哈工大機械原理大作業(yè)連桿機構(gòu)運動分析

1、機械原理大作業(yè)一課程名稱： 機械原理 設(shè)計題目： 連桿機構(gòu)運動分析-29 院 系： 機電工程學(xué)院 班 級： 設(shè) 計 者： 學(xué) 號： 指導(dǎo)教師： 設(shè)計時間： 哈爾濱工業(yè)大學(xué)一、 設(shè)計題目(29)二、 vb編程得到動畫、軌跡、位移、速度、加速度線圖1. 用vb編寫程序得到的機構(gòu)動畫2. 構(gòu)件2上的e點軌跡3. 構(gòu)件7的位移線圖4. 構(gòu)件7的速度線圖5. 構(gòu)件7的加速度線圖三、 計算說明書(一) 建立機構(gòu)運動分析數(shù)學(xué)模型l 對機構(gòu)進行結(jié)構(gòu)分析，找出基本桿組1. 基本桿組劃分a) 桿件1為原動件 b) 構(gòu)件2、3為rrr型ii級桿組c) 構(gòu)件4、5為rrr型ii級桿組d) 構(gòu)件6、7為rrp型ii級桿

2、組2. 結(jié)構(gòu)分析與自由度計算 機構(gòu)為平面連桿機構(gòu)，活動構(gòu)件數(shù)n=7,=10,轉(zhuǎn)動副為9個，移動副為1個，高副為0個，則機構(gòu)自由度為f=3n-2pl-ph=3x7-2x10=1。l 各基本桿組的運動分析數(shù)學(xué)模型1.原動件（i級構(gòu)件）圖1（1）位置分析b點位置方程 （1-1） （2）速度分析 把（1-1）對時間t求導(dǎo)得b速度方程 （1-2）（3）加速度分析把（2-2）對時間他求導(dǎo)得b加速度方程 （1-3）上式中 2. rrr桿組的運動分析3.rrp桿組的運動分析圖2（1） 位置分析內(nèi)運動副c的位置方程 （2-1）的轉(zhuǎn)角 （2-2）式中滿足裝配條件滑塊d相對參考點k的位移為 （2-3）滑塊d的位置方

3、程 （2-4）（2） 速度分析桿的角速度 （2-5）滑塊d沿導(dǎo)路的移動速度 （2-6）式中內(nèi)運動副c的速度為 （2-7）外移動副d的速度為 （2-8）（3） 加速度分析桿的角加速度 （2-9）滑塊d沿導(dǎo)路移動的加速度為 （2-10）式中內(nèi)運動副c的加速度 （2-11）滑塊d的加速度 （2-12）以上為基本桿組的通用分析，根據(jù)已知條件進行賦值均在程序中體現(xiàn)(二) 計算流程框圖（見下頁）(三) vb編寫程序清單'定義變量dim xa as double 'a點的坐標(biāo)、速度、加速度dim ya as doubledim vxa as doubledim vya as doubledi

4、m axa as doubledim aya as doubledim xb as double 'b點dim yb as doubledim vxb as doubledim vyb as doubledim axb as doubledim ayb as doubledim xd as double 'd點dim yd as doubledim vxd as doubledim vyd as doubledim axd as doubledim ayd as doubledim xe as double 'e點dim ye as doubledim vxe as d

5、oubledim vye as doubledim axe as doubledim aye as doubledim xg as double 'g點dim yg as doubledim vxg as doubledim vyg as doubledim axg as doubledim ayg as doubledim xh as double 'h點dim yh as doubledim vxh as doubledim vyh as doubledim axh as doubledim ayh as doubledim xm as double 'm點dim

6、ym as doubledim vxm as doubledim vym as doubledim axm as doubledim aym as doubledim xn as double '參考點ndim yn as doubledim vxn as doubledim vyn as doubledim axn as doubledim ayn as doubledim xk as double 'k點dim yk as doubledim vxk as doubledim vyk as doubledim axk as doubledim ayk as doubledi

7、m delt1 as double 'ab桿初始轉(zhuǎn)角dim l1 as double 'ab桿長dim f1 as double 'ab桿轉(zhuǎn)角dim w1 as double 'ab桿角速度dim e1 as double 'ab桿角加速度dim l2 as double 'bc桿dim f2 as doubledim w2 as doubledim e2 as doubledim l3 as double 'cd桿dim f3 as doubledim w3 as doubledim e3 as doubledim lbe as dou

