码头吊车机械原理课程设计图文稿

码头吊车机械原理课程设计8一．题目说明…………………1件………………………12.内容要求与做 1二．估算连架杆O3C的摆动范围 2三．确定连架杆O3C的摆动范围 4 42.列出形参和实参的表格 43.编写主程序并运 4四．设计曲柄摇杆机构O1ABO3 7五．对整个机构进行运动分析 8 82.列出形参和实参的表格 3.编写主程序并运 9六．对机构进行动态静力分析 13 132.列出形参和实参的表格 3.编写主程序并运 14七．主要收获和建议 19八．主要参考文献 一．题目说明图示为某码头吊车机构简图，它是由曲柄摇杆机构与双摇杆机构串联50kN，向右运动时载重为零，曲柄0A的转速n=1.06r/min.二．连架杆OC对应的摆动范围。3利用下一问的程序，分析OC的摆动范围。3/*Note:YourchoiceisCIDE*/#include"stdio.h"#include"graphics.h"#include"subk.c"#include"draw.c"main(){staticdoublep[20][2],vp[20][2],ap[20][2],del;staticdoublet[10],w[10],e[10],pdraw[370],vpdraw[370],apdraw[370];doubler45,r56,r67,r510,gam1;doublepi,dr;doubler2;FILE*fp;char*m[]={"p","vp","ap"};r45=28.525,r56=3.625,r67=25.15,gam1=176.0,r510=8.35;w[3]=15.0;del=1.0;pi=4.0*atan(1.0);dr=pi/180.0;p[4][1]=0.0;p[4][2]=0.0;p[7][1]=5.6;p[7][2]=8.1;gam1=gam1*dr;printf("\nTheKinematicParametersofPoint10\n");printf("NoTHETA1s10v10a10\n");printf("degmm/sm/s/s\n");if((fp=fopen("filel20111367.txt","w"))==NULL){printf("Can'topenthisfile.\n");exit(0);}fprintf(fp,"\nThekinematicparametersofpoint11\n");fprintf(fp,"NoTHETA1S10V10A10\n");fprintf(fp,"degmm/sm/s/s");ic=(int)(360.0/del);for(i=0;i<=ic;i++){t[3]=(i)*del*dr;bark(4,5,0,3,r45,0.0,0.0,t,w,e,p,vp,ap);rrrk(1,5,7,6,4,5,r56,r67,t,w,e,p,vp,ap);bark(5,0,10,4,0.0,r510,gam1,t,w,e,p,vp,ap);printf("\n%2d%12.3f%12.3f%12.3f%12.3f",i+1,t[3]/dr,p[10][2],vp[10][2],ap[10][2]);fprintf(fp,"\n%2d%12.3f%12.3f%12.3f%12.3f",i+1,t[3]/dr,p[10][2],vp[10][2],ap[10][2]);pdraw[i]=p[10][2];vpdraw[i]=vp[10][2];apdraw[i]=ap[10][2];if((i%16)==0){getch();};}fclose(fp);getch();draw1(del,pdraw,vpdraw,apdraw,ic,m);}估算出连架杆OC对应的摆动范围是93°到137°。3三．分析K点的运动状态对双摇杆机构OCDO进行运动分析，以OC为主动件，取步长为1°计算K点位置，根据K点的近似水平运动要求，依据其纵坐标值决定OC的31.拆分杆组2.列出形参和实参的表格⑴.对主动件①进行运动分析。参数1⑵.对由②、③构件组成的RRR杆组进行运动分析。参数r510k0553.编写主程序并运行/*Note:YourchoiceisCIDE*/#include"stdio.h"#include"graphics.h"#include"subk.c"#include"draw.c"main(){staticdoublep[20][2],vp[20][2],ap[20][2],del;staticdoublet[10],w[10],e[10],pdraw[370],vpdraw[370],apdraw[370];doubler45,r56,r67,r510,gam1;doublepi,dr;doubler2;FILE*fp;char*m[]={"p","vp","ap"};r45=28.525,r56=3.625,r67=25.15,gam1=176.0,r510=8.35;w[3]=15.0;del=1.0;pi=4.0*atan(1.0);dr=pi/180.0;p[4][1]=0.0;p[4][2]=0.0;p[7][1]=5.6;p[7][2]=8.1;gam1=gam1*dr;printf("\nTheKinematicParametersofPoint10\n");printf("NoTHETA1s10v10a10\n");printf("degmm/sm/s/s\n");if((fp=fopen("filel20111367.txt","w"))==NULL){printf("Can'topenthisfile.