机械原理大作业一连杆传动机构分析

机械原理大作业一连杆传动机构分析 课程名称: 机械原理 设计 领导形象设计圆作业设计ao工艺污水处理厂设计附属工程施工组织设计清扫机器人结构设计 题目: 连杆机构及其分析 院 系:机械设计制造及其自动化 班 级: 1208104 完 成 者: 郑鹏伟 学 号: 1120810416 指导教师: 林琳 刘福利 设计时间: 2014.6.3 哈尔滨工业大学 - 1 - 一(运动分析题目 如图1-14所示的矿石破碎机，已知各构件尺寸为: l100mm,l460mm,l250mm,l460mm,l265mm,l670mm,,,,,,,ABBCCDBEEFFG ,x300mm,y500mm,x430mm,y210mm,30,,,,,,DDGG试求构件5的角位移、角速度、和角加速度。 二(机构结构分析、组成机构的基本杆组划分 1.计算机构的自由度 F3n2pp35271,，,，,,，,，,LH 2.建立直角坐标系 以D为原点建立直角坐标系 :D(0,0) ，A(-300,500)，G(-730,210) 3.对机构进行结构分析: 该机构由一个RR杆组(原动件AB)和三个RRR杆组(BCD、BEC、EFG)组成，各基本杆组运动分析数学模型见下图: - 2 - 三(计算编程(VB): Private f1(3600) As Double '1杆的转角 Private xB(3600) As Double 'B点的 x 位移 Private yB(3600) As Double 'B点的 y 位移 Private vxB(3600) As Double 'B点的 x 速度 Private vyB(3600) As Double 'B点的 y 速度 Private axB(3600) As Double 'B点的 x 加速度 Private ayB(3600) As Double 'B点的 y 加速度 Private xC(3600) As Double 'C点的 x 位移 Private yC(3600) As Double 'C点的 y 位移 Private vxC(3600) As Double 'C点的 x 速度 Private vyC(3600) As Double 'C点的 y 速度 Private axC(3600) As Double 'C点的 x 加速度 Private ayC(3600) As Double 'C点的 y 加速度 Private xE(3600) As Double 'E点的 x 位移 - 3 - Private yE(3600) As Double 'E点的 y 位移 Private vxE(3600) As Double 'E点的 x 速度 Private vyE(3600) As Double 'E点的 y 速度 Private axE(3600) As Double 'E点的 x 加速度 Private ayE(3600) As Double 'E点的 y 加速度 Private f3(3600) As Double '杆3的转角 Private w3(3600) As Double '杆3的角速度 Private e3(3600) As Double '杆3的角加速度 Private f5(3600) As Double '杆5的转角 Private w5(3600) As Double '杆5的角速度 Private e5(3600) As Double '杆5的角加速度 Private pi As Double Private pa As Double Private Sub Command1_Click() Dim i As Double Dim j As Long Dim RR1 As RR Dim RRR1 As RRR Dim RRR2 As RRR Dim RRR3 As RRR Set RR1 = New RR Set RRR1 = New RRR Set RRR2 = New RRR Set RRR3 = New RRR pi = 4 * Atn(1) pa = pi / 180 Picture1.DrawWidth = 1 Picture1.Scale (-20, 600)-(390, 500) Picture1.Line (-20, 0)-(390, 0) 'X Picture1.Line (0, 560)-(0, 480) 'Y Picture1.CurrentX = 10: Picture1.CurrentY = 10 Picture1.Print "主动件转角/度" 'X 表 关于同志近三年现实表现材料材料类招标技术评分表图表与交易pdf视力表打印pdf用图表说话 pdf 示 Picture1.CurrentX = 10: Picture1.CurrentY = 960 Picture1.Print "构件5角位移 f /度" 'Y表示 For j = 30 To 390 Step 30 'X轴坐标 Picture1.Line (j, 5)-(j, 0) Picture1.CurrentX = j - 5: Picture1.CurrentY = 0 Picture1.Print j Next j For j = 480 To 1000 Step 10 'Y轴坐标 Picture1.Line (0, j)-(5, j) Picture1.CurrentX = -20: Picture1.CurrentY = j + 2 Picture1.Print j - 4 - Next j Picture1.DrawStyle = 2 For j = 0 To 1000 Step 10 Picture1.Line (-20, j)-(390, j), vbBlack '横向网格 Next j For j = 0 To 390 Step 30 Picture1.Line (j, -20)-(j, 1000), vbBlack '纵向网格 Next j Picture2.DrawWidth = 1 Picture2.Scale (-20, 500)-(390, -500) Picture2.Line (-20, 0)-(380, 0) 'X Picture2.Line (0, 2500)-(0, -8000) 'Y Picture2.CurrentX = 340: Picture2.CurrentY = 400 Picture2.Print "主动件转角/度" Picture2.CurrentX = 10: Picture2.CurrentY = 2400 Picture2.Print "构件5角速度 W rad/s" For j = 30 To 390 Step 30 'X轴坐标 Picture2.Line (j, 5)-(j, 