平面连杆机构运动分析 - 图文

大作业（一）

平面连杆机构的运动分析

班 级： 姓 名： 姓 名： 姓 名： 指 导 教 师： 完 成 日 期： 机械原理大作业 机电学院05011303班

一、题目及原始数据

1.1、平面连杆机构的运动分析题目：

如图1.1所示，为一平面六杆机构。设已知各构件的尺寸如表 1.1 所示，又知原动件1以等角速度?1= 1rad/s 沿逆时针方向回转，试求各从动件的角位移、角速度及角加速度以及位移E点的位移、速度及加速度的变化情况。

表1.1 平面六杆机构的尺寸参数

l2'=65mm,xG=153.5mm,yG=41.7mm

题 号 l1 1-A l2 l3 l4 l5 l6 ? A B C 105.6 67.5 87.5 34.4 25 60° l1=26.5 l1=24 l1=29.5 要求每组（每三人为一组，每人一题）至少打印一份源程序，每个同学计 算出原动件从 0o到 360o时（计算点数 N=36）所要求各运动变量的大小，并绘出各组应的运动线图以及 E 点的轨迹曲线。

图1.1

二、平面连杆机构运动分析方程

2.1、位移方程：

l4cos?4cos?3?l1cos?1?h2?0 l4sin?4?s3sin?3?l1sin?1?h1?0

第1页

机械原理大作业 机电学院05011303班

l4cos?4?l3cos?3?s?c?0 l4sin?4?l3 sin?3?h?0

?v3?4?3vc?

2.2、速度方程：

??cos?3?l4sin?4?s3sin?30?Vsin?3l4cos?4s?3cos?301????0?l4sin?4?l3sin?3?1?? ?0l4cos?4l3cos?30??V2???l1sin?1l1cos?100?

V3??v3?4?3vc?

V3?V1\\V2

2.3、加速度方程：

???3sin?314?4cos?4v3sin?3?s3?3cos?3A??314?4sin?4??3?3?3?3?3111????014?4cos?413?3cos?3?014?4sin?413?3sin?3

A112=?v3 ?4?3vc? A11?A111 ? A112

A12???l1cos?1?l1sin?100?

A1?A11?A12

A3??a3?4?3ac?

A3?A2\\A1

第2页

0??0?? 0??机械原理大作业 机电学院05011303班

三、计算程序框图

迭代次数IT=0IT=IT+1调用位置方程（1）子程序代入的初值θi，并计算fi｜fi｜≤ENIT>ITmaxVY求得θi值Y停止调系数矩阵A调用高斯消去法子程序求解A△θi=fi求出△θiθi=θi+△θi第3页

机械原理大作业 机电学院05011303班

四、计算源程序

4.1主程序 %输入已知数据 clear l1=0.0240; l2=0.1056; l3=0.0675; l4=0.0875; l5=0.0344; l6=0.025; l22=0.065; xg=0.1535; yg=0.0417; omega1=1; alph1=0; hd=pi/180; du=180/pi; t1=1:10:361; theta2=1:10:361; theta3=1:10:361; theta5=1:10:361; theta6=1:10:361; omega2=1:10:361; omega3=1:10:361; omega5=1:10:361; omega6=1:10:361; alph2=1:10:361; alph3=1:10:361; alph5=1:10:361; alph6=1:10:361; xe=1:10:361; ye=1:10:361; V=1:10:361; a=1:10:361; theta1=0;

options=gaoptimset('PopulationSize',100,'Generations',10000,'StallGenLimit',500,'TolFun',1e-100);

theta0=ga(@(thet) weiyi_0(thet,theta1),4,options); if theta0(1)<0

theta0(1)=theta0(1)+2*pi;end

第4页

机械原理大作业 机电学院05011303班 if theta0(1)>2*pi

theta0(1)=theta0(1)-2*pi;end if theta0(2)<0

theta0(2)=theta0(2)+2*pi;end if theta0(2)>2*pi

theta0(2)=theta0(2)-2*pi;end if theta0(3)<0

theta0(3)=theta0(3)+2*pi;end if theta0(3)>2*pi

theta0(3)=theta0(3)-2*pi;end if theta0(4)<0

theta0(4)=theta0(4)+2*pi;end if theta0(4)>2*pi

theta0(4)=theta0(4)-2*pi; end

%调用子函数Fun_jixie计算该六杆机构的各杆角位移、角速度、角加速度以及E点的角位移、角速度、角加速度

for n1=1:10:361 theta1=(n1-1)*hd; t1(n1)=theta1*du;