\n");exit(0);}fprintf(fp,"\nThekinematicparametersofpoint11\n");fprintf(fp,"NoTHETA1S10V10A10\n");fprintf(fp,"degmm/sm/s/s");ic=(int)(360.0/del);for(i=0;i<=ic;i++){t[3]=(i)*del*dr;bark(4,5,0,3,r45,0.0,0.0,t,w,e,p,vp,ap);rrrk(1,5,7,6,4,5,r56,r67,t,w,e,p,vp,ap);bark(5,0,10,4,0.0,r510,gam1,t,w,e,p,vp,ap);printf("\n%2d%12.3f%12.3f%12.3f%12.3f",i+1,t[3]/dr,p[10][2],vp[10][2],ap[10][2]);fprintf(fp,"\n%2d%12.3f%12.3f%12.3f%12.3f",i+1,t[3]/dr,p[10][2],vp[10][2],ap[10][2]);pdraw[i]=p[10][2];vpdraw[i]=vp[10][2];apdraw[i]=ap[10][2];if((i%16)==0){getch();};}fclose(fp);getch();draw1(del,pdraw,vpdraw,apdraw,ic,m);}程序运行结果会在屏幕上显示10点铅直方向的位置、速度、加速度数值Thekinematicparametersofpoint11NoTHETA1S10V10A10degmm/sm/s/s10.0008.093545.801-25747.179215.00012.357-225.611-111082.226330.00019.237-268.356-112630.156445.00025.145-336.353-113959.393560.00029.678-424.969-114979.352675.00032.528-528.164-115620.526790.00033.500-638.907-115839.218820.71320.192-4912.192920.478-33.650-101.98321.109344.361153865.368276.363155194.6058.322233.618156742.5340.939219.039158403.667-6.444233.618160064.800210.000-13.324276.363161612.730225.000-19.231344.361162941.967240.000-23.764432.977163961.927255.000-26.614536.172164603.100270.000-27.586646.914164821.792285.000-26.614757.656164603.100300.000-23.764860.852163961.927315.000-19.231949.467162941.967330.000-13.324161612.730345.000-4.646882.164-15160.226360.0008.093545.801-25747.179⑶K点纵坐标位置图线四．设计曲柄摇杆机构OABO根据K点的近似水平运动要求，依据其纵坐标值确定OC的实际摆动范33动，所以OC的摆角范围是93°至134°,所以OB的摆角范围为68°至按OC的摆动范围设计曲柄摇杆机构OABO，使摇杆OB的两个极限位置对应于选定是K点轨迹范围。如图：由已知条件，arctan∠=2,∠∴3=√42+2.862=4.24;a+b=√42+4.9172−2×4×4.917×cos54.6°=4.24;a−b=√42+4.9172−2×4×4.917×cos13.6°=1.52;,=2.872五．求K点水平方向的位移、速度和加速度线图1.拆分杆组2.列出形参和实参的表格⑴对主动件①进行运动分析。参数1⑵对②③组成的⑵对②③组成的RRR杆组进行运动分析。参数参数kt4053r4525.0*drt⑷对④⑤组成的RRR杆组进行运动分析。参数⑸调用bark函数，求8，9,10,11。n1ktwep504r510twep403r411rtwep5094r5995.0*drtwep7085r78 twep3.编写主程序并运行/*Note:YourchoiceisCIDE*/#include"stdio.h"#include"graphics.h"#include"subk.c"#include"draw.c"main(){staticdoublep[20][2],vp[20][2],ap[20][2],del;staticdoublet[8],w[8],e[8],pdraw[370],vpdraw[370],apdraw[370];doubler12,r23,r34,r45,r56,r67,r510,r411,r59,r78;doublepi,dr;doubler2;FILE*fp;char*m[]={"p","vp","ap"};r56=3.625,r67=25.15,r510=8.35,r12=1.36,r34=4.0,r23=2.78,r45=28.525;w[1]=0.1;del=15.0;pi=4.0*atan(1.0);dr=pi/180.0;e[1]=0.0,r411=8.5,r59=1.0,r78=2.5;p[1][1]=2.86;p[1][2]=4.0;p[4][1]=0.0;p[4][2]=0.0;p[7][1]=5.6;p[7][2]=8.1;printf("\nTheKinematicParametersofPoint10\n");printf("NoTHETA1s10v10a10\n");printf("degmm/sm/s/s\n");{printf("Can'topenthisfile.