23884-0.1070159.44587-2.5057114773.83649-4.3960759.91337-5.8612415074.14647-8.7319560.15658-9.2640315374.16734-13.093160.17295-12.696515673.89932-17.458259.9614-16.141215973.34426-21.806259.52227-19.580716272.50554-26.116658.85728-22.998116571.38805-30.369357.96949-26.376516869.99808-34.544956.86321-29.699817168.34326-38.624955.54398-32.952317466.4325-42.591454.01846-36.11917764.27583-46.427552.29437-39.185718061.88441-50.117450.38043-42.138718359.27036-53.645948.28624-44.965618656.44671-56.999446.02225-47.654418953.42726-60.165243.59962-50.194319250.22655-63.131541.03018-52.575619546.85973-65.888138.32633-54.789419843.34243-68.425735.50095-56.827820139.69074-70.736332.56732-58.68420435.92107-72.813229.53903-60.352520732.05006-74.650826.42993-61.828421028.09453-76.244823.254-63.108321324.06568-77.610719.9193-64.238821619.97087-78.763816.53-65.193321915.82132-79.701113.09539-65.96922211.6284-80.41999.