theta=fsolve(@(thet) weiyi(thet,theta1),theta0); if theta(1)<0

theta(1)=theta(1)+2*pi;end if theta(1)>2*pi

theta(1)=theta(1)-2*pi;end if theta(2)<0

theta(2)=theta(2)+2*pi;end if theta(2)>2*pi

theta(2)=theta(2)-2*pi;end

if theta(3)<0

theta(3)=theta(3)+2*pi;end if theta(3)>2*pi

theta(3)=theta(3)-2*pi;end if theta(4)<0

theta(4)=theta(4)+2*pi;end if theta(4)>2*pi

theta(4)=theta(4)-2*pi;end

[xe(n1),ye(n1)]=weiyi_E(theta1,theta,l1,l2,l22);

[omega,alph] = Fun_jixie(theta1,omega1,l1,l2,l3,l5,l6,l22,theta);

[V(n1),a(n1)]=sudu_jasudu_E(omega(1),alph(1),theta,theta1,omega1,l1,l2,l22,alph1);

theta2(n1)=theta(1);theta3(n1)=theta(2);theta5(n1)=theta(3);theta6(n1)=theta

第5页

机械原理大作业 机电学院05011303班 (4);omega2(n1)=omega(1);omega3(n1)=omega(2);omega5(n1)=omega(3);omega6(n1)=omega(4);

alph2(n1)=alph(1);alph3(n1)=alph(2);alph5(n1)=alph(3);alph6(n1)=alph(4); theta0=theta; end

%绘制各杆件的角位移、角速度、角加速度 n2=1:10:361; n1=1:10:361; figure(1);%%%%%%

subplot(2,2,1)%绘制位移线图

plot((n1-1),theta2(n2)*du,'r-',(n1-1),theta3(n2)*du,'g-',(n1-1),theta5(n2)*du,'y-',(n1-1),theta6(n2)*du,'k-','LineWidth',1.5); title('各杆角位移线图');

xlabel('原动件1\\theta_1/\\circ'); ylabel('角位移/\\circ'); grid on;hold on; text(200,60,'θ2'); text(200,150,'θ3'); text(200,350,'θ5'); text(200,260,'θ6'); %%%%%%

subplot(2,2,2)%绘制角速度线图

plot((n1-1),omega2(n2),'r-',(n1-1),omega3(n2),'g-',(n1-1),omega5(n2),'y-',(n1-1),omega6(n2),'k-','LineWidth',1.5); title('各杆角速度线图');

xlabel('原动件1\\theta_1/\\circ'); ylabel('角速度/rad\\cdots^{-1}'); grid on;hold on; %%%%%%

subplot(2,2,3)%绘制角加速度线图

plot((n1-1),alph2(n2),'r-',(n1-1),alph3(n2),'g-',(n1-1),alph5(n2),'y-',(n1-1),alph6(n2),'k-','LineWidth',1.5); title('各杆角加速度线图');

xlabel('原动件1\\theta_1/\\circ'); ylabel('角加速度/rad\\cdots^{-2}'); grid on;hold on; %%%%%%% %求E点的位移 figure(2) subplot(2,2,1)

plot(xe(n1),ye(n1),'r-','LineWidth',1.5); title('E的位移线图'); xlabel('E在x方向位移'); ylabel('E在y方向位移');

第6页

机械原理大作业 机电学院05011303班 grid on;hold on; %求E点角速度与角加速度

subplot(2,2,2)%绘制E点角速度

plot((n1-1),V(n1),'r-','LineWidth',1.5); title('E点角速度');

xlabel('原动件1\\theta_1/\\circ'); ylabel('E点角速度/rad\\cdots^{-1}'); grid on;hold on;

subplot(2,2,3)%绘制E点角加速度

plot((n1-1),a(n1),'r-','LineWidth',1.5); title('E点角加速度');

xlabel('原动件1\\theta_1/\\circ'); ylabel('E点角加速度/rad\\cdots^{-2}'); grid on;hold on;

