平面六杆机构设计.doc
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1、机械原理大作业 姓名: 班级: 材料124 小组数据: 3 B 一、题目:计算平面连杆机构的运动学分析1,图a所示的为一平面六杆机构。设已知各构件的尺寸如表1所示,原动件1以等角速度1=1rad/s沿着逆时针方向回转,试求各从动杆件的角位移、角速度和角加速度以及E点的位移、速度和加速度的变化情况。表1 平面六杆机构的尺寸参数(单位:mm), L1L2L3L4L5L6ABC26.5105.69587.548.43960L3=95%crank_rocker222_mainclear;l1=26.5;l2=105.6;l3=95;l4=87.5;l5=48.4;l6=39.0;l9=65.0;lag
2、=159.1;xg=153.5;yg=41.7;omega1=1;theta7=60;alpha1=0;hd=pi/180;du=180/pi; m=-1;for n1=1:360theta1=(n1-1)*hd;aa=2*l1*l3*sin(theta1);bb=2*l3*(l1*cos(theta1)-l4);cc=l2*l2-l1*l1-l3*l3-l4*l4+2*l1*l4*cos(theta1);theta3(n1)=2*atan(aa+m*sqrt(aa*aa+bb*bb-cc*cc)/(bb-cc);s1=l3*sin(theta3)-l1*sin(theta1);theta2(
3、n1)=atan(s1/(l4+l3*cos(theta3)-l1*cos(theta1);xe=l1*cos(theta1)+l2*cos(theta2)+l9*cos(theta2-theta7);ye=l1*sin(theta1)+l2*sin(theta2)+l9*sin(theta2-theta7);s2=yg-ye;theta8(n1)=atan(s2/(xg-xe);s3=(xe-xg).*(xe-xg)+(ye-yg).*(ye-yg)+l5*l5-l6*l6;theta9(n1)=acos(s3/(2*l5*sqrt(xe-xg).*(xe-xg)+(ye-yg).*(ye-
4、yg);theta5(n1)=theta8(n1)-theta9(n1)+pi;s4=ye+l5*sin(theta8-theta9)-yg;theta6(n1)=atan(s4/(xe+l5*cos(theta8-theta9)-xg);theta9(n1)=2*pi-(theta7-theta2(n1); omega3(n1)=omega1*l1*sin(theta1-theta2)/l3/sin(theta3-theta2);omega2(n1)=-omega1*l1*sin(theta1-theta3)/l2/sin(theta2-theta3);omega5(n1)=omega2(n
5、1)*(l2*sin(theta2(n1)-theta6(n1)+l9*sin(theta2(n1)-theta7-theta6(n1)+omega1*l1*sin(theta1-theta6(n1)/l5/sin(theta5(n1)-theta6(n1);omega6(n1)=-omega2(n1)*(l2*sin(theta2(n1)-theta5(n1)+l9*sin(theta2(n1)-theta7-theta5(n1)+omega1*l1*sin(theta1-theta5(n1)/l6/sin(theta5(n1)-theta6(n1); s4=l2*omega2(n1)*om
6、ega2(n1)+l1*omega1*omega1*cos(theta1-theta2)-l3*omega3(n1)*omega3(n1)*cos(theta3-theta2);s5=l3*omega3(n1)*omega3(n1)-l1*omega1*omega1*cos(theta1-theta3)-l2*omega2(n1)*omega2(n1)*cos(theta2-theta3);s6=omega1*omega1*l1*cos(theta1-theta6(n1)+omega2(n1)*omega2(n1)*(l2*cos(theta2(n1)-theta6(n1)+l9*cos(th
7、eta2(n1)-theta7-theta6(n1)-l5*omega5(n1)*omega5(n1)*cos(theta5(n1)-theta6(n1)-l6*omega6(n1)*omega6(n1);s7=omega1*omega1*l1*cos(theta1-theta5(n1)+omega2(n1)*omega2(n1)*(l2*cos(theta2(n1)-theta5(n1)+l9*cos(theta2(n1)-theta7-theta5(n1)-l5*omega5(n1)*omega5(n1)-l6*omega6(n1)*omega6(n1)*cos(theta6(n1)-th
8、eta5(n1);alpha3(n1)=s4/(l3*sin(theta3-theta2);alpha2(n1)=s5/(l2*sin(theta2-theta3);alpha5(n1)=(s6+alpha2(n1)*(l2*sin(theta2(n1)-theta6(n1)+l9*sin(theta2(n1)-theta7-theta6(n1)/l5/sin(theta5(n1)-theta6(n1);alpha6(n1)=-(s7+alpha2(n1)*(l2*sin(theta2(n1)-theta5(n1)+l9*sin(theta2(n1)-theta7-theta5(n1)/l6/
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