哈工大机械原理大作业连杆

1、机械原理大作业设计说明书课程名称：机械原理设计题目：连杆运动分析(46)院系：班级：设计者：学号：哈尔滨工业大学平面连杆机构运动分析一、题目及原始数据如图所示颚式矿石破碎机机构，已知各构件尺寸为：lAB=100mm毫米毫米，lBC=lBE=460mm毫米毫米，lCD=250mm毫米毫米，lEF=265mm毫米，lFG=670mm毫米毫米，xD=300mm毫米毫米，yD=500mm毫米毫米，xG=430mm毫米毫米，yG=210mm毫米毫米。=30 .试求构件2上E的轨迹，构件5的角位移、角速度、角加速度。二、建立数学模型(1)以A为原点建立直角坐标系(2)该机构由一个三级杆组构成(3)数学关系

2、yb=absint .xb=abcost。bd=squrt(xd-xb)2 (yd-yb)2)C点：(xc-xd)2(yc-yd)2=cd；(xc-xb)2 (yc-yb)2=cb.E点：(xe-xc)2(ye-yc)2=ce；(xe-xb)2 (ye-yb)2=eb.F点：(xf-xe)2(yf-ye)2=ef；(xf-xg)2 (yf-yg)2=fg.构件5的角位移：d=arccos(2*fg2-d2)/2*fg2)构件5的角速度：=d/dt构件5的角加速度：=d/dt三、计算流程图连杆机构分析建立坐标系杆组分析三级杆组MATLAB编程E点轨迹角加速度角速度角位移结束四、用matlab编程

3、（程序)1 、构件5的角位移xa=0；ya=0；xd=300yd=-500；XG=-430；yg=210fe=265ab=100gf=670be=460bc=460cd=250a7=pi/6；EC=2 * BC * sin(a7/2)；a1=0:0.001:2 * pit=a1 ./10；xb=ab .* cos(a1)；yb=ab .* sin(a1)；a2=atan(yd-yb)./(xd-XB)；bd=sqrt(yb-yd).*(yb-yd) (xb-xd).*(XB xd)；a3=acos(bd .*bd光盘*cd-bc .*bc )./(2*bd .*光盘)；xc=xd-cd .*

4、sin(a2 a3-pi/2)；yc=yd cd .* cos(a2 a3-pi/2)；对于i=1:length(a1)if atan(yc(i)-yb(i)./(xc(i)-xb(i)0a4(i)=atan(yc(i)-yb(i)./(xc(I)-XB(I)；其他a4(i)=atan(yc(i)-yb(i)./(xc(I)-XB(I)pi；目标目标对于i=1:length(a1)如果a4(i) 5*pi/120a5(i)=atan(ye(i)-yg)./(xe(1)-XG)；其他a5(i)=atan(ye(i)-yg)./(xe(1)-XG)；目标目标ge=sqrt(ye-yg).*(ye-

5、yg) (xe-xg).*(xe-XG)；a6=acos(.*ge fe .*fe-gf .*gf)./(2*ge .*铁)；xf=xe-fe .* cos(a5 a6-pi)；yf=ye-fe .* sin(a5 a6-pi)；a10=acos(ge .*ge gf*gf-fe*fe)./(2*gf .* ge)；图(t，a5-a10)；标题（构件5的角位移)；XL Abel(t/s)；伊拉贝尔（角度rad)；网格打开；2、构件5的角速度xa=0；ya=0；xd=300yd=-500；XG=-430；yg=210fe=265ab=100gf=670be=460bc=460cd=250a7=p

6、i/6；EC=2 * BC * sin(a7/2)；a1=0:0.001:2 * pit=a1 ./10；xb=ab .* cos(a1)；yb=ab .* sin(a1)；a2=atan(yd-yb)./(xd-XB)；bd=sqrt(yb-yd).*(yb-yd) (xb-xd).*(XB xd)；a3=acos(bd .*bd光盘*cd-bc .*bc )./(2*bd .*光盘)；xc=xd-cd .* sin(a2 a3-pi/2)；yc=yd cd .* cos(a2 a3-pi/2)；对于i=1:length(a1)if atan(yc(i)-yb(i)./(xc(i)-xb(i