0) Picture2.CurrentX = j - 5: Picture2.CurrentY = 0 Picture2.Print j Next j For j = -7200 To 2500 Step 800 'Y轴坐标 Picture2.Line (0, j)-(5, j) Picture2.CurrentX = -10: Picture2.CurrentY = j + 7 Picture2.Print j Next j Picture2.DrawStyle = 2 For j = -8000 To 2500 Step 100 Picture2.Line (-8000, j)-(2500, j), vbBlack '横向网格 Next j For j = 30 To 390 Step 30 Picture2.Line (j, -8000)-(j, 2500), vbBlack '纵向网格 Next j Picture3.DrawWidth = 1 Picture3.Scale (-20, 20000)-(380, -30000) Picture3.Line (-20, 0)-(390, 0) 'X Picture3.Line (0, 90000)-(0, -200000) 'Y Picture3.CurrentX = 300: Picture3.CurrentY = 10000 Picture3.Print "主动件转角/度" Picture3.CurrentX = 10: Picture3.CurrentY = 80000 Picture3.Print " 构件5 角加速度 a rad/S^2" For j = 30 To 390 Step 30 'X轴坐标 Picture3.Line (j, 5)-(j, 0) Picture3.CurrentX = j - 5: Picture3.CurrentY = 0 - 5 - Picture3.Print j Next j For j = -200000 To 90000 Step 10000 'Y轴坐标 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 90000 Step 2000 Picture3.Line (-200000, j)-(90000, j), vbBlack '横向网格 Next j For j = 0 To 390 Step 30 Picture3.Line (j, -200000)-(j, 90000), vbBlack '纵向网格 Next j '主程序 For i = 0 To 3600 Step 0.1 '主动件转角0-360,步长0.1 'RR类模块属性赋值 f1(i) = i * pa / 10 RR1.f = f1(i) RR1.L = 100 RR1.w = 10 RR1.e = 0 RR1.xA = -300 RR1.yA = 500 RR1.vxA = 0 RR1.vyA = 0 RR1.axA = 0 RR1.ayA = 0 RR1.calRR '执行RR类模块方法 xB(i) = RR1.xB yB(i) = RR1.yB vxB(i) = RR1.vxB vyB(i) = RR1.vyB axB(i) = RR1.axB ayB(i) = RR1.ayB 'BCD RRR类模块属性赋值 RRR1.Li = 460 RRR1.Lj = 250 RRR1.xB = xB(i) RRR1.yB = yB(i) RRR1.M = -1 RRR1.vxB = vxB(i) RRR1.vyB = vyB(i) RRR1.axB = axB(i) - 6 - RRR1.ayB = ayB(i) RRR1.xD = 0 RRR1.yD = 0 RRR1.vxD = 0 RRR1.vyD = 0 RRR1.axD = 0 RRR1.ayD = 0 RRR1.calRRR '执行RRR类模块方法 f3(i) = RRR1.fj w3(i) = RRR1.wj e3(i) = RRR1.ej xC(i) = RRR1.xC yC(i) = RRR1.yC vxC(i) = RRR1.xC vyC(i) = RRR1.yC axC(i) = RRR1.xC ayC(i) = RRR1.yC 'BEC RRR类模块属性赋值 RRR2.Li = 460 RRR2.Lj = 230 / (Sin(75)) RRR2.xB = xB(i) RRR2.yB = yB(i) RRR2.M = -1 RRR2.vxB = vxB(i) RRR2.vyB = vyB(i) RRR2.axB = axB(i) RRR2.ayB = ayB(i) RRR2.xD = xC(i) RRR2.yD = yC(i) RRR2.vxD = vxC(i) RRR2.vyD = vyC(i) RRR2.axD = axC(i) RRR2.ayD = ayC(i) RRR2.calRRR '执行RRR类模块方法 xE(i) = RRR2.xC yE(i) = RRR2.yC vxE(i) = RRR2.vxC vyE(i) = RRR2.vyC axE(i) = RRR2.axC ayE(i) = RRR2.ayC 'EFG RRR类模块属性赋值 RRR3.Li = 265 RRR3.Lj = 670 RRR3.xB = xE(i) - 7 - RRR3.yB = yE(i) RRR3.M = 1 RRR3.vxB = vxE(i) RRR3.vyB = vyE(i) RRR3.axB = axE(i) RRR3.ayB = ayE(i) RRR3.xD = -730 RRR3.yD = 210 RRR3.vxD = 0 RRR3.vyD = 0 RRR3.axD = 0 RRR3.ayD = 0 RRR3.calRRR '执行RRR类模块方法 f5(i) = RRR3.fj w5(i) = RRR3.wj e5(i) = RRR3.ej Picture1.PSet (i / 10, f5(i) * 100), vbRed '画出滑块位移s5(i)与 主动件转角 i/10 的关系图 Picture2.PSet (i / 10, w5(i) * 100), vbRed Picture3.PSet (i / 10, e5(i) * 500), vbRed Next i Picture4.Print " 转角 角速度 角加速度 主动件转角" For i = 0 To 3600 Step 20 Picture4.Print f5(i); w5(i); e5(i); i / 10 Next i End Sub FG构件转角: FG构件角速度: - 8 - FG构件角加速度: FG构件转角、角速度、角加速度，主动件转角数据: - 9 -