%将数据输出到Exel表shuju1.xls中

xlswrite('E:\\机械原理大作业\\平面六杆机构\\Matlab程序\\shuju3.xls',t1(n1)','sheet1','A1');

xlswrite('E:\\机械原理大作业\\平面六杆机构\\Matlab程序\\shuju3.xls',theta2(n1)'*du,'sheet1','B1'); xlswrite('E:\\机械原理大作业\\平面六杆机构\\Matlab程序\\shuju3.xls',theta3(n1)'*du,'sheet1','C1'); xlswrite('E:\\机械原理大作业\\平面六杆机构\\Matlab程序\\shuju3.xls',theta5(n1)'*du,'sheet1','D1'); xlswrite('E:\\机械原理大作业\\平面六杆机构\\Matlab程序\\shuju3.xls',theta6(n1)'*du,'sheet1','E1'); xlswrite('E:\\机械原理大作业\\平面六杆机构\\Matlab程序\\shuju3.xls',omega2(n1)','sheet1','F1'); xlswrite('E:\\机械原理大作业\\平面六杆机构\\Matlab程序\\shuju3.xls',omega3(n1)','sheet1','G1'); xlswrite('E:\\机械原理大作业\\平面六杆机构\\Matlab程序\\shuju3.xls',omega5(n1)','sheet1','H1'); xlswrite('E:\\机械原理大作业\\平面六杆机构\\Matlab程序\\shuju3.xls',omega6(n1)','sheet1','I1'); xlswrite('E:\\机械原理大作业\\平面六杆机构\\Matlab程序\\shuju3.xls',alph2(n1)','sheet1','J1');

xlswrite('E:\\机械原理大作业\\平面六杆机构\\Matlab程序\\shuju3.xls',alph3(n1)','sheet1','K1');

xlswrite('E:\\机械原理大作业\\平面六杆机构\\Matlab程序\\shuju3.xls',alph5(n1)','sheet1','L1');

xlswrite('E:\\机械原理大作业\\平面六杆机构\\Matlab程序\\shuju3.xls',alph6(n1)','sheet1','M1');

xlswrite('E:\\机械原理大作业\\平面六杆机构\\Matlab程序\\shuju3.xls',V(n1)','sheet1','N1');

xlswrite('E:\\机械原理大作业\\平面六杆机构\\Matlab程序

第7页

机械原理大作业 机电学院05011303班 \\shuju3.xls',a(n1)','sheet1','O1');

4.2从动件角位移，角速度，角加速度

function [omega,alph ] = Fun_jixie( theta1,omega1,l1,l2,l3,l5,l6,l22,theta) %从动件角位移

theta2=theta(1);theta3=theta(2);theta5=theta(3);theta6=theta(4); %%%%%%

%计算从动件角速度

A=[ -l2*sin(theta2), l3*sin(theta3), 0, 0; l2*cos(theta2), -l3*cos(theta3), 0, 0; -l22*sin(theta2 - pi/3), -l3*sin(theta3), -l5*sin(theta5), l6*sin(theta6);

l22*cos(theta2 - pi/3), l3*cos(theta3), l5*cos(theta5), -l6*cos(theta6)];

B=[l1*sin(theta1);-l1*cos(theta1);0;0]; omega=A\\(omega1*B);

omega2=omega(1);omega3=omega(2);omega5=omega(3);omega6=omega(4); %%%%%

%计算角从动件角加速度

A=[ -l2*sin(theta2), l3*sin(theta3), 0, 0; l2*cos(theta2), -l3*cos(theta3), 0, 0; -l22*sin(theta2 - pi/3), -l3*sin(theta3), -l5*sin(theta5), l6*sin(theta6);

l22*cos(theta2 - pi/3), l3*cos(theta3), l5*cos(theta5), -l6*cos(theta6)];

