哈工大机械原理大作业一连杆_15题.doc

Harbin Institute of Technology 机械原理大作业一课程名称： 机械原理 设计题目： 连杆传动设计 院 系： 船舶与海洋工程学院 班 级： 1513102班 分 析 者： 刘康哲 学 号： 151310207 指导教师： 刘会英 设计时间： 2017.06.05 1.题目：如图所示机构.已知机构各构件的的尺寸为lAB=100mm,lBD=400mm,lAE=400mm,lBC=200mm,曲柄AB的角速度为w1=10rad/s,试求构件2上点D的轨迹.构件5的角位移、角速度和角加速度.并对结果进行分析〔题中构件尺寸满足lBD-lAB

4．各基本杆组的运动分析数学模型〔1原动件：位置分析： XB = XA + LAB * cos YB = YA + LAB * sin 其中.XA = YA = 0 .w = 10rad/s , LAB = 100 mm速度分析： 将上式分别对时间求导.可得速度方程, VXB = VXA– w*LAB*sinVYB = VYA + w*LAB*cos 其中.VXA = VYA = 0 加速度分析:将上式分别对时间求导.可得速度方程, aXA = aXA–α* LAB * sin – w*w*LAB*cosaYA = aYA + α* LAB * cos – w*w*LAB*sin 其中.aXA = aYA = 0 α= dw/dt〔2RRPⅡ级基本杆组:位置分析： XC = LAB*cos+ YC = 0 可求得.β= arcsin速度分析： 将上式分别对时间求导.可得速度方程,VXC=-w*LAB*cos– <>-1/2 * sin*wVYC = 0加速度分析： 将上式分别对时间求导.可得加速度方程,〔3RPR Ⅱ级基本杆组位置分析： XD = XC+ LCD * cosβYD = - LCD * sinβ 可求得.θ = arctan <-YD / >速度分析： 将上式分别对时间求导.可得速度方程,5．计算编程在MATLAB中编写如下程序：function [ XD,YD,Q,Q1,Q2] = calculate%UNTITLED4 Summary of this function goes here% Detailed explanation goes hereLab=100;Lbc=200;Lcd=200;Lae=400;w=10;XB=Lab*cos;YB=Lab*sin;P=asin;XC=sqrt+XB;XD=Lcd.*cos

+XC;YD=-Lcd.*sin

;Q=atan>;Q1=diff;Q2=diff;end5．计算结果t时间XDD点横坐标YDD点纵坐标Q构件5角度Q1构件5角速度Q2构件5角加速度0500000.10050.0030080.01499.0018-9.983340.10050.1035080.0060270.02496.0283-19.86690.2040080.1095350.0089860.03491.1429-29.5520.3135430.118520.0116240.04484.4505-38.94180.4320630.1301450.0133840.05476.0958-47.94260.5622070.1435290.0133830.06466.2615-56.46420.7057360.1569120.0106760.07455.1653-64.42180.8626480.1675870.004950.08443.0552-71.73561.0302350.172537-0.002760.09430.2044-78.33271.2027720.169781-0.010250.1416.9036-84.14711.3725540.159531-3.157070.11403.4517-89.12071.532085-2.997543.1238950.12390.1455-93.2039-1.465460.126353-0.017410.13377.267-96.3558-1.339110.108942-0.015610.14365.0708-98.545-1.230160.093336-0.013140.15353.7727-99.7495-1.136830.080201-0.010530.16343.5394-99.9574-1.056630.069675-0.008030.17334.4828-99.1665-0.986950.06165-0.005720.18326.6576-97.3848-0.92530.055928-0.003620.19320.0638-94.63-0.869370.052312-0.001680.2314.6537-90.9297-0.817060.0506320.0001240.21310.3405-86.3209-0.766430.0507570.001820.22307.0096-80.8496-0.715670.0525770.0034140.23304.5286-74.5705-0.66310.0559910.0048770.24302.7576-67.5463-0.60710.0608680.0061360.25301.5573-59.8472-0.546240.0670040.0070630.26300.7957-51.5501-0.479230.0740670.0074760.27300.3534-42.738-0.405170.0815440.0071710.28300.127-33.4988-0.323620.0887150.0059930.29300.0319-23.9249-0.234910.0947080.0039350.3300.0038-14.112-0.14020.0986430.0012220.31300-4.15807-0.041560.099865-0.001710.32300.00015.8374140.0583080.098157-0.004340.33300.005915.774570.1564660.093821-0.006250.34300.041725.554110.2502870.087567-0.007280.35300.153835.078320.3378540.080286-0.007450.36300.410144.252040.4181390.072834-0.006940.37300.898452.983610.4909730.065896-0.005940.38301.72561.185790.556870.059953-0.004640.39303.011868.776620.6168230.05531-0.003150.4304.892375.680250.6721330.052157-0.001540.41307.506581.827710.724290.0506140.0001710.42310.993787.157580.7749040.0507850.0019950.43315.483991.616590.8256890.052780.0039570.44321.087995.160210.878470.0567380.0060950.45327.886697.753010.9352070.0628320.0084330.46335.920499.36910.9980390.0712660.0109610.47345.180299.992331.0693050.0822260.0135710.48355.601899.616461.1515310.0957970.0159750.49367.06498.245261.2473290.1117720.0175920.5379.391295.892431.3591010.129365-3.124070.51392.360492.581471.488466-2.99473.1564030.52405.711488.34547-1.506240.16170.0091050.53419.158883.22674-1.344540.1708050.0014090.54432.404877.27645-1.173730.172214-0.00610.55445.15170.55403-1.001520.166115-0.011350.56457.109163.12666-0.83540.154767。