7、)0a4(i)=atan(yc(i)-yb(i)./(xc(I)-XB(I)；其他a4(i)=atan(yc(i)-yb(i)./(xc(I)-XB(I)pi；目标目标对于i=1:length(a1)如果a4(i) 5*pi/120a5(i)=atan(ye(i)-yg)./(xe(1)-XG)；其他a5(i)=atan(ye(i)-yg)./(xe(1)-XG)；目标目标ge=sqrt(ye-yg).*(ye-yg) (xe-xg).*(xe-XG)；a6=acos(.*ge fe .*fe-gf .*gf)./(2*ge .*铁)；xf=xe-fe .* cos(a5 a6-pi)；yf=

8、ye-fe .* sin(a5 a6-pi)；a10=acos(ge .*ge gf*gf-fe*fe)./(2*gf .* ge)；绘图(t(1:6283)，差异(a5-a10 )./diff(t)；标题（构件5的角速度)；XL Abel(t/s)；伊拉贝尔（角速度rad/s)；网格打开；4.3构件5的角加速度xa=0；ya=0；xd=300yd=-500；XG=-430；yg=210fe=265ab=100gf=670be=460bc=460cd=250a7=pi/6；EC=2 * BC * sin(a7/2)；a1=0:0.001:2 * pit=a1 ./10；xb=ab .* cos

9、(a1)；yb=ab .* sin(a1)；a2=atan(yd-yb)./(xd-XB)；bd=sqrt(yb-yd).*(yb-yd) (xb-xd).*(XB xd)；a3=acos(bd .*bd光盘*cd-bc .*bc )./(2*bd .*光盘)；xc=xd-cd .* sin(a2 a3-pi/2)；yc=yd cd .* cos(a2 a3-pi/2)；对于i=1:length(a1)if atan(yc(i)-yb(i)./(xc(i)-xb(i)0a4(i)=atan(yc(i)-yb(i)./(xc(I)-XB(I)；其他a4(i)=atan(yc(i)-yb(i)./

10、(xc(I)-XB(I)pi；目标目标对于i=1:length(a1)如果a4(i) 5*pi/120a5(i)=atan(ye(i)-yg)./(xe(1)-XG)；其他a5(i)=atan(ye(i)-yg)./(xe(1)-XG)；目标目标ge=sqrt(ye-yg)。*(ye-yg) (xe-xg)。*(xe-XG)；a6=acos(。*ge fe。*fe-gf。*gf)。/(2*ge。* Fe)；xf=xe-fe。* cos(a5 a6-pi)；yf=ye-fe。* sin(a5 a6-pi)；a10=acos(ge。*ge gf*gf-fe*fe)。/(2*gf。* ge)；yv=

11、diff(a5-a10)。/diff(t)。曲线图(t(1:length(diff(yv)。/diff(t(1:6283)、diff(yv)。/diff(t(1:6283)；标题(构件5的角加速度)；XL Abel(t/s)；Ylabel(角加速度rad/s * s)；网格打开；4.4样品2上点E的轨迹xa=0；ya=0；xd=300yd=-500；XG=-430；yg=210fe=265ab=100gf=670be=460bc=460cd=250a7=pi/6；EC=2 * BC * sin(a7/2)；a1=0:0.001:2 * pit=a1。/10；xb=ab。* cos(a1)；yb=ab。* sin(a1)；a2=atan(yd-yb)。/(xd-XB)pi；bd=sqrt(yb-yd)。*(yb-yd) (xb-xd)。*(XB-xd)；a3=acos(bd。*bd光盘。*cd-bc。*bc)。/(2*bd。* CD)；xc=xd-cd。* sin(a2 a3-pi/2)；yc=yd cd。* cos(a2 a3-pi/2)；ce=sqrt(xe-xc)。*(xe-xc) (ye-yc)。*(ye-YC)；eb=sqrt(xe-xb)。*(xe-xb) (ye-yb)。*(ye-Yb)；情节(xe，ye，k)；Xlabel(x位移/mm)；