哈工大机械原理大作业--连杆机构

Harbin Institute of Technology

大作业设计说明书

（一）

院 班 级：设 计 学 号：设计时间：

哈尔滨工业大学

1、 连杆机构运动分析题目 （No.13）

（13）在图1-13所示的牛头刨床机构中，已知各个构建尺寸为：lAB=108mm，lCE=620mm，lEF=300mm，H1=350mm，H=635mm，曲柄1以等角速度转动，转速为n1=225r/min。试求滑块5上点F的位移、速度和加速度。

图1-13 连杆机构简图

2、 机构的结构分析及基本杆组划分

1、结构分析与自由度计算

机构各构件都在同一平面内活动，活动构件数n=5, PL=7,分布在A、B、C、E、F。没有高副，则机构的自由度为

F=3n-2PL-PH=3*5-2*7-0=1

2、基本杆组的划分

图1-13中1为原动件，先移除，之后按拆杆组法进行拆分，即可得到由杆3和滑块2组成的RPRII级杆组，杆4和滑块5组成的RRPII级杆组。 机构分解图如图所示：

3、 各基本杆组的运动分析

图一为一级杆组，

xB lABcos ，yB lABsin

图二为RPR II杆组：

xE xB (lCE S)cos xE yB (lCE S)sin

jj

j arctan(B0/A0)

A0 xB xCB0 yB yC

由此可求得E点坐标，进而求得F点坐标。 图三为RRP II级杆组：

xF xE lEFcos iyF yE lEFsin i

i arcsin(A1/lEF)

A1 H H1 yB

对其求一阶导数为速度，求二阶导数为加速度。

4、数学模型

1、位移图

2、速度图

3、加速度图

5、计算程序编制

VERSION 5.00

Begin VB.Form 牛头刨连杆机构 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 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 TabIndex = 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 mandButton Command1 Caption = "Command1" Height = 495 Left = 120 TabIndex = 0 Top = 120 Width = 495 End End

Attribute VB_Name = "牛头刨连杆机构" Attribute VB_GlobalNameSpace = False Attribute VB_Creatable = False Attribute VB_PredeclaredId = True Attribute VB_Exposed = False

Private f1(3600) As Double '1杆的转角 Private xB0(3600) As Double Private yB0(3600) As Double Private vxB0(3600) As Double Private vyB0(3600) As 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 e3(3600) As Double Private s5(3600) As Double Private vs5(3600) As Double Private as5(3600) As Double 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 RPR1 As rpr Dim RRP1 As rrp

Set RR1 = New rr Set RPR1 = New rpr Set RRP1 = New rrp

pi = 4 * Atn(1) pa = pi / 180

Picture1.DrawWidth = 1

Picture1.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 "主动件转角/度" 'X

Picture1.CurrentX = 10: Picture1.CurrentY = 960

Picture1.Print "滑块位移S /mm" 'Y

For j = 30 To 390 Step 30 'X 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 Picture1.Line (0, j)-(5, j)

Picture1.CurrentX = -20: Picture1.CurrentY = j + 2 Picture1.Print j Next j

Picture1.DrawStyle = 2 For j = 0 To 1000 Step 80

Picture1.Line (-20, j)-(390, j), vbBlack ' Next j

For j = 0 To 390 Step 30

Picture1.Line (j, -20)-(j, 1000), vbBlack ' Next j

Picture2.DrawWidth = 1

表示 表示 轴坐标 轴坐标 横向网格纵向网格

Picture2.Scale (-20, 8000)-(390, -4000)

Picture2.Line (-20, 0)-(380, 0) 'X Picture2.Line (0, 8000)-(0, -4000) 'Y

Picture2.CurrentX = 340: Picture2.CurrentY = 400 Picture2.Print "主动件转角/度"

Picture2.CurrentX = 10: Picture2.CurrentY = 2400 Picture2.Print "滑块速度V mm/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 = -4000 To 8000 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 = -4000 To 8000 Step 800

Picture2.Line (-20, j)-(390, j), vbBlack '横向网格 Next j

For j = 30 To 390 Step 30

Picture2.Line (j, -4000)-(j, 8000), vbBlack '纵向网格 Next j

Picture3.DrawWidth = 1

Picture3.Scale (-20, 150000)-(380, -200000)

Picture3.Line (-20, 0)-(390, 0) 'X Picture3.Line (0, 150000)-(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 "滑块加速度a mm/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 Picture3.Print j Next j

For j = -200000 To 150000 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 150000 Step 10000

Picture3.Line (-200000, j)-(150000, j), vbBlack '横向网格 Next j

For j = 0 To 390 Step 30

Picture3.Line (j, -200000)-(j, 150000), 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0.01 'RR类模块属性赋值 f1(i) = i * pa / 10 RR1.f = f1(i) RR1.L = 108

RR1.w = 205 * 2 * pi / 60 RR1.e = 0 RR1.xA = 0 RR1.yA = 0 RR1.vxA = 0 RR1.vyA = 0 RR1.axA = 0 RR1.ayA = 0

RR1.calRR '执行RR类模块方法 xB0(i) = RR1.xB yB0(i) = RR1.yB vxB0(i) = RR1.vxB vyB0(i) = RR1.vyB axB0(i) = RR1.axB ayB0(i) = RR1.ayB

'RPR类模块属性赋值 RPR1.Li = 0 RPR1.Lj = 620 RPR1.Lk = 0 RPR1.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 = 0 RPR1.yD = -350 RPR1.vxD = 0 RPR1.vyD = 0 RPR1.axD = 0 RPR1.ayD = 0

RPR1.calRPR '执行RPR类模块方法 xE0(i) = RPR1.xE yE0(i) = RPR1.yE vxE0(i) = RPR1.vxE vyE0(i) = RPR1.vyE axE0(i) = RPR1.axE ayE0(i) = RPR1.ayE

'RRP类模块属性赋值 RRP1.Li = 300 RRP1.Lj = 0 RRP1.fj = 0 RRP1.wj = 0 RRP1.ej = O RRP1.xK = 0 RRP1.yK = 285 RRP1.vxK = 0 RRP1.vyK = 0 RRP1.axK = 0 RRP1.ayK = 0 RRP1.xB = xE0(i) RRP1.yB = yE0(i) RRP1.vxB = vxE0(i) RRP1.vyB = vyE0(i) RRP1.axB = axE0(i) RRP1.ayB = ayE0(i)

RRP1.calRRP '执行RRP类模块方法

s5(i) = RRP1.xC vs5(i) = RRP1.vxC as5(i) = RRP1.axC

Picture1.PSet (i / 10, s5(i)) '画出滑块位移s5(i)与 主动件转角 i/10 的关系图 Picture2.PSet (i / 10, vs5(i)), vbBlue Picture3.PSet (i / 10, as5(i)), vbRed Next i

Picture4.Print " 滑块位移 速度 加速度 主动件转角" For i = 0 To 3600 Step 20

Picture4.Print s5(i); vs5(i); as5(i); i / 10 Next i End Sub

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