哈工大機械原理大作業(yè)1-第27題

HarbinInstituteofTechnology機械原理大作業(yè)設計說明書（論文）課程名稱：機械原理設計題目：連桿機構運動分析院系：能源科學與工程學院班級：1002101設計者：學號：指導教師：趙永強設計時間：2012年6月10日—6月24日運動分析題目——第二十七題27如圖所示機構，已知機構各構件的尺寸為AB=280mm，BC=350mm，CD=320mm,AD=160mm,BE=175mm,EF=220mm,xc=25mm,yg=80mm,構件一的角速度為w1=10rad/s,試求構件2上點F的軌跡及構件5的角位移，角速度和角加速度，并對計算結果進行分析。YYAGCBEFyG‘XgAGCBEFyG‘XgDDXX一、建立坐標系以A點為原點建立如圖所示坐標系x-y，如上圖所示二、機構結構分析該機構可認為由一個=1\*ROMANI級桿組RR（桿AB）、=2\*ROMANII級桿組RRR（桿2、3）、=2\*ROMANII級桿組RPR（桿5及滑塊4）組成。如下圖所示。AAB=1\*ROMANIB =1\*ROMANI級桿組RRDimfabAsDouble'桿AB的角位移DimfbcAsDouble'桿BC的角位移DimfcdAsDouble'桿CD的角位移DimfefAsDouble'桿EF的角位移DimffgAsDouble'桿FG的角位移DimfebfAsDouble'角EBF的角度Dimfj1AsDoubleDimwabAsDouble'桿AB的角速度DimwbcAsDouble'桿BC的角速度DimwcdAsDouble'桿CD的角速度DimwceAsDouble'桿CE的角速度DimwefAsDouble'桿EF的角速度DimwfgAsDouble'桿FG的角速度DimeabAsDouble'桿AB的角加速度DimebcAsDouble'桿BC的角加速度DimecdAsDouble'桿CD的角加速度DimeceAsDouble'桿CE的角加速度DimeefAsDouble'桿EF的角加速度DimefgAsDouble'桿FG的角加速度DimLBDAsDouble'BD的長度DimLGFAsDouble'GF的長度DimJCBDAsDouble'角CBD的角度DimfbdAsDouble'桿BD的角位移DimCiAsDouble'RRR桿組的中間變量DimCjAsDoubleDimSiAsDoubleDimSjAsDoubleDimG1AsDoubleDimG2AsDoubleDimG3AsDoubleDimvalAsDouble'角CBD的余弦值DimpiAsDouble'圓周率DimpaAsDouble'角度與弧度轉換的系數(shù)DimiAsDouble'循環(huán)變量PrivateSubForm_Load()'附值lab=280lbc=350lcd=320lad=160lbe=175lef=220wab=10eab=0delt=0xA=0yA=0vxA=0vyA=0axA=0ayA=0xD=0yD=160vxD=0vyD=0axD=0ayD=0xG=-25yG=80vxG=0vyG=0axG=0ayG=0pi=3.1415926pa=pi/180fj1=0EndSubPrivateSubCommand1_Click()'點F的軌跡Picture1.Scale(-200,250)-(100,-50)Picture1.Line(-200,0)-(100,0)'XPicture1.Line(0,250)-(0,-50)'YFori=-180To120Step30'X軸坐標Picture1.DrawStyle=2Picture1.Line(i,250)-(i,-50)Picture1.CurrentX=i-10:Picture1.CurrentY=0Picture1.PrintiNextiFori=-60To240Step30'Y軸坐標Picture1.DrawStyle=2Picture1.Line(-200,i)-(100,i)Picture1.CurrentX=-10:Picture1.CurrentY=iPicture1.PrintiNextiForfj1=0To360Step0.01fab=fj1*paCallRR1CallRRRCallRR2Picture1.PSet(xF,yF)Nextfj1EndSubPrivateSubCommand2_Click()'桿5的角位移Picture2.Scale(-10,8)-(380,-2)Picture2.Line(-10,0)-(380,0)'XPicture2.Line(0,8)-(0,-2)'YFori=-30To390Step30'X軸坐標Picture2.DrawStyle=2Picture2.Line(i,8)-(i,-2)Picture2.CurrentX=i-10:Picture2.CurrentY=0Picture2.PrintiNextiFori=-2To8Step1'Y軸坐標Picture2.DrawStyle=2Picture2.Line(-10,i)-(380,i)Picture2.CurrentX=-10:Picture2.CurrentY=iPicture2.PrintiNextiForfj1=0To360Step0.01fab=fj1*paCallRR1CallRRRCallRR2CallRPRPicture2.PSet(fj1,ffg)Nextfj1EndSubPrivateSubCommand3_Click()'桿5的角速度Picture3.Scale(-20,90)-(380,-10)Picture3.Line(-20,0)-(380,0)'XPicture3.Line(0,90)-(0,-10)'YFori=0To360Step30'X軸坐標Picture3.DrawStyle=2Picture3.Line(i,90)-(i,-10)Picture3.CurrentX=i-10:Picture3.CurrentY=0Picture3.PrintiNextiFori=-10To90Step5'Y軸坐標Picture3.Line(0,i)-(380