\n");exit(0);}fprintf(fp,"\nThekinematicparametersofpoint10\n");fprintf(fp,"NoTHETA1S10V10A10\n");fprintf(fp,"degmm/sm/s/s\n");ic=(int)(360.0/del);for(i=0;i<=ic;i++){t[1]=i*del*dr;bark(1,2,0,1,r12,0.0,0.0,t,w,e,p,vp,ap);rrrk(1,4,2,3,3,2,r34,r23,t,w,e,p,vp,ap);bark(4,0,5,3,0.0,r45,25.0*dr,t,w,e,p,vp,ap);rrrk(1,5,7,6,4,5,r56,r67,t,w,e,p,vp,ap);bark(5,0,10,4,0.0,r510,176.0*dr,t,w,e,p,vp,ap);bark(4,0,11,3,0.0,r411,18.0*dr,t,w,e,p,vp,ap);bark(5,0,9,4,0.0,r59,95.0*dr,t,w,e,p,vp,ap);bark(7,0,8,5,0.0,r78,-156.0*dr,t,w,e,p,vp,ap);printf("\n%2d%12.3f%12.3f%12.3f%12.3f",i+1,t[1]/dr,p[10][1],vp[10][1],ap[10][1]);fprintf(fp,"\n%2d%12.3f%12.3f%12.3f%12.3f",i+1,t[1]/dr,p[10][1],vp[10][1],ap[10][1]);pdraw[i]=p[10][1];vpdraw[i]=vp[10][1];apdraw[i]=ap[10][1];if((i%16)==0){getch();};}fclose(fp);getch();draw1(del,pdraw,vpdraw,apdraw,ic,m);}Thekinematicparametersofpoint10NoTHETA1S10V10A10degmm/sm/s/s10.000-2.1520.325-0.128215.000-1.849-0.127-0.201330.000-2.832-0.600-0.152445.000-4.869-0.939-0.111560.000-7.670-1.187-0.077675.000-10.996-1.336-0.036790.000-14.566-1.3730.0078105.000-18.093-1.3060.0439120.000-21.329-1.1540.07210135.000-24.075-0.9330.09611150.000-26.166-0.6560.11412165.000-27.483-0.3480.11813180.000-28.002-0.0540.10714195.000-27.7600.2520.13415210.000-26.6030.6410.15516225.000-24.4201.0110.12017240.000-21.4361.2380.05118255.000-18.0961.285-0.01219270.000-14.8181.204-0.04620285.000-11.8381.069-0.05421300.000-9.2220.931-0.05122315.000-6.9510.806-0.04523330.000-4.9910.692-0.04424345.000-3.3450.558-0.06225360.000-2.1520.325-0.128⑶K点水平方向的位移、速度和加速度线图六．对机构进行动态静力分析1.拆分杆组2.列出形参和实参的表格⑴对主动件①进行运动分析。参数n1kt实1201r12t值⑵对②③组成的RRR杆组进行运动分析。参数参数n1kt4053r4525.0*t⑷对④⑤组成的RRR杆组进行运动分析。参数⑸调用bark函数，求8，9,10,11点的运动参数。参数n1ktwep403r411rtwep5094r5995.0*drtwep7085r78-twep⑹对④⑤组成的RRR杆组调用rrrf进行动态静力分析。nnn2n3ns1ns2nn1nn2nexk1k2pvpap参数⑺②③组成的RRR杆组动态静力分析。参数⑻调用barf函数，求1点的运动副反力和平衡力矩。参数13.编写主程序并运行/*Note:YourchoiceisCIDE*/#include"stdio.h"#include"graphics.h"#include"subk.c"#include"subf.c"#include"draw.c"main(){staticdoublep[20][2],vp[20][2],ap[20][2],del;staticdoublet[8],w[8],e[8],tbdraw[370],tb1draw[370];staticdoublesita1[370],fr1draw[370],sita2[370],fr2draw[370],sita3[370],fr3draw[370];staticdoublefr[20][2],fe[20][2],tb,tb1,fr1,bt1,fr4,bt4,fr7,bt7,we1,we2,we3,we4,we5;staticintic;doubler12,r23,r34,r45,r56,r67,r59,r78,r510,r411;doublepi,dr;FILE*fp;char*m[]={"tb","tb1","fr1","fr4","fr7"};sm[1]=0.0;sm[2]=0.0;sm[3]=3500;sm[4]=3600;sm[5]=5500;sj[1]=0.0;sj[2]=0.0;sj[3]=0.0;sj[4]=0.0;sj[5]=0.0;r12=1.36;r23=2.87;r34=4.0;r45=28.525;r56=3.625;r67=25.15;r510=8.35;r78=2.5;r59=1.0;r411=8.5;w[1]=0.11;e[1]=0.0;del=1.0;pi=4.0*atan(1.0);dr=pi/180.0;p[1][1]=2.86;p[1][2]=4.0;p[4][1]=0.0;p[4][2]=0.00;p[7][1]=5.6;p[7][2]=8.1;printf("\nTheKinet0-staticAnalysisofasix-barLinkase.