平面连杆机构运动分析

1、大作业一平面连杆机构的运动分析班级：姓名：姓名：姓名：指导教师：完成日期：一、题目及原始数据1.1、平面连杆机构的运动分析题目：如图1.1所示，为一平面六杆机构。设已知各构件的尺寸如表1.1所示,又知原动件1以等角速度1=1rad/s沿逆时针方向回转，试求各从动件的角位移、角速度及角加速度以及位移E点的位移、速度及加速度的变化情况。表1.1平面六杆机构的尺寸参数12'=65mmxG=153.5mm,yG题号11l2l314l5l6ABC1-A2560°1i11=241i要求每组每三人为一组，每人一题至少打印一份源程序，每个同学计算出原动件从0o到3600时计算点数N=36所要

2、求各运动变量的大小，并绘出各组应的运动线图以及E点的轨迹曲线。二、平面连杆机构运动分析方程2.1、位移方程:14cos4cos311cos1h2014sin4s3sin311sin1。0学习文档仅供参考2.2、速度方程:Vi2.3、加速度方程:A1114cos13cos14sin413sinV3Vccossin00V214sin14cos14sin14cos11sin1V3s3sin83cos13sin13cos001011cos103VcV23sin3144cos4V3sin3s33cos303144sin4?v3cos3s33sin300144cos4133cos300144sin4133

3、sin30A12=V33VcA12A11A11111cos1A11211sin1008响-Msinfl.,fsinq00014点咽-13疝】仇10I4cnsi9413c。辿0A2A12A1A11A3a343acA3A2A1三、计算程序框图四、计算源程序%输入已知数据clearl1=0.0240;l2=0.1056;l3=0.0675;l4=0.0875;l5=0.0344;l6=0.025;l22=0.065;xg=0.1535;yg=0.0417;omega1=1;alph1=0;hd=pi/180;du=180/pi;t1=1:10:361;theta2=1:10:361;theta3=1

4、:10:361;theta5=1:10:361;theta6=1:10:361;omega2=1:10:361;omega3=1:10:361;omega5=1:10:361;omega6=1:10:361;alph2=1:10:361;alph3=1:10:361;alph5=1:10:361;alph6=1:10:361;xe=1:10:361;ye=1:10:361;V=1:10:361;a=1:10:361;'StallGenLimit'theta1=0;options=gaoptimset('PopulationSize',100,'Gener

5、ations',10000,500,'TolFun',1e-100);theta0=ga(thet)weiyi_0(thet,theta1),4,options);iftheta0(1)<0endtheta0(1)=theta0(1)+2*pi;学习文档仅供参考iftheta0(1)>2*pitheta0(1)=theta0(1)-2*pi;endiftheta0(2)<0theta0(2)=theta0(2)+2*pi;endiftheta0(2)>2*pitheta0(2)=theta0(2)-2*pi;endiftheta0(3)<0

6、theta0(3)=theta0(3)+2*pi;endiftheta0(3)>2*pitheta0(3)=theta0(3)-2*pi;endiftheta0(4)<0theta0(4)=theta0(4)+2*pi;endiftheta0(4)>2*pitheta0(4)=theta0(4)-2*pi;end%调用子函数Fun_jixie计算该六杆机构的各杆角位移、角速度、角加速度以及E点的角位移、角速度、角加速度forn1=1:10:361theta1=(n1-1)*hd;t1(n1)=theta1*du;theta=fsolve(thet)weiyi(thet,the

7、ta1),theta0);iftheta(1)<0theta(1)=theta(1)+2*pi;endiftheta(1)>2*pitheta(1)=theta(1)-2*pi;endiftheta(2)<0theta(2)=theta(2)+2*pi;endiftheta(2)>2*pitheta(2)=theta(2)-2*pi;endiftheta(3)<0theta(3)=theta(3)+2*pi;endiftheta(3)>2*pitheta(3)=theta(3)-2*pi;endiftheta(4)<0theta(4)=theta(4)

