機(jī)械原理大作業(yè)連桿13

1、Harbin Institute of Technology大作業(yè)設(shè)計(jì)說明書（一）課程名稱： 機(jī)械原理 設(shè)計(jì)題目： 連桿機(jī)構(gòu)運(yùn)動(dòng)分析 院 系： 機(jī)電學(xué)院 班 級(jí)： 1208106班 設(shè) 計(jì) 者： 韓威 學(xué) 號(hào)： 1120810613 指導(dǎo)教師： 丁剛 設(shè)計(jì)時(shí)間： 5月30日-6月1日 哈爾濱工業(yè)大學(xué)連桿的運(yùn)動(dòng)的分析一、連桿機(jī)構(gòu)運(yùn)動(dòng)分析題目（13）在圖1-13所示的牛頭刨床機(jī)構(gòu)中，已知各個(gè)構(gòu)建尺寸為：lAB=108mm，lCE=620mm，lEF=300mm，H1=350mm，H=635mm，曲柄1以等角速度轉(zhuǎn)動(dòng)，轉(zhuǎn)速為n1=225r/min。試求滑塊5上點(diǎn)F的位移、速度和加速度。 圖1-13

2、連桿機(jī)構(gòu)簡(jiǎn)圖二、機(jī)構(gòu)的結(jié)構(gòu)分析及基本桿組劃分1.結(jié)構(gòu)分析與自由度計(jì)算機(jī)構(gòu)各構(gòu)件都在同一平面內(nèi)活動(dòng)，活動(dòng)構(gòu)件數(shù)n=5, PL=7,分布在A、B、C、E、F。沒有高副，機(jī)構(gòu)的自由度為： F=3n-2PL-PH=3*5-2*7-0=12基本桿組劃分圖中原動(dòng)件為1，移除之后按拆桿組法進(jìn)行拆分，可得到由桿3和滑塊2組成的RPRII級(jí)桿組和桿4和滑塊5組成的RRPII級(jí)桿組。機(jī)構(gòu)的分解圖如下： 圖一 圖二圖三3、 各基本桿組的運(yùn)動(dòng)分析圖一是一級(jí)桿組， ，圖二是RPR II桿組： 可求得E點(diǎn)坐標(biāo)，從而求得F點(diǎn)坐標(biāo)。圖三為RRP II級(jí)桿組： 求一階導(dǎo)數(shù)為速度，二階導(dǎo)數(shù)為加速度。4、數(shù)學(xué)模型1、位移圖2、速度

3、圖3、加速度圖5、計(jì)算機(jī)編程VERSION 5.00Begin VB.Form 牛頭刨連桿機(jī)構(gòu) Caption = "Form1" ClientHeight = 3030 ClientLeft = 120 ClientTop = 450 ClientWidth = 4560 LinkTopic = "Form1" ScaleHeight = 3030 ScaleWidth = 4560 StartUpPosition = 3 '窗口缺省 Begin VB.PictureBox Picture4 Height = 6495 Left = 2760

4、ScaleHeight = 6435 ScaleWidth = 11235 TabIndex = 4 Top = 120 Width = 11295 End Begin VB.PictureBox Picture3 Height = 6255 Left = 1680 ScaleHeight = 6195 ScaleWidth = 75 TabIndex = 3 Top = 240 Width = 135 End Begin VB.PictureBox Picture2 Height = 6255 Left = 2280 ScaleHeight = 6195 ScaleWidth = 75 Ta

5、bIndex = 2 Top = 0 Width = 135 End Begin VB.PictureBox Picture1 Height = 6255 Left = 960 ScaleHeight = 6195 ScaleWidth = 195 TabIndex = 1 Top = 120 Width = 255 End Begin VB.CommandButton Command1 Caption = "Command1" Height = 495 Left = 120 TabIndex = 0 Top = 120 Width = 495 EndEndAttribut

6、e VB_Name = "牛頭刨連桿機(jī)構(gòu)"Attribute VB_GlobalNameSpace = FalseAttribute VB_Creatable = FalseAttribute VB_PredeclaredId = TrueAttribute VB_Exposed = FalsePrivate f1(3600) As Double '1桿的轉(zhuǎn)角Private xB0(3600) As Double Private yB0(3600) As Double Private vxB0(3600) As Double Private vyB0(3600) A

7、s Double Private axB0(3600) As Double Private ayB0(3600) As Double Private xE0(3600) As Double Private yE0(3600) As Double Private vxE0(3600) As Double Private vyE0(3600) As Double Private axE0(3600) As Double Private ayE0(3600) As Double Private f3(3600) As Double Private w3(3600) As Double Private

8、 e3(3600) As Double Private s5(3600) As Double Private vs5(3600) As Double Private as5(3600) As Double Private pi As DoublePrivate pa As DoublePrivate Sub Command1_Click()Dim i As DoubleDim j As LongDim RR1 As rrDim RPR1 As rprDim RRP1 As rrpSet RR1 = New rrSet RPR1 = New rprSet RRP1 = New rrppi = 4