At=[-l2*omega2*cos(theta2),l3*omega3*cos(theta3), 0, 0; -l2*omega2*sin(theta2),l3*omega3*sin(theta3), 0, 0; -l22*omega2*cos(theta2 -

pi/3),-l3*omega3*cos(theta3),-l5*omega5*cos(theta5),l6*omega6*cos(theta6); -l22*omega2*sin(theta2 -

pi/3),-l3*omega3*sin(theta3),-l5*omega5*sin(theta5),l6*omega6*sin(theta6)]; Bt=[omega1*l1*cos(theta1);omega1*l1*sin(theta1);0;0;]; alph=A\\(-At*omega+omega1*Bt); end

?????点角速度，角加速度?

function [V,a]=sudu_jasudu_E(omega,alph,theta,theta1,omega1,l1,l2,l22,alph1) %求E点角速度

A=[-l1*sin(theta1),-l2*sin(theta(2))+l22*sin(pi/3-theta(1));l1*cos(theta1),l2*cos(theta(1))-l22*cos(pi/3-theta(1))]; B=[omega1;omega(1)];

第8页

机械原理大作业 机电学院05011303班 Vx=-l1*sin(theta1)*omega1-l2*sin(theta(2))+l22*sin(pi/3-theta(1))*omega(1); Vy=l1*cos(theta1)*omega1+l2*cos(theta(1))-l22*cos(pi/3-theta(1))*omega(1); V=sqrt(Vx^2+Vy^2); %求E点角加速度 D1=[alph1;alph(1)];

D2=[-l1*cos(theta1)*omega1,-l2*cos(theta(1))*omega(1)-l22*cos(pi/3-theta(1))*omega(1);-l1*sin(theta1)*omega1,-l2*sin(theta(2))*omega(1)+l22*sin(pi/3-theta(1))*omega(1)]; a1=A*D1+D2*B;

a=sqrt(a1(1)^2+a1(2)^2); end ?

4.4 E点位移

function [ xe,ye ] = weiyi_E( theta1,theta,l1,l2,l22) xe=l1*cos(theta1)+l2*cos(theta(1))+l22*cos(pi/3-theta(1)); ye=l1*sin(theta1)+l2*sin(theta(2))+l22*sin(pi/3-theta(1)); end

五、计算结果

1-C

各杆角位移变化 从动杆6 主动杆1 0 10 20 30 40 50 60 70 80 90 100 110 120 130 从动杆2 从动杆3 从动杆5 /(°) 35.6084 30.8934 27.0862 24.2472 22.2711 21.0007 20.2899 20.0246 20.1229 20.5287 21.2050 22.1289 23.2870 24.6719 65.6281 61.5375 59.5197 59.4280 60.9068 63.5668 67.0707 71.1528 75.6089 80.2819 85.0474 89.8033 94.4630 98.9507 207.9752 248.0929 194.8392 245.6683 185.6508 242.7925 179.3291 237.8174 174.5082 230.1716 169.5566 219.5693 162.6546 205.5980 152.0191 187.9072 136.6623 167.0176 118.6181 146.7459 102.4070 132.5408 90.2305 125.7210 81.3183 123.9271 74.4878 124.7856 第9页

机械原理大作业 机电学院05011303班

140 150 160 170 180 190 200 210 220 230 240 250 260 270 280 290 300 310 320 330 340 350 360 26.2796 28.1066 30.1477 32.3934 34.8277 37.4267 40.1568 42.9741 45.8240 48.6401 51.3440 53.8440 56.0339 57.7910 58.9751 59.4298 58.9895 57.4975 54.8445 51.0310 46.2458 40.9100 35.6084 103.1990 68.9103 126.7727 107.1472 64.1954 129.0116 110.7413 60.0940 130.9266 113.9345 56.4453 132.1274 116.6874 53.1161 132.3493 118.9678 49.9679 131.4342 120.7503 46.8439 129.3229 122.0147 43.5755 126.0459 122.7435 40.0051 121.7036 122.9190 36.0147 116.4381 122.5200 31.5507 110.3952 121.5184 26.6324 103.6769 119.8763 21.3373 96.2852 117.5442 15.7582 88.0633 114.4610 9.9287 110.5579 3.6988 78.6388 67.3608 105.7702 356.5045 53.1802 100.0632 346.8670 34.3210 93.4802 86.2118 78.6793 71.5539 65.6281 331.2049 7.5042 302.1698 327.0469 258.9097 278.6551 227.0232 254.5326 207.9744 248.0919 各杆角加位移变化 主动杆1 /(°) 0 10 20 30 40 50 60 70 80 90 100 110