8、ble 'be桿dim delt2 as doubledim l4 as double 'ef桿dim f4 as doubledim w4 as doubledim e4 as doubledim lfg as double 'fg桿dim f5 as doubledim w5 as doubledim e5 as doubledim deltgh as double 'gh桿dim lgh as doubledim l6 as double 'hm（hk）桿dim f6 as doubledim w6 as doubledim e6 as doubl

9、edim lj as double 'mk桿dim fj as doubledim wj as doubledim ej as doubledim ss as double '移動副k的位移dim vss as double '移動副k的速度dim ass as double '移動副k的加速度dim pi as doubledim pa as doubledim i as doubledim fj1 as doubleprivate sub command1_click() '點e的軌跡picture1.scale (-50, 250)-(600, -

10、100)picture1.line (-50, 0)-(600, 0) 'xpicture1.line (0, 250)-(0, -100) 'yfor i = -50 to 600 step 50 'x軸坐標(biāo) picture1.drawstyle = 2 picture1.line (i, 250)-(i, -100) picture1.currentx = i - 0: picture1.currenty = 0 picture1.print i next ifor i = -100 to 250 step 50 'y軸坐標(biāo) picture1.drawsty

11、le = 2 picture1.line (-50, i)-(600, i) picture1.currentx = -20: picture1.currenty = i + 7 picture1.print i next ifor fj1 = 0 to 360 step 0.01 f1 = fj1 * pacall rr1 call rrr1 call rr2 picture1.pset (xe, ye) next fj1end subprivate sub command2_click() '求點g的位移picture2.scale (-20, 300)-(380, 200)pic

12、ture2.line (-20, 0)-(380, 0) 'xpicture2.line (0, 300)-(0, 200) 'yfor i = 0 to 360 step 30 'x軸坐標(biāo) picture2.drawstyle = 2 picture2.line (i, 300)-(i, 0) picture2.currentx = i - 10: picture2.currenty = 0 picture2.print i next ifor i = 200 to 300 step 10 'y軸坐標(biāo) picture2.line (0, i)-(380, i)

13、 picture2.currentx = -25: picture2.currenty = i picture2.print i next ifor fj1 = 0 to 360 step 0.01 f1 = fj1 * pa call rr1 call rrr1 call rr2 call rrr2 call rr3 call rrp1 picture2.pset (fj1, ss) next fj1end subprivate sub command3_click() '求點g的速度picture3.scale (-30, 600)-(380, -600)picture3.line

14、 (-30, 0)-(380, 0) 'xpicture3.line (0, 600)-(0, -600) 'yfor i = 0 to 360 step 30 'x軸坐標(biāo) picture3.drawstyle = 2 picture3.line (i, 600)-(i, -600) picture3.currentx = i - 10: picture3.currenty = 0 picture3.print i next ifor i = -600 to 600 step 50 'y軸坐標(biāo) picture3.line (0, i)-(380, i) pict

15、ure3.currentx = -28: picture3.currenty = i picture3.print i next ifor fj1 = 0 to 360 step 0.01 f1 = fj1 * pa call rr1 call rrr1 call rr2 call rrr2 call rr3 call rrp1 picture3.pset (fj1, vss)next fj1end subprivate sub command4_click() '求點g的加速度picture4.scale (-20, 20000)-(380, -10000)picture4.line

16、 (-20, 0)-(380, 0) 'xpicture4.line (0, 20000)-(0, -10000) 'yfor i = 0 to 360 step 30 'x軸坐標(biāo) picture4.drawstyle = 2 picture4.line (i, 20000)-(i, -10000) picture4.currentx = i - 10: picture4.currenty = 0 picture4.print i next ifor i = -10000 to 20000 step 1000 'y軸坐標(biāo) picture4.line (0, i)

17、-(380, i) picture4.currentx = -25: picture4.currenty = i + 5 picture4.print i next ifor fj1 = 0 to 360 step 0.01 f1 = fj1 * pa call rr1 call rrr1 call rr2 call rrr2 call rr3 call rrp1 picture4.pset (fj1, ass)next fj1end subprivate sub form_load() '賦初值xa = 0ya = 0vxa = 0vya = 0axa = 0aya = 0xd =

18、730yd = -138vxd = 0vyd = 0axd = 0ayd = 0xg = 465yg = -248vxg = 0vyg = 0axg = 0ayg = 0xn = 545yn = 0vxn = 0vyn = 0axn = 0ayn = 0delt1 = 0l1 = 200w1 = 10e1 = 0l2 = 670l3 = 350delt2 = 0lbe = 335l4 = 380lfg = 130deltgh = 56 * palgh = 100l6 = 486lj = 0fj = pi / 2wj = 0ej = 0pi = 3.14pa = pi / 180end subp