8、+2*pi;endiftheta(4)>2*pitheta(4)=theta(4)-2*pi;endxe(n1),ye(n1)=weiyi_E(theta1,theta,l1,l2,l22);omega,alph=Fun_jixie(theta1,omega1,l1,l2,l3,l5,l6,l22,theta);V(n1),a(n1)=sudu_jasudu_E(omega(1),alph(1),theta,theta1,omega1,l1,l2,l22,alph1);theta2(n1)=theta(1);theta3(n1)=theta(2);theta5(n1)=theta(3);

9、theta6(n1)=theta(4);omega2(n1)=omega(1);omega3(n1)=omega(2);omega5(n1)=omega(3);omega6(n1)=omega(4);alph2(n1)=alph(1);alph3(n1)=alph(2);alph5(n1)=alph(3);alph6(n1)=alph(4);theta0=theta;end%绘制各杆件的角位移、角速度、角加速度n2=1:10:361;n1=1:10:361;figure(1);%subplot(2,2,1)%绘制位移线图plot(n1-1),theta2(n2)*du,'r-'

10、,(n1-1),theta3(n2)*du,'g-',(n1-1),theta5(n2)*du,'y-',(n1-1),theta6(n2)*du,'k-','LineWidth',1.5);title('各杆角位移线图');xlabel('原动件1theta_1/circ');ylabel('角位移/circ');gridon;holdon;text(200,60,'82');text(200,150,83');text(200,350,85');t

11、ext(200,260,86');%subplot(2,2,2)%绘制角速度线图plot(n1-1),omega2(n2),'r-',(n1-1),omega3(n2),'g-',(n1-1),omega5(n2),'y-',(n1-1),omega6(n2),'k-','LineWidth',1.5);title('各杆角速度线图');xlabel('原动件1theta_1/circ');ylabel('角速度/rad'cdotsR-l');grid

12、on;holdon;%subplot(2,2,3)%绘制角加速度线图plot(n1-1),alph2(n2),'r-',(n1-1),alph3(n2),'g-',(n1-1),alph5(n2),'y-',(n1-1),alph6(n2),'k-','LineWidth',1.5);title('各杆角加速度线图');xlabel('原动件1theta_1/circ');ylabel('角加速度/radcdotsA-2');gridon;holdon;%求E点的位移

13、figure(2)subplot(2,2,1)plot(xe(n1),ye(n1),'r-','LineWidth',1.5);title(xlabel(ylabel('E的位移线图');'E在x方向位移');'E在y方向位移');gridon;holdon;%求E点角速度与角加速度subplot(2,2,2)%绘制E点角速度plot(n1-1),V(n1),'r-','LineWidth',1.5);title('E点角速度');xlabel('原动件1th

14、eta_1/circ');ylabel('E点角速度/radcdotsA-1');gridon;holdon;subplot(2,2,3)%绘制E点角加速度plot(n1-1),a(n1),'r-','LineWidth',1.5);title('E点角加速度');xlabel('原动件1theta_1/circ');ylabel('E点角加速度/radcdotsA-2');gridon;holdon;xlswrite(机械原理大作业平面六杆机构Matlab程序shuju3.xls'

15、xlswrite(,t1(n1)','sheet1','A1');机械原理大作业平面六杆机构Matlab程序shuju3.xls'xlswrite(,theta2(n1)'*du,机械原理大作业'sheet1','B1');平面六杆机构Matlab程序shuju3.xls'xlswrite(,theta3(n1)'*du,机械原理大作业'sheet1','C1');平面六杆机构Matlab程序shuju3.xls'xlswrite(,theta5(n1

16、)'*du,机械原理大作业'sheet1','D1');平面六杆机构Matlab程序shuju3.xls'xlswrite(,theta6(n1)'*du,机械原理大作业'sheet1','E1');平面六杆机构Matlab程序shuju3.xls'xlswrite(,omega2(n1)',机械原理大作业'sheet1','F1');平面六杆机构Matlab程序shuju3.xls'xlswrite(,omega3(n1)',机械原理大作业&

17、#39;sheet1','G1');平面六杆机构Matlab程序shuju3.xls'xlswrite(,omega5(n1)',机械原理大作业'sheet1','H1');平面六杆机构Matlab程序shuju3.xls'xlswrite(,omega6(n1)',机械原理大作业'sheet1','I1');平面六杆机构Matlab程序shuju3.xls'xlswrite(,alph2(n1)',机械原理大作业'sheet1','J