9、 * Atn(1)pa = pi / 180Picture1.DrawWidth = 1Picture1.Scale (-20, 1000)-(390, -40) Picture1.Line (-20, 0)-(390, 0) 'X Picture1.Line (0, 1000)-(0, -40) 'Y Picture1.CurrentX = 330: Picture1.CurrentY = 40 Picture1.Print "主動(dòng)件轉(zhuǎn)角/度" 'X表示 Picture1.CurrentX = 10: Picture1.CurrentY = 960

10、 Picture1.Print "滑塊位移S /mm" 'Y表示 For j = 30 To 390 Step 30 'X軸坐標(biāo) Picture1.Line (j, 5)-(j, 0) Picture1.CurrentX = j - 5: Picture1.CurrentY = 0 Picture1.Print j Next j For j = 0 To 1000 Step 80 'Y軸坐標(biāo) Picture1.Line (0, j)-(5, j) Picture1.CurrentX = -20: Picture1.CurrentY = j + 2 P

11、icture1.Print j Next j Picture1.DrawStyle = 2 For j = 0 To 1000 Step 80 Picture1.Line (-20, j)-(390, j), vbBlack '橫向網(wǎng)格 Next j For j = 0 To 390 Step 30 Picture1.Line (j, -20)-(j, 1000), vbBlack '縱向網(wǎng)格 Next j Picture2.DrawWidth = 1Picture2.Scale (-20, 8000)-(390, -4000) Picture2.Line (-20, 0)-(

12、380, 0) 'X Picture2.Line (0, 8000)-(0, -4000) 'Y Picture2.CurrentX = 340: Picture2.CurrentY = 400 Picture2.Print "主動(dòng)件轉(zhuǎn)角/度" Picture2.CurrentX = 10: Picture2.CurrentY = 2400 Picture2.Print "滑塊速度V mm/s" For j = 30 To 390 Step 30 'X軸坐標(biāo) Picture2.Line (j, 5)-(j, 0) Picture2

13、.CurrentX = j - 5: Picture2.CurrentY = 0 Picture2.Print j Next j For j = -4000 To 8000 Step 800 'Y軸坐標(biāo) Picture2.Line (0, j)-(5, j) Picture2.CurrentX = -10: Picture2.CurrentY = j + 7 Picture2.Print j Next j Picture2.DrawStyle = 2 For j = -4000 To 8000 Step 800 Picture2.Line (-20, j)-(390, j), vbBl

14、ack '橫向網(wǎng)格 Next j For j = 30 To 390 Step 30 Picture2.Line (j, -4000)-(j, 8000), vbBlack '縱向網(wǎng)格 Next j Picture3.DrawWidth = 1Picture3.Scale (-20, 150000)-(380, -200000) Picture3.Line (-20, 0)-(390, 0) 'X Picture3.Line (0, 150000)-(0, -200000) 'Y Picture3.CurrentX = 300: Picture3.Current

15、Y = 10000 Picture3.Print "主動(dòng)件轉(zhuǎn)角/度" Picture3.CurrentX = 10: Picture3.CurrentY = 80000 Picture3.Print "滑塊加速度a mm/S2" For j = 30 To 390 Step 30 'X軸坐標(biāo) Picture3.Line (j, 5)-(j, 0) Picture3.CurrentX = j - 5: Picture3.CurrentY = 0 Picture3.Print j Next j For j = -200000 To 150000 St

16、ep 10000 'Y軸坐標(biāo) Picture3.Line (0, j)-(5, j) Picture3.CurrentX = -20: Picture3.CurrentY = j + 7 Picture3.Print j Next j Picture3.DrawStyle = 2 For j = -200000 To 150000 Step 10000 Picture3.Line (-200000, j)-(150000, j), vbBlack '橫向網(wǎng)格 Next j For j = 0 To 390 Step 30 Picture3.Line (j, -200000)-(

17、j, 150000), vbBlack '縱向網(wǎng)格 Next j '主程序For i = 0# To 3600# Step 0.1 '主動(dòng)件轉(zhuǎn)角0-360,步長(zhǎng)0.01'RR類模塊屬性賦值f1(i) = i * pa / 10RR1.f = f1(i)RR1.L = 108RR1.w = 205 * 2 * pi / 60RR1.e = 0RR1.xA = 0RR1.yA = 0RR1.vxA = 0RR1.vyA = 0RR1.axA = 0RR1.ayA = 0RR1.calRR '執(zhí)行RR類模塊方法xB0(i) = RR1.xByB0(i) = R

18、R1.yBvxB0(i) = RR1.vxBvyB0(i) = RR1.vyBaxB0(i) = RR1.axBayB0(i) = RR1.ayB'RPR類模塊屬性賦值RPR1.Li = 0RPR1.Lj = 620RPR1.Lk = 0RPR1.xB = xB0(i)RPR1.yB = yB0(i)RPR1.vxB = vxB0(i)RPR1.vyB = vyB0(i)RPR1.axB = axB0(i)RPR1.ayB = ayB0(i)RPR1.xD = 0RPR1.yD = -350RPR1.vxD = 0RPR1.vyD = 0RPR1.axD = 0RPR1.ayD = 0RPR1.calRPR '執(zhí)行RPR類模塊方法xE0(i) = RPR1.xEyE0(i) = RPR1.yEvxE0(i) = RPR1.vxEvyE0(i) = RPR1.vyEaxE0(i) = RPR1