机械原理大作业(平面六杆机构的运动分析)

1、平面六杆机构的运动分析题号1-B成绩指导老师班级学号姓名1、题目说明如右图所示平面六杆机构,试用计算机完成其运动分析.其尺寸参数如下表所示：组号L1L2L2L3L4L516xXGyG1-B60°题目要求：三人一组计算出原动件从0到360时计算点数37所要求的各运动变量的大小,并绘出运动曲线图及轨迹曲线.2、题目分析1建立封闭图形：Li+L2=L3+L4Li+L2=L5+L6+AG2机构运动分析a、角位移分析由图形封闭性得：L1cos1L2cos2L3cos3L4L1sin1L2sin2L3sin3L1cos1L2cos2L2cos(2)XGL6cos6L5cos5L1sin1L2si

2、n2'L2sin(2)yGL6sin6L5sin5简可得：将上式化L2cos2L3cos3L4L1cos1L2sin2L3sin3L1sin1'L3cos3L2cos(2)L5cos5L6cos6xGL4'L3sin3L2sin(2)L5sin5L6sin6Ygb、角速度分析L2cos22L3cos33L1cos11L3sin33L2sin(2)2L5sin55L6sin66L3cos33L2cos(2)2L5cos55L6cos66化为矩阵形式为：L2sin2L3sin3002L2cos2L3cos3003.',L2sin(2)L3sin3L5sin5L6si

3、n65.',L2cos(2)L3cos3L5cos5L6cos66上式对时间求一阶导数,可得速度方程23100L1sin1sin1L3sin3L2sin2L1cos1c、角加速度分析：矩阵对时间求一阶导数,可得加速度矩阵为:l_2sin21_3sin3002L2cos2L3cos30L2sin(2',L2cos(2L2cos2L2sin2'L2cos(2'L2sin(2)L3sin3)L3cos3L3cos3L3sin3)L3cos3)L3sin3L5sin5L5cos500L5cos5L5sin5Lasin6Lecos600Lecos6Lesin6222325

4、26L1cos1L1sin100d、E点的运动状态位移:XeXgL6cos6L5cos5YeYgL6sin6L5sin5VeXL6sin66L5sin55速度：vEL6cos66L5cos55y加速度:aExL6cos626L6sin66L5cos525L5sin55aEyL6sin626L6cos66L5sin525L5cos553、流程图输入：11、12、12'、13、14、15、16、XG及yG和32,83,35及a6的初值,N,W1,E4、源程序#include<>#include<>#include""#include"&

5、quot;#include""#defineAlpha(PI/3)#definePI#defineAngle(PI/180)FILE*fp;structmotioninttheta1;doubletheta5;/*theta1,2,3,5,6*/doublew4;/*w2,3,5,6*/doublealpha4;doubleXYe2,Ve3,ae3;structmotionmot37;structmotion*p;intk=100;doubleL7=,;doubleXG=;doubleYG=;doublew1=;doublet=;doubleh=;doubleeps=;ma

6、in()intn,i,m;doublex4=*Angle,*Angle,*Angle,*Angle;fp=fopen("","w");for(n=0,p=mot;n<=36;n+,p+)doublea44;doubleb4;(*p).theta1=n*10;(*p).theta0=n*10*Angle;i=dnetn(4,eps,t,h,x,k);for(m=0;m<4;m+)(*p).thetam+1=xm;printf("%d%d",n,i);getchar();a00=-L2*sin(*p).theta1);a01=

7、L3*sin(*p).theta2);a02=0.;a03=0.;a10=L2*cos(*p).theta1);a11=-L3*cos(*p).theta2);a12=0.;a13=0.;a20=-L0*sin(*p).theta1-Alpha);a21=-L3*sin(*p).theta2);a22=-L5*sin(*p).theta3);a23=L6*sin(*p).theta4);a30=L0*cos(*p).theta1-Alpha);a31=L3*cos(*p).theta2);a32=L5*cos(*p).theta3);a33=-L6*cos(*p).theta4);b0=L1*

8、sin(*p).theta0)*w1;b1=-L1*cos(*p).theta0)*w1;b2=0.;b3=0.;if(agaus(a,b,4)!=0)for(m=0;m<4;m+)(*p).wm=bm;a00=-L2*sin(*p).theta1);a01=L3*sin(*p).theta2);a02=0.;a03=0.;a10=L2*cos(*p).theta1);a11=-L3*cos(*p).theta2);a12=0.;a13=0.;a20=-L0*sin(*p).theta1-Alpha);a21=-L3*sin(*p).theta2);a22=-L5*sin(*p).the