18、1');平面六杆机构Matlab程序shuju3.xls'xlswrite(,alph3(n1)',机械原理大作业'sheet1','K1');平面六杆机构Matlab程序shuju3.xls'xlswrite(,alph5(n1)',机械原理大作业'sheet1','L1');平面六杆机构Matlab程序shuju3.xls'xlswrite(,alph6(n1)',机械原理大作业'sheet1','M1');平面六杆机构Matlab程序sh

19、uju3.xls'xlswrite(,V(n1)','sheet1','N1');机械原理大作业平面六杆机构Matlab程序shuju3.xls,a(n1)','sheet1','O1');4.2从动件角位移，角速度，角加速度functionomega,alph=Fun_jixie(theta1,omega1,l1,l2,l3,l5,l6,l22,theta)%从动件角位移theta2=theta(1);theta3=theta(2);theta5=theta(3);theta6=theta(4);%计算从

20、动件角速度A=-l2*sin(theta2),l3*sin(theta3),0,0;l2*cos(theta2),-l3*cos(theta3),0,0;-l22*sin(theta2-pi/3),-l3*sin(theta3),-l5*sin(theta5),l6*sin(theta6);l22*cos(theta2-pi/3),l3*cos(theta3),l5*cos(theta5),-l6*cos(theta6);B=l1*sin(theta1);-l1*cos(theta1);0;0;omega=A(omega1*B);omega2=omega(1);omega3=omega(2);

21、omega5=omega(3);omega6=omega(4);%计算角从动件角加速度A=-l2*sin(theta2),l3*sin(theta3),0,0;l2*cos(theta2),-l3*cos(theta3),0,0;-l22*sin(theta2-pi/3),-l3*sin(theta3),-l5*sin(theta5),l6*sin(theta6);l22*cos(theta2-pi/3),l3*cos(theta3),l5*cos(theta5),-l6*cos(theta6);At=-l2*omega2*cos(theta2),l3*omega3*cos(theta3),0

22、,0;-l2*omega2*sin(theta2),l3*omega3*sin(theta3),0,0;-l22*omega2*cos(theta2-pi/3),-l3*omega3*cos(theta3),-l5*omega5*cos(theta5),l6*omega6*cos(theta6);-l22*omega2*sin(theta2-pi/3),-l3*omega3*sin(theta3),-l5*omega5*sin(theta5),l6*omega6*sin(theta6);Bt=omega1*l1*cos(theta1);omega1*l1*sin(theta1);0;0;alp

23、h=A(-At*omega+omega1*Bt);end点角速度，角加速度functionV,a=sudu_jasudu_E(omega,alph,theta,theta1,omega1,l1,l2,l22,alph1)%求E点角速度A=-l1*sin(theta1),-l2*sin(theta(2)+l22*sin(pi/3-theta(1);l1*cos(theta1),l2*cos(theta(1)-l22*cos(pi/3-theta(1);B=omega1;omega(1);Vx=-l1*sin(theta1)*omega1-l2*sin(theta(2)+l22*sin(pi/3-

24、theta(1)*omega(1);Vy=l1*cos(theta1)*omega1+l2*cos(theta(1)-l22*cos(pi/3-theta(1)*omega(1);V=sqrt(VxA2+VyA2);%求E点角加速度D1=alph1;alph(1);D2=-l1*cos(theta1)*omega1,-l2*cos(theta(1)*omega(1)-l22*cos(pi/3-theta(1)*omega(1);-l1*sin(theta1)*omega1,-l2*sin(theta(2)*omega(1)+l22*sin(pi/3-theta(1)*omega(1);a1=A

25、*D1+D2*B;a=sqrt(a1(1)A2+a1(2)A2);end4.4E点位移functionxe,ye=weiyi_E(theta1,theta,l1,l2,l22)xe=l1*cos(theta1)+l2*cos(theta(1)+l22*cos(pi/3-theta(1);ye=l1*sin(theta1)+l2*sin(theta(2)+l22*sin(pi/3-theta(1);end五、计算结果1-C各杆角位移变化主动杆1从动杆2从动杆3从动杆5从动杆6/(°)035.608465.6281207.97522,48.09291030.893461.5375194.