\n");printf("NoHETA1fr1sita1fr4{printf("Can'topenthisfile.\n");exit(0);}fprintf(fp,"\nTheKinet0-staticAnalysisofasix-barLinkase.\n");fprintf(fp,"NoHETA1fr1sita1fr4ic=(int)(360.0/del);for(i=0;i<=ic;i++){t[1]=(i*del)*dr;bark(1,2,0,1,r12,0.0,0.0,t,w,e,p,vp,ap);rrrk(1,4,2,3,3,2,r34,r23,t,w,e,p,vp,ap);bark(4,0,5,3,0.0,r45,25.0*dr,t,w,e,p,vp,ap);rrrk(1,5,7,6,4,5,r56,r67,t,w,e,p,vp,ap);bark(5,0,10,4,0.0,r510,176.0*dr,t,w,e,p,vp,ap);bark(4,0,11,3,0.0,r411,18.0*dr,t,w,e,p,vp,ap);bark(5,0,9,4,0.0,r59,95.0*dr,t,w,e,p,vp,ap);bark(7,0,8,5,0.0,r78,-156.0*dr,t,w,e,p,vp,ap);rrrf(5,7,6,9,8,10,0,10,4,5,p,vp,ap,t,w,e,fr);rrrf(4,2,3,11,0,5,0,0,3,2,p,vp,ap,t,w,e,fr);barf(1,0,2,1,p,ap,e,fr,&tb);fr1=sqrt(fr[1][1]*fr[1][1]+fr[1][2]*fr[1][2]);bt1=atan2(fr[1][2],fr[1][1]);fr4=sqrt(fr[4][1]*fr[4][1]+fr[4][2]*fr[4][2]);bt4=atan2(fr[4][2],fr[4][1]);fr7=sqrt(fr[7][1]*fr[7][1]+fr[7][2]*fr[7][2]);bt7=atan2(fr[7][2],fr[7][1]);we3=-(ap[11][1]*vp[11][1]+(ap[11][2]+9.81)*vp[11][2])*sm[3]-e[3]*w[3]*sj[3];we5=-(ap[8][1]*vp[8][1]+(ap[8][2]+9.81)*vp[8][2])*sm[5]-e[5]*w[5]*sj[5];extf(p,vp,ap,t,w,e,10,fe);we4=-(ap[9][1]*vp[9][1]+(ap[9][2]+9.81)*vp[9][2])*sm[4]+fe[10][2]*vp[10][2]+fe[10][1]*vp[10][1];tb1=-(we3+we4+we5)/w[1];printf("\n%2d%10.3f%10.3f%10.3f%10.3f%10.3f%10.3f%10.3f%10.3f%10.3f",i+1,t[1]/dr,fr1,bt1/dr,fr4,bt4/dr,fr7/dr,bt7/dr,tb,tb1);fprintf(fp,"\n%2d%10.3f%10.3f%10.3f%10.3f%10.3f%10.3f%10.3f%10.3f%10.3f",i+1,t[1]/dr,fr1,bt1/dr,fr4,bt4/dr,fr7/dr,bt7/dr,tb,tb1);tbdraw[i]=tb;tb1draw[i]=tb1;fr1draw[i]=fr1;sita1[i]=bt1;fr2draw[i]=fr4;sita2[i]=bt4;fr3draw[i]=fr7;sita3[i]=bt7;if((i%10)==0){getch();}}fclose(fp);getch();draw2(del,tbdraw,tb1draw,ic,m);draw3(del,sita1,fr1draw,sita2,fr2draw,sita3,fr3draw,ic,m);}extf(p,vp,ap,t,w,e,nexf,fe)doublep[20][2],vp[20][2],ap[20][2],t[8],w[8],e[8],fe[20][2];{if(vp[nexf][1]<0){fe[nexf][1]=50000/9.81*ap[10][1];fe[nexf][2]=-50000/9.81*(ap[10][2]+9.81);}fe[nexf][1]=0.0;fe[nexf][2]=0.0;TheKinet0-staticAnalysisofasix-barLinkase.NoHETA1fr1sita1fr4sita2degNradianNradianNradianN.mN.m10.00035180.939-175.23890588.84173.0452335780.64978.160-3972.137-3972.137215.00075259.188-168.091197348.70274.5551239887.258-2.6525518.5315518.531330.00080085.975-161.689212601.34775.7791449374.313-16.61022066.69222066.692445.00068521.902-156.543218390.52080.9241847332.885-27.24534219.84634219.846560.00029947.703-153.065206354.42192.0792251088.714-29.24522221.44222221.442675.00025379.54228.604192894.966109.3362664829.377-26.656-24993.991-24993.991790.00080456.81028.615197868.850127.9843168139.027-22.594-96055.901-96055.9018105.000123441.31327.245221760.479141.3743835261.90