,i)Picture3.CurrentX=-20:Picture3.CurrentY=iPicture3.PrintiNextiForfj1=0To360Step0.01fab=fj1*paCallRR1CallRRRCallRR2CallRPRPicture3.PSet(fj1,wfg)Nextfj1EndSubPrivateSubCommand4_Click()'桿5的角加速度Picture4.Scale(-20,800)-(380,-800)Picture4.Line(-20,0)-(380,0)'XPicture4.Line(0,800)-(0,-800)'YFori=0To360Step30'X軸坐標Picture4.DrawStyle=2Picture4.Line(i,800)-(i,-800)Picture4.CurrentX=i-10:Picture4.CurrentY=0Picture4.PrintiNextiFori=-800To800Step80'Y軸坐標Picture4.Line(0,i)-(380,i)Picture4.CurrentX=-25:Picture4.CurrentY=i+5Picture4.PrintiNextiForfj1=0To360Step0.01fab=fj1*paCallRR1CallRRRCallRR2CallRPRPicture4.PSet(fj1,efg)Nextfj1EndSubPrivateSubRR1()'Ⅰ級桿組RR1（原動件1）xB=xA+lab*Cos(fab+delt)yB=yA+lab*Sin(fab+delt)vxB=vxA-wab*lab*Sin(fab+delt)vyB=vyA+wab*lab*Cos(fab+delt)axB=axA-wab^2*lab*Cos(fab+delt)-eab*lab*Sin(fab+delt)ayB=ayA-wab^2*lab*Sin(fab+delt)+eab*lab*Sin(fab+delt)EndSubPrivateSubRR2()'構件2上點F的運動分析lbf=Sqr(lbe^2+lef^2)febf=Atn(lef/lbe)xF=xB+lbf*Cos(fbc+febf)yF=yB+lbf*Sin(fbc+febf)vxF=vxB-wbc*lbf*Sin(fbc+febf)vyF=vyB+wbc*lbf*Cos(fbc+febf)axF=axB-wbc^2*lbf*Cos(fbc+febf)-ebc*lbf*Sin(fbc+febf)ayF=ayB-wbc^2*lbf*Sin(fbc+febf)+ebc*lbf*Sin(fbc+febf)EndSubPrivateSubRRR()Ⅱ級桿組RRR（桿2、桿3）xB=xA+lab*Cos(fab+delt)yB=yA+lab*Sin(fab+delt)LBD=Sqr((xD-xB)^2+(yD-yB)^2)val=((lbc^2+LBD^2-lcd^2)/(2*lbc*LBD))JCBD=Atn(-val/Sqr(-val*val+1))+2*Atn(1)IfxD>xBAndyD>yBThen'第一象限fbd=Atn((yD-yB)/(xD-xB))fbc=fbd-JCBDElseEndIfIfxD<xBAndyD>=yBThen'第二象限fbd=Atn((yD-yB)/(xD-xB))+pifbc=fbd-JCBDElseEndIfIfxD<xBAndyD<yBThen'第三象限fbd=Atn((yD-yB)/(xD-xB))+pifbc=fbd-JCBDElseEndIfIfxD>xBAndyD<=yBThen'第四象限fbd=Atn((yD-yB)/(xD-xB))+pi*2fbc=fbd-JCBDElseEndIfIfxB=xDAndyD>yBThen'y軸正向fcd=0.5*piElseEndIfIfxB=xDAndyD<yBThen'y軸負向fcd=1.5*piElseEndIfxC=xB+lbc*Cos(fbc)yC=yB+lbc*Sin(fbc)IfxC>xDAndyC>=yDThen'第一象限fcd=Atn((yC-yD)/(xC-xD))ElseEndIfIfxC<xDAndyC>=yDThen'第二象限fcd=Atn((yC-yD)/(xC-xD))+piElseEndIfIfxC<xDAndyC<yDThen'第三象限fcd=Atn((yC-yD)/(xC-xD))+piElseEndIfIfxC>xDAndyC<=yDThen'第四象限fcd=2*pi+Atn((yC-yD)/(xC-xD))ElseEndIfIfxC=xDAndyC>yDThen'y軸正向fcd=0.5*piElseEndIfIfxC=xDAndyC<yDThen'y軸負向fcd=1.5*piElseEndIfCi=lbc*Cos(fbc)Si=lbc*Sin(fbc)Cj=lcd*Cos(fcd)Sj=lcd*Sin(fcd)G1=Ci*Sj-Cj*Siwbc=(Cj*(vxD-vxB)+Sj*(vyD-vyB))/G1wcd=(Ci*(vxD-vxB)+Si*(vyD-vyB))/G1vxC=vxB-wbc*lbc*Sin(fbc)vyC=vyB+wbc*lbc*Cos(fbc)G2=axD-axB+wbc^2*Ci-wcd^2*CjG3=ayD-ayB+wbc^2*Si-wcd^2*Sjebc=(G2*Cj+G3*Sj)/G1ecd=(G2*Ci+G3*Si)/G1axC=axB-ebc*lbc*Sin(fbc)-wbc^2*lbc*Cos(fbc)ayC=ayB-ebc*lbc*Cos(fbc)-wbc^2*lbc*Sin(fbc)EndSubPrivateSubRPR()'Ⅱ級桿組RPR（滑塊4、桿5）LGF=Sqr((xG-xF)^2+(yG-yF)^2)IfxF>xGAndyF>yDThen'第一象限ffg=Atn((yF-yG)/(xF-xG))ElseEndIfIfxF<xGAndyF>=yDThen'第二象限ffg=Atn((yF-yG)/(xF-xG))+piElseEndIfIfxF<xGAndyF<yDThen'第三象限f