26、83922,45.66832027.086259.5197185.65082,42.79253024.247259.4280179.32912；37.81744022.271160.9068174.50822；30.17165021.000763.5668169.5566219.56936020.289967.0707162.6546205.59807020.024671.1528152.0191187.90728020.122975.6089136.66231(67.01769020.528780.2819118.61811,46.745910021.205085.0474102.40701

27、；32.540811022.128989.803390.2305125.721012023.287094.463081.3183123.927113024.671998.950774.4878124.785614026.2796103.199068.9103126.772715028.1066107.147264.1954129.011616030.1477110.741360.0940130.926617032.3934113.934556.4453132.127418034.8277116.687453.1161132.349319037.4267118.967849.9679131.43

28、4220040.1568120.750346.8439129.322921042.9741122.014743.5755126.045922045.8240122.743540.0051121.703623048.6401122.919036.0147116.438124051.3440122.520031.5507110.395225053.8440121.518426.6324103.676926056.0339119.876321.337396.285227057.7910117.544215.758288.063328058.9751114.46109.928778.638829059

29、.4298110.55793.698867.360830058.9895105.7702356.50455：3.180231057.4975100.0632346.867034.321032054.844593.4802331.20497504233051.031086.2118302.1698327.046934046.245878.6793258.9097278.655135040.910071.5539227.02322；54.532636035.608465.6281207.9744248.0919各杆角加位移变化主动杆1从动杆2从动杆3从动杆5从动杆6/(0)/(rad/s)0-0.

30、5086-0.5086-1.5567-0.323410-0.4292-0.3058-1.0981-0.223820-0.3315-0.1005-0.7553-0.378630-0.23820.0760-0.5319-0.626340-0.15970.2131-0.4595-0.906850-0.09690.3132-0.5604-1.218260-0.04720.3832-0.8498-1.579870-0.00720.4299-1.3021-1.9614800.02600.4588-1.7368-2.1529900.05460.4738-1.7842-1.79541000.08030.477

31、6-1.4218-1.02701100.10430.4721-1.0319-0.38381200.12720.4586-0.7715-0.01541300.14970.4379-0.61170.16041400.17180.4108-0.50870.22311500.19350.3780-0.43740.21551600.21450.3401-0.38510.16121700.23430.2979-0.34660.07461800.25210.2521-0.3214-0.03291900.26710.2035-0.3108-0.15112000.27820.1527-0.3168-0.2706

32、2100.28440.0999-0.3395-0.38312200.28450.0455-0.3766-0.48292300.2774-0.0108-0.4225-0.56772400.2618-0.0695-0.4700-0.63922500.2364-0.1315-0.5123-0.70442600.1995-0.1978-0.5450-0.77652700.1495-0.2697-0.5699-0.87402800.0847-0.3481-0.5980-1.02142900.0035-0.4336-0.6567-1.2509300-0.0942-0.5246-0.8057-1.61293

33、10-0.2061-0.6162-1.1794-2.2099320-0.3247-0.6975-2.0790-3.2613330-0.4350-0.7493-3.8460-4.8486340-0.5149-0.7458-4.1423-3.9824350-0.5421-0.6655-2.3603-1.1752360-0.5086-0.5086-1.5567-0.3233各杆角加位移变化主动杆1从动杆2从动杆3J从动杆5从动杆6E点速度;E点加速度/(0)/(rad/s2)/(rad/s)/(rad/s2)00.34761.07143.16261.92340.18230.0915100.53451

34、.20852.2553-0.38770.18220.0889200.56271.11321.6533-1.24750.17970.0756300.49640.90060.8734-1.53710.17670.0604400.40330.6738-0.0636-1.67870.17420.0476500.31900.4800-1.1073-1.91240.17220.0383600.25370.3282-2.1925-2.21380.17050.0321700.20710.2122-2.8440-1.97650.16850.0282800.17520.1227-1.71690.21190.166