从动杆2 从动杆3 从动杆5 /(rad/s) -0.5086 -0.4292 -0.3315 -0.2382 -0.1597 -0.0969 -0.0472 -0.0072 0.0260 0.0546 0.0803 0.1043 -0.5086 -0.3058 -0.1005 0.0760 0.2131 0.3132 0.3832 0.4299 0.4588 0.4738 0.4776 0.4721 从动杆6 -1.5567 -0.3234 -1.0981 -0.2238 -0.7553 -0.3786 -0.5319 -0.6263 -0.4595 -0.9068 -0.5604 -1.2182 -0.8498 -1.5798 -1.3021 -1.9614 -1.7368 -2.1529 -1.7842 -1.7954 -1.4218 -1.0270 -1.0319 -0.3838 第10页

机械原理大作业 机电学院05011303班

120 130 140 150 160 170 180 190 200 210 220 230 240 250 260 270 280 290 300 310 320 330 340 350 360 0.1272 0.1497 0.1718 0.1935 0.2145 0.2343 0.2521 0.2671 0.2782 0.2844 0.2845 0.2774 0.2618 0.2364 0.1995 0.1495 0.0847 0.0035 -0.0942 -0.2061 -0.3247 -0.4350 -0.5149 -0.5421 -0.5086 0.4586 0.4379 0.4108 0.3780 0.3401 0.2979 0.2521 0.2035 0.1527 0.0999 0.0455 -0.0108 -0.0695 -0.1315 -0.1978 -0.2697 -0.3481 -0.4336 -0.5246 -0.6162 -0.6975 -0.7493 -0.7458 -0.6655 -0.5086 -0.7715 -0.0154 -0.6117 0.1604 -0.5087 0.2231 -0.4374 0.2155 -0.3851 0.1612 -0.3466 0.0746 -0.3214 -0.0329 -0.3108 -0.1511 -0.3168 -0.2706 -0.3395 -0.3831 -0.3766 -0.4829 -0.4225 -0.5677 -0.4700 -0.6392 -0.5123 -0.7044 -0.5450 -0.7765 -0.5699 -0.8740 -0.5980 -1.0214 -0.6567 -1.2509 -0.8057 -1.6129 -1.1794 -2.2099 -2.0790 -3.2613 -3.8460 -4.8486 -4.1423 -3.9824 -2.3603 -1.1752 -1.5567 -0.3233 各杆角加位移变化 主动杆1 从动杆2 从动杆3 从动杆5 从动杆6 E点速度 E点加速度 /(rad/s) /(rad/s2) /(°) /(rad/s2) 0 10 20 30 40 50 60 70 80 90

0.3476 1.0714 3.1626 0.5345 1.2085 2.2553 0.5627 1.1132 1.6533 0.4964 0.9006 0.8734 0.4033 0.6738 -0.0636 0.3190 0.4800 -1.1073 0.2537 0.3282 -2.1925 0.2071 0.2122 -2.8440 0.1752 0.1227 -1.7169 0.1544 0.0519 1.2161 1.9234 0.1823 0.0915 -0.3877 0.1822 0.0889 -1.2475 0.1797 0.0756 -1.5371 0.1767 0.0604 -1.6787 0.1742 0.0476 -1.9124 0.1722 0.0383 -2.2138 0.1705 0.0321 -1.9765 0.1685 0.0282 0.2119 3.7526 第11页