9、ta3);a23=L6*sin(*p).theta4);a30=L0*cos(*p).theta1-Alpha);a31=L3*cos(*p).theta2);a32=L5*cos(*p).theta3);a33=-L6*cos(*p).theta4);b0=L2*cos(*p).theta1)*(*p).w0*(*p).w0-L3*cos(*p).theta2)*(*p).w1*(*p).w1+w1*w1*L1*cos(*p).theta0);b1=L2*sin(*p).theta1)*(*p).w0*(*p).w0-L3*sin(*p).theta2)*(*p).w1*(*p).w1+w1

10、*w1*L1*sin(*p).theta0);b2=L0*cos(*p).theta1-Alpha)*(*p).w0*(*p).w0+L3*cos(*p).theta2)*(*p).w1*(*p).w1+L5*cos(*p).theta3)*(*p).w2*(*p).w2-L6*cos(*p).theta4)*(*p).w3*(*p).w3;b3=L0*sin(*p).theta1-Alpha)*(*p).w0*(*p).w0+L3*sin(*p).theta2)*(*p).w1*(*p).w1+L5*sin(*p).theta3)*(*p).w2*(*p).w2-L6*sin(*p).the

11、ta4)*(*p).w3*(*p).w3;if(agaus(a,b,4)!=0)for(m=0;m<4;m+)(*p).alpham=bm;(*p).XYe0=XG+L6*cos(*p).theta4)-L5*cos(*p).theta3);(*p).XYe1=YG+L6*sin(*p).theta4)-L5*sin(*p).theta3);(*p).Ve0=-L6*sin(*p).theta4)*(*p).w3+L5*sin(*p).theta3)*(*p).w2;(*p).Ve1=L6*cos(*p).theta4)*(*p).w3-L5*cos(*p).theta3)*(*p).w

12、2;(*p).Ve2=sqrt(*p).Ve0*(*p).Ve0+(*p).Ve1*(*p).Ve1);(*p).ae0=-L6*cos(*p).theta4)*(*p).w3*(*p).w3-L6*sin(*p).theta4)*(*p).alpha3+L5*cos(*p).theta3)*(*p).w2*(*p).w2+L5*sin(*p).theta3)*(*p).alpha2;(*p).ae1=-L6*sin(*p).theta4)*(*p).w3*(*p).w3+L6*cos(*p).theta4)*(*p).alpha3+L5*sin(*p).theta3)*(*p).w2*(*p

13、).w2-L5*cos(*p).theta3)*(*p).alpha2;(*p).ae2=sqrt(*p).ae0*(*p).ae0+(*p).ae1*(*p).ae1);fprintf(fp,"%dt",(*p).theta1);for(m=0;m<=4;m+)fprintf(fp,"%lft",(*p).thetam);for(m=0;m<=3;m+)fprintf(fp,"%lft",(*p).wm);for(m=0;m<=3;m+)fprintf(fp,"%lft",(*p).alpham

14、);for(m=0;m<=1;m+)fprintf(fp,"%lft",(*p).XYem);for(m=0;m<=2;m+)fprintf(fp,"%lft",(*p).Vem);for(m=0;m<=2;m+)fprintf(fp,"%lft",(*p).aem);fprintf(fp,"n");fclose(fp);voiddnetnf(x,y,n)intn;doublex,y;y0=L1*cos(*p).theta0)+L2*cos(x0)-L3*cos(x1)-L4;y1=L1*sin(

15、*p).theta0)+L2*sin(x0)-L3*sin(x1);y2=L3*cos(x1)+L0*cos(x0-Alpha)+L5*cos(x2)-L6*cos(x3)-XG+L4;y3=L3*sin(x1)+L0*sin(x0-Alpha)+L5*sin(x2)-L6*sin(x3)-YG;n=n;return;5、计算结果和曲线图：各从动件的角位移与.1的关系曲线和计算数据:91929395960010203040506070809010011012013014015016017018019020021022023024025026027028030031032033034035036

16、0-15010015020025030035000-2-3-4-5各从动件角速度与.1的关系曲线和计算结果:0102030405060708090100110120130140160170180190200210220230240250260270280290300310320330340350360各从动件角加速度与.1的关系曲线和计算结果2233556602030405060708090100110120130140150160170180190200210220230240250260270280290300310320330340350360a2a3a5a6E点运动分析结果:0102030405060708090100110120130140150160170180190200210220240250260270280290300310320330340350360E点位移曲线*YeXeE点位移与.1的关系XeYeVef91的关系曲线-»-VeE点速度Ve由Vey的曲线E点加速度与.1的关系E点加速度曲线-aey6.心得体会通过