35、00.0259900.15440.05191.21613.75260.16280.02441000.1414-0.00622.47154.41950.15850.02321100.1339-0.05561.87242.85400.15320.02221200.1298-0.09891.15571.46720.14680.02111300.1276-0.13760.72100.62890.13960.01991400.1258-0.17230.48210.12760.13150.01861500.1228-0.20320.3464-0.19440.12300.01731600.1175-0.23

36、000.2576-0.41520.11420.01591700.1085-0.25270.1833-0.56590.10540.01481800.0948-0.27100.1046-0.65630.09710.01401900.0756-0.28550.0144-0.68960.08940.01382000.0505-0.2970-0.0832-0.67130.08280.01452100.0192-0.3069-0.1751-0.61240.07730.0159220-0.0188-0.3168-0.2439-0.52930.07320.0182230-0.0637-0.3289-0.275

37、0-0.44350.07070.0212240-0.1161-0.3448-0.2631-0.38230.07000.0249250-0.1769-0.3664-0.2167-0.37810.07100.0294260-0.2471-0.3947-0.1600-0.46520.07400.0347270-0.3275-0.4300-0.1352-0.67580.07900.0407280-0.4174-0.4699-0.2113-1.04370.08610.0470290-0.5131-0.5080-0.5141-1.63080.09540.0524300-0.6046-0.5302-1.31

38、15-2.60590.10710.0546310-0.6704-0.5094-3.2443-4.43720.12110.0497320-0.6740-0.4036-7.5941-7.93730.13680.0332330-0.5685-0.1643-10.9200-7.72740.15300.0060340-0.32440.22629.987118.86480.16750.03893500.02120.69526.96149.34080.17770.07443600.34761.07143.16251.92320.18230.09151-A各杆角位移变化：主动杆1从动杆2从动杆3从动杆5从动杆

39、6角速度变化:主动杆1从动杆2从动杆3从动杆5从动杆6角加速度变化：从动杆2从动杆3从动杆5从动杆6E点速度E点加速度037.587473.3953132.3244-249.1610-0.4173-0.4173-2.9518-3.92100.18530.768411.496612.24920.17500.06621033.992270.5461112.362583.0629-0.3725-0.2752-1.6190-2.34830.33120.88615.44357.20010.17710.06982030.893868.3522100.788766.3895-0.3099-0.1240-1.

40、0223-1.41830.39470.87482.28584.29350.17690.06523028.393968.821792.806156.3457-0.24210.0176-0.7802-0.83930.39180.77250.79572.62000.17560.05654026.498068.096986.142950.4847-0.17760.1386-0.7120-0.48740.35250.63000.01861.39920.17370.0471学习文档仅供参考5025.155370.384779.600246.9508-0.12030.2355-0.7470-0.32330.

41、30160.4844-0.55680.23900.17170.03886024.295073.901372.301444.0020-0.07100.3542-1.2895-1.21620.16950.03230.3093-0.8813-0.36410.25337023.847675.155963.140739.4490-0.02890.2447-2.4793-3.40590.16700.02760.3627-1.1655-0.69190.21318023.754178.617850.594630.32110.00740.1547-3.5724-5.76450.16400.02440.3991-

42、1.6505-1.40580.18239023.968482.342833.322613.55850.03930.0808-1.6008-4.24380.16040.02240.4213-2.1120-2.25710.159810024.455786.213014.0722351.32720.06790.01942.37230.64730.15600.02100.4315-2.0322-2.52060.144011025.191090.1287357.8431329.73600.0942-0.03263.59372.82040.15090.01990.4316-1.5207-2.19130.1

43、33212026.156294.0046346.5251311.99130.1188-0.07742.90222.68880.14500.01900.4229-0.9979-1.73170.125813027.338197.7660339.3348298.16840.1421-0.11661.93412.04100.13840.01790.4065-0.6212-1.34980.120314028.7259101.3476334.8721287.27910.1642-0.15101.16531.47500.13120.01680.3833-0.3835-1.06520.115415030.30