0.1660 0.0259 0.1628 0.0244 机械原理大作业 机电学院05011303班

100 110 120 130 140 150 160 170 180 190 200 210 220 230 240 250 260 270 280 290 300 310 320 330 340 350 360 1- A

0.1414 -0.0062 2.4715 0.1339 -0.0556 1.8724 0.1298 -0.0989 1.1557 0.1276 -0.1376 0.7210 0.1258 -0.1723 0.4821 0.1228 -0.2032 0.3464 0.1175 -0.2300 0.2576 0.1085 -0.2527 0.1833 0.0948 -0.2710 0.1046 0.0756 -0.2855 0.0144 0.0505 -0.2970 -0.0832 0.0192 -0.3069 -0.1751 -0.0188 -0.3168 -0.2439 -0.0637 -0.3289 -0.2750 -0.1161 -0.3448 -0.2631 -0.1769 -0.3664 -0.2167 -0.2471 -0.3947 -0.1600 -0.3275 -0.4300 -0.1352 -0.4174 -0.4699 -0.2113 -0.5131 -0.5080 -0.5141 -0.6046 -0.5302 -1.3115 -0.6704 -0.5094 -3.2443 -0.6740 -0.4036 -7.5941 -0.3244 0.2262 9.9871 0.0212 0.6952 6.9614 0.3476 1.0714 3.1625 4.4195 2.8540 1.4672 0.6289 0.1276 0.1585 0.0232 0.1532 0.0222 0.1468 0.0211 0.1396 0.0199 0.1315 0.0186 -0.1944 0.1230 0.0173 -0.4152 0.1142 0.0159 -0.5659 0.1054 0.0148 -0.6563 0.0971 0.0140 -0.6896 0.0894 0.0138 -0.6713 0.0828 0.0145 -0.6124 0.0773 0.0159 -0.5293 0.0732 0.0182 -0.4435 0.0707 0.0212 -0.3823 0.0700 0.0249 -0.3781 0.0710 0.0294 -0.4652 0.0740 0.0347 -0.6758 0.0790 0.0407 -1.0437 0.0861 0.0470 -1.6308 0.0954 0.0524 -2.6059 0.1071 0.0546 -4.4372 0.1211 0.0497 -7.9373 0.1368 0.0332 18.8648 0.1675 0.0389 9.3408 1.9232 0.1777 0.0744 0.1823 0.0915 从

-0.5685 -0.1643 -10.9200 -7.7274 0.1530 0.0060 各杆角位移变化：主动杆1 从动杆2 从动杆3 从动杆5 从动杆6 角速度变化：主动杆1 动杆2 0 10 20 30 40

E点速度 E点加速度

从动杆3 从动杆5 从动杆6 角加速度变化：从动杆2 从动杆3 从动杆5 从动杆6

37.5874 73.3953 132.3244 -249.1610 -0.4173 -0.4173 -2.9518 -3.9210 0.1853

11.4966 12.2492 0.1750 5.4435 2.2858 0.7957 0.0186

7.2001 4.2935 2.6200 1.3992

0.1771 0.1769 0.1756 0.1737

0.0662 0.0698 0.0652

-0.7802 -0.8393 0.3918 -0.7120 -0.4874 0.3525

0.0565 0.0471 第12页

33.9922 70.5461 112.3625 83.0629 -0.3725 -0.2752 -1.6190 -2.3483 0.3312 30.8938 68.3522 100.7887 66.3895 -0.3099 -0.1240 -1.0223 -1.4183 0.3947 28.3939 68.8217 92.8061 56.3457 -0.2421 0.0176 26.4980 68.0969 86.1429 50.4847 -0.1776 0.1386

0.7684 0.8861 0.8748 0.7725 0.6300

机械原理大作业 机电学院05011303班

50 60 70 80 90

25.1553 70.3847 79.6002 46.9508 -0.1203 0.2355

-0.5568 0.2390

0.1717

0.0388

-0.8813 -0.3641 0.2533 -1.1655 -0.6919 0.2131 -1.6505 -1.4058 0.1823 -2.1120 -2.2571 0.1598 0.0323 0.0276

0.3991 0.4213 0.0244 24.2950 73.9013 72.3014 44.0020 -0.0710 0.3093

-1.2895 -1.2162 0.1695 -2.4793 -3.4059 0.1670 -3.5724 -5.7645 0.1640 23.8476 75.1559 63.1407 39.4490 -0.0289 0.3627 23.7541 78.6178 50.5946 30.3211 0.0074 23.9684 82.3428 33.3226 13.5585 0.0393