19、ublic sub rr1() '桿abxb = xa + l1 * cos(f1 + delt1)yb = ya + l1 * sin(f1 + delt1)vxb = vxa - w1 * l1 * sin(f1 + delt1)vyb = vya + w1 * l1 * cos(f1 + delt1)axb = axa - w1 2 * l1 * cos(f1 + delt1) - e1 * l1 * sin(f1 + delt1)ayb = aya - w1 2 * l1 * sin(f1 + delt1) + e1 * l1 * cos(f1 + delt1)end subp

20、ublic sub rrr1() '桿bcddim xc as doubledim yc as doubledim vxc as doubledim vyc as doubledim axc as doubledim ayc as doubledim lbd as doubledim jcbd as doubledim val1 as doubledim fdb as doubledim c2 as doubledim c3 as doubledim s2 as doubledim s3 as doubledim g11 as doubledim g12 as doubledim g1

21、3 as doublelbd = sqr(xd - xb) 2 + (yd - yb) 2)if lbd > l2 + l3 and lbd < abs(l2 - l3) then if msgbox("rrr桿組桿長不符合要求", vbokonly, "提示") = 1 then end else end ifelseend ifif lbd < l2 + l3 and lbd > abs(l2 - l3) then val1 = (l2 2 + lbd 2 - l3 2) / (2 * l2 * lbd) jcbd = atn

22、(-val1 / sqr(-val1 * val1 + 1) + 2 * atn(1)elseend ifif lbd = l2 + l3 then jcbd = 0 else end ifif lbd = abs(l2 - l3) then if l2 > l3 then jcbd = 0 else end if if l2 < l3 then jcbd = pi else end if else end if if xd > xb and yd >= yb then '第一象限 fdb = atn(yd - yb) / (xd - xb) else end

23、if if xd = xb and yd > yb then fdb = pi * 2 else end if if xd < xb and yd >= yb then '第二象限 fdb = pi + atn(yd - yb) / (xd - xb) else end if if xd < xb and yd < yb then '第三象限 fdb = pi + atn(yd - yb) / (xd - xb) else end if if xb = xd and yd < yb then fdb = 3 * pi / 2 else end

24、 if if xd > xb and yd <= yb then '第四象限 fdb = 2 * pi + atn(yd - yb) / (xd - xb) else end iff2 = fdb + jcbdxc = xb + l2 * cos(f2)yc = yb + l2 * sin(f2)if xc > xd and yc >= yd then '第一象限f3 = atn(yc - yd) / (xc - xd)else end if if xc = xd and yc > yd then f3 = pi / 2 else end if i

25、f xc < xd and xc >= xd then '第二象限 f3 = pi + atn(yc - yd) / (xc - xd) else end if if xc < xd and xc < xd then '第三象限 f3 = pi + atn(yc - yd) / (xc - xd) else end if if xc = xd and xc < xd then f2 = 3 * pi / 2 else end if if xc > xd and xc <= xd then '第四象限 f2 = 2 * pi +

26、atn(yc - yd) / (xc - xd) else end ifc2 = l2 * cos(f2)s2 = l2 * sin(f2)c3 = l3 * cos(f3)s3 = l3 * sin(f3)g11 = c2 * s3 - c3 * s2w2 = (c3 * (vxd - vxb) + s3 * (vyd - vyb) / g11w3 = (c2 * (vxd - vxb) + s2 * (vyd - vyb) / g11vxc = vxb - w2 * l2 * sin(f2)vyc = vyb + w2 * l2 * cos(f2)g12 = axd - axb + w2

27、2 * c2 - w3 2 * c3g13 = ayd - ayb + w2 2 * s2 - w3 2 * s3e2 = (g12 * c3 + g13 * s3) / g11e3 = (g12 * c2 + g13 * s2) / g11axc = axb - e2 * l2 * sin(f2) - w2 2 * l2 * cos(f2)ayc = ayb - e2 * l2 * cos(f2) - w2 2 * l2 * sin(f2)end subpublic sub rr2() '桿bexe = xb + lbe * cos(f2 + delt2)ye = yb + lbe

28、* sin(f2 + delt2)vxe = vxb - w2 * lbe * sin(f2 + delt2)vye = vyb + w2 * lbe * cos(f2 + delt2)axe = axb - w2 2 * lbe * cos(f2 + delt2) - e2 * lbe * sin(f2 + delt2)aye = ayb - w2 2 * lbe * sin(f2 + delt2) + e2 * lbe * cos(f2 + delt2)end subpublic sub rrr2() '桿efgdim xf as doubledim yf as doubledim