44、94104.6913332.0658278.61090.1852-0.18120.62381.07090.12370.01560.3541-0.2503-0.85730.109616032.0769107.7461330.1164271.57350.2048-0.20740.24980.78720.11610.01450.3196-0.1901-0.70320.101917034.0134110.4673328.4700265.75100.2225-0.2297-0.00730.57610.10860.01360.2806-0.1804-0.58770.091018036.0993112.81

45、68326.7451260.83430.2377-0.2485-0.18010.40410.10150.01310.2377-0.2052-0.50240.076219038.3086114.7624324.6851256.57250.2496-0.2641-0.28890.25290.09490.01320.1915-0.2526-0.44270.056720040.6082116.2773322.1285252.74500.2575-0.2774-0.34780.11670.08930.01400.1426-0.3135-0.40610.031821042.9568117.3387318.

46、9886249.15460.2603-0.2895-0.36850.00040.08470.01570.0914-0.3804-0.38990.001322045.3047117.9264315.2360245.63350.2571-0.3017-0.3620-0.08530.08130.01810.0380-0.4480-0.3900-0.035323047.5932118.0211310.8823242.05950.2470-0.3151-0.3403-0.12780.07940.0211-0.0175-0.5127-0.4004-0.078224049.7540117.6023305.9

47、627238.37380.2288-0.3310-0.3164-0.11870.07910.0247-0.0754-0.5729-0.4132-0.127825051.7094116.6472300.5166234.59340.2014-0.3501-0.3049-0.05720.08030.0288-0.1360-0.6293-0.4199-0.184326053.3719115.1293294.5668230.81170.1639-0.3721-0.31940.04670.08340.0333-0.1997-0.6848-0.4124-0.247527054.6447113.0192288

48、.1003227.18420.1152-0.2668-0.7443-0.3852-0.3165-0.3955-0.36880.17260.08820.037928055.4237110.2873281.0562223.89890.0548-0.4161-0.45430.29100.09490.0419-0.3369-0.8133-0.3370-0.388629055.6019106.9102273.3252221.1329-0.0173-0.4262-0.56900.36310.10340.0442-0.4090-0.8967-0.2718-0.457830055.0787102.882326

49、4.7607218.9966-0.0997-0.4125-0.70720.33180.11360.0430-0.4800-0.9979-0.2008-0.513531053.776098.2358255.1855217.4477-0.1886-0.3560-0.90280.07580.12530.0358-0.5444-1.1213-0.1481-0.538832051.663093.0677244.3304216.0976-0.2772-0.2347-1.4134-0.84020.13790.0210-0.5934-1.2883-0.1739-0.512233048.787087.57112

50、31.3350213.4091-0.3551-0.0335-4.1473-5.16060.15040.0016-0.6148-1.6460-0.5258-0.414234045.300082.0541210.8268201.0289-0.41010.2382-21.6876-31.25730.16150.0280-0.5961-3.3535-2.9018-0.241935041.459476.9211168.4185155.7385-0.43190.53148.88885.47420.16990.05161-B-0.5293-5.0122-5.8883-0.0235035.608460.628

51、1114.956835.1604(0.4138)0.81694.91876.01950.17190.0674(0.4138)(1.3994)(2.4028)0.26501030.892461.5362102.505752.3535(0.3491)0.92141.88803.97320.17220.0665(0.2488)(0.7314)(1.4428)0.40552027.086259.519795.192439.9378(0.2697)0.85950.52332.79680.17050.0577(0.0818)(0.5036)(0.8102)0.43343024.247259.428089.

52、381031.1071(0.1938)0.7106(0.0275)1.90430.16840.04730.0619(0.4624)(0.3856)0.39264022.2711140.906883.543328.1206(0.1299)0.5471(0.2483)1.11740.16680.03830.1734(0.4953)(0.1313)0.33045021.000763.566877.050828.9672(0.0788)0.4034(0.4096)0.37280.16560.03150.2548(0.5661)(0.0309)0.27206020.289967.070769.430027.5319(0.0384)0.2872(0.6704)(0.4521)0.16450.02670.3117(0.6815)(0.0875)0.22577020.024671.152859.993325.8948(0.0059)0.1952(1.1162)(1.5252)0