哈工大机械连杆机构方案

1、络嚼It矣求衣孝Harbin I nstituteof Technology机械原理大作业（一 课程名称：机械原理设计题目：连杆结构运动设计院系：XX学院班级：X班 设计者：X学号：X设计时间：2018621哈尔滨工业大学1. 运动分析题目如图所示机构，已知机构各构件的尺寸为I ,，试求构件2上点E的轨迹3方向为y轴正方向。于A266,0）, D0, 0），:，构件1的角速度为一二_及构件5的角位移、角速度和角加速度，并对计算结果进行分析。212d凶2. 机构进行结构分析，划分基本杆组3. 建立坐标系以D点为坐标系原点卜、DA方 是通过各尺寸关系我们可G xb=xa+ab*cos(phi 。

2、yb=ab*sin(phi 。 %计算 C 坐标 bc=200 。 cd=200。 xd=zeros(1,length(xb 。 yd=zeros(1,length(yb 。bd=sqrt(xb-xd.A2+(yb-yd.A2A0=2*(xb-xd*cd 。B0=2*(yb-yd*cd 。 C0=cd.A2+bd.A2-bc.A2。d=sqrt(A0.A2+B0.A2-C0.A2。phi1=2*atan(B0+d./(A0+C0。xc=xd+cd.*cos(phi1 。 yc=yd+cd.*sin(phi1 。 xe=2*xc-xb 。ye=2*yc-yb 。xc1=subs(xc,t1 。y

3、c1=subs(yc,t1 。xe1=subs(xe,t1 。ye1=subs(ye,t1 。xb1=subs(xb,t1 。yb1=subs(yb,t1 。 plot(xc1,yc1,xe1,ye1,xb1,yb1,linewidth,2 hold on%计算 F 坐标 ef=114 。 fg=114 。xg=zeros(1,length(xb 。 yg=278*ones(1,length(yb 。G=xg 。 yg 。dx=xe-xg 。 dy=ye-yg 。 eg=sqrt(dx.A2+dy.A2 。A00=2*(xg-xe*ef。B00=2*(yg-ye*fg。C00=ef.A2+eg

4、.A2-fg.A2。d1=sqrt(A00.A2+B00.A2-C00.A2。phi2=2*atan(B00+d1./(A00+C00。xf=xe+fg*cos(phi2 。yf=ye+fg*sin(phi2 。 xf1=subs(xf,t1 。 yf1=subs(yf,t1 。axis equal B=xb1 。 yb1 。 C=xc1 。 yc1 。 E=xe1 。 ye1 。 F=xf1 。 yf1 。%计算角度 phi22=subs(phi2,t1 phiw=diff(phi2,t。phiww=subs(phiw,t1 phia=diff(phiw,t。phiaa=subs(phia,

5、t1 figure plot(t1,phi22,linewidth,2 figureplot(t1,phiww,linewidth,2 figureplot(t1,phiaa,linewidth,2B,C,E示：书ABxbyb037400.2371.847221.45630.4365.474642.05720.6355.136260.98140.8341.244377.47451324.352690.87891.2305.1346100.66021.4284.3565106.42861.6262.8465107.95391.8241.4622105.17552221.056198.20412.

6、2202.441987.31762.4186.361572.952.6173.45655.67412.8164.2436.17873159.080815.2413.2158.1842-6.30443.4161.5858-27.5984xcycxeye18770.92950141.8591181.72383.527-8.4013145.5978173.761299.0306-17.9522156.004162.873116.0707-29.3903171.1599149.1708133.2219-42.9027188.9693133.0758149.3012-58.2018207.7234115

7、.2486163.4557-74.6375226.251296.537175.1588-91.2825243.889177.9448184.1863-106.957260.418760.6196190.5919-120.223276.008245.8589194.6714-129.338291.138735.1286196.8908-132.185306.463930.0592197.7282-126.243322.506432.3122197.3725-108.832339.070943.0831195.3045-78.0738354.430362.0549190.1294-34.97136

8、5.017986.4064180.371714.6286367.0477111.5073166.030561.4289359.6593点在 AB 转动过程中各个位置的坐标如下所3.6169.1501-47.7922133.4231 148.9909 97.6961345.7743.8180.5755-66.0807150.5567131.6537 120.5378329.3884195.4065-81.7347163.1716115.6505 130.9366313.03574.2213.0518-94.1302172.2356101.6606 131.4195297.45144.4232.8

9、081-102.773178.719389.7741 124.6306282.32134.6253.8875-107.3186183.373579.8384 112.8594266.99554.8275.4499-107.5858186.722971.6558 97.996250.89735296.6355-103.5638189.116465.0767 81.5973233.71735.2316.5998-95.4131190.773260.0465 64.9467215.5065.4334.5468-83.4586191.812856.6378 49.0788196.73425.6349.

10、7611-68.1768192.263455.089 34.7656178.35485.8361.6361-50.177192.046855.8393 22.4575161.85576369.6984-30.1769190.938959.5174 12.1795149.21166.2373.6265-8.9737188.524766.7714 3.4229142.5165AB转角xfyf书FG（弧度3a rad/s 2PHIF Grad/s )0-91.4462209.92952.5017-3.00997.51920.2-96.7279217.672.4572-1.665730.73510.4

11、-103.8433230.96212.4241-1.9604-62.87980.6-110.7579251.00562.3656-4.209-160.31730.8-114278.08252.2442-8.1405-221.08351-109.5622309.49782.0382-12.2994-171.37341.2-96.8978338.05681.7673-14.2685-19.82821.4-81.7178357.48711.4868-13.423987.75981.6-69.7461368.17471.2383-11.3632107.8811.8-61.716373.84961.03

12、19-9.328893.6322-55.2043377.74210.8628-7.635475.66382.2-46.7698381.96430.7239-6.3451.29442.4-32.438387.28760.6044-5.7939-5.2762.6-7.7267391.73790.4802-7.0639-139.12352.830.9587387.71580.2963-12.1714-389.4245378.9295360.2565-0.0418-22.2038-543.13193.2110.6202305.5529-0.5698-28.7344-9.5963.4112.153825

13、7.5663-1.1097-23.9695377.57863.6104.2918231.9649-1.5129-16.4897343.40333.896.8555217.875-1.7801-10.5291252.7532489.163206.9651-1.946-6.3541165.02974.279.2748196.0762-2.0459-3.928477.40564.465.6224184.7814-2.1149-3.2661-11.51354.646.8317174.0635-2.1885-4.4046-102.39894.821.7987166.1035-2.3028-7.2934-181.30385-8.8655164.3452-2.4874-11.1939-189.8735.2-40.1325171.2977-2.7434-14.0079-73.40175.4-64.1833183