29、 vxf as doubledim vyf as doubledim axf as doubledim ayf as doubledim leg as doubledim jfeg as doubledim val2 as doubledim fge as doubledim c4 as doubledim c5 as doubledim s4 as doubledim s5 as doubledim g21 as doubledim g22 as doubledim g23 as doubleleg = sqr(xg - xe) 2 + (yg - ye) 2)if leg > l4

30、+ lfg and leg < abs(l4 - lfg) then if msgbox("rrr桿組桿長不符合要求", vbokonly, "提示") = 1 then end else end ifelseend ifif leg < l4 + lfg and leg > abs(l4 - lfg) then val2 = (l4 2 + leg 2 - lfg 2) / (2 * l4 * leg) jfeg = atn(-val2 / sqr(-val2 * val2 + 1) + 2 * atn(1)elseend ifif

31、leg = l4 + lfg then jfeg = 0 else end ifif leg = abs(l4 - lfg) then if l4 > lfg then jfeg = 0 else end if if l4 < lfg then jfeg = pi else end if else end if if xg > xe and yg >= ye then '第一象限 fge = atn(yg - ye) / (xg - xe) else end if if xg = xe and yg > ye then fge = pi * 2 else

32、end if if xg < xe and yg >= ye then '第二象限 fge = pi + atn(yg - ye) / (xg - xe) else end if if xg < xe and yg < ye then '第三象限 fge = pi + atn(yg - ye) / (xg - xe) else end if if xe = xg and yg < ye then fge = 3 * pi / 2 else end if if xg > xe and yg <= ye then '第四象限 fge

33、 = 2 * pi + atn(yg - ye) / (xg - xe) else end iff4 = fge - jfegxf = xe + l4 * cos(f4)yf = ye + l4 * sin(f4)if xf > xg and yf >= yg then '第一象限f5 = atn(yf - yg) / (xf - xg)else end if if xf = xg and yf > yg then f5 = pi / 2 else end if if xf < xg and xf >= xg then '第二象限 f5 = pi

34、+ atn(yf - yg) / (xf - xg) else end if if xf < xg and xf < xg then '第三象限 f5 = pi + atn(yf - yg) / (xf - xg) else end if if xf = xg and xf < xg then f4 = 3 * pi / 2 else end if if xf > xg and xf <= xg then '第四象限 f4 = 2 * pi + atn(yf - yg) / (xf - xg) else end ifc4 = l4 * cos(f4

35、)s4 = l4 * sin(f4)c5 = lfg * cos(f5)s5 = lfg * sin(f5)g21 = c4 * s5 - c5 * s4w4 = (c5 * (vxg - vxe) + s5 * (vyg - vye) / g21w5 = (c4 * (vxg - vxe) + s4 * (vyg - vye) / g21vxf = vxe - w4 * l4 * sin(f4)vyf = vye + w4 * l4 * cos(f4)g22 = axg - axe + w4 2 * c4 - w5 2 * c5g23 = ayg - aye + w4 2 * s4 - w5

36、 2 * s5e4 = (g22 * c5 + g23 * s5) / g21e5 = (g22 * c4 + g23 * s4) / g21axf = axe - e4 * l4 * sin(f4) - w4 2 * l4 * cos(f4)ayf = aye - e4 * l4 * cos(f4) - w4 2 * l4 * sin(f4)end subpublic sub rr3() '桿ghxh = xg + lgh * cos(f5 + deltgh)yh = yg + lgh * sin(f5 + deltgh)vxh = vxg - w5 * lgh * sin(f5 +

37、 deltgh)vyh = vyg + w5 * lgh * cos(f5 + deltgh)axh = axg - w5 2 * lgh * cos(f5 + deltgh) - e5 * lgh * sin(f5 + deltgh)ayh = ayg - w5 2 * lgh * sin(f5 + deltgh) + e5 * lgh * cos(f5 + deltgh)end subpublic sub rrp1() '桿組h(m)kdim a0 as doubledim q1 as doubledim q2 as doubledim q3 as doubledim q4 as doubledim q5 as doubledim val3 as doublea0 = lj + (yn - yh) * cos(fj) - (xn - xh) * sin(fj)val3 = a0 / l6fi = atn(val3 / sqr(-val3 * val3 + 1) + fjxm = xh + l6 * cos(fi)ym = yh + l6 * sin(fi)ss = (xm - xn) * cos(fj) + (ym - yn) * sin(fj)xk = xn + ss * cos(fj)yk = yn