-0.7470 -0.3233 0.3016

0.4844 0.3542 0.2447 0.1547 0.0808 -1.6008 -4.2438 0.1604 0.0224 100 24.4557 86.2130 14.0722 351.3272 0.0679 0.0194

2.3723

0.6473 0.1560 0.0210 110 25.1910 90.1287 357.8431 329.7360 0.0942 -0.0326 3.5937 2.8204 0.1509 0.0199 120 26.1562 94.0046 346.5251 311.9913 0.1188 -0.0774 2.9022 2.6888 0.1450 0.0190 130 27.3381 97.7660 339.3348 298.1684 0.1421 -0.1166 1.9341 2.0410 0.1384 0.0179 140 28.7259 101.3476 334.8721 287.2791 0.1642 -0.1510 1.1653 1.4750 0.1312 0.0168 150 30.3094 104.6913 332.0658 278.6109 0.1852 -0.1812 0.6238 1.0709 0.1237 0.0156 160 32.0769 107.7461 330.1164 271.5735 0.2048 -0.2074 0.2498

0.7872

0.1161 0.0145 170 34.0134 110.4673 328.4700 265.7510 0.2225 -0.2297 -0.0073 0.5761 0.1086 0.0136 180 36.0993 112.8168 326.7451 260.8343 0.2377 -0.2485 -0.1801 0.4041 0.1015 0.0131 190 38.3086 114.7624 324.6851 256.5725 0.2496 -0.2641 -0.2889 0.2529 0.0949 0.0132 200 40.6082 116.2773 322.1285 252.7450 0.2575 -0.2774 -0.3478 0.1167 0.0893 0.0140 210 42.9568 117.3387 318.9886 249.1546 0.2603 -0.2895 -0.3685 0.0004

0.0847

0.0157 220 45.3047 117.9264 315.2360 245.6335 0.2571 -0.3017 -0.3620 -0.0853 0.0813 0.0181

230 47.5932 118.0211 310.8823 242.0595 0.2470 -0.3151 -0.3403 -0.1278 0.0794 0.0211 240 49.7540 117.6023 305.9627 238.3738 0.2288 -0.3310 -0.3164 -0.1187 0.0791 0.0247 250 51.7094 116.6472 300.5166 234.5934 0.2014 -0.3501 -0.3049 -0.0572 0.0803 0.0288 260 53.3719 115.1293 294.5668 230.8117 0.1639

-0.3721 -0.3194 0.0467

0.0834

0.0333 第13页

0.4315 -2.0322 0.4316 -1.5207 0.4229 -0.9979 0.4065 -0.6212 0.3833 -0.3835 0.3541 -0.2503 0.3196 -0.1901 0.2806 -0.1804 0.2377 -0.2052 0.1915 -0.2526 0.1426 -0.3135 0.0914 -0.3804 0.0380

-0.4480 -0.0175 -0.5127 -0.0754 -0.5729 -0.1360 -0.6293 -0.1997 -0.6848 -2.5206 0.1440 -2.1913 0.1332 -1.7317 0.1258 -1.3498 0.1203 -1.0652 0.1154 -0.8573 0.1096 -0.7032 0.1019 -0.5877 0.0910 -0.5024 0.0762 -0.4427 0.0567 -0.4061 0.0318 -0.3899 0.0013 -0.3900 -0.0353

-0.4004 -0.0782 -0.4132 -0.1278 -0.4199 -0.1843 -0.4124 -0.2475

机械原理大作业 机电学院05011303班

270 54.6447 113.0192 288.1003 227.1842 0.1152 -0.3955 -0.3688 0.1726 -0.4161 -0.4543 0.2910 -0.4262 -0.5690 0.3631 -0.4125 -0.7072 0.3318 0.0882 0.0949 0.1034 0.1136 0.0379

-0.3369 -0.8133 -0.3370 -0.3886

0.0419 0.0442 0.0430 280 55.4237 110.2873 281.0562 223.8989 0.0548

-0.2668 -0.7443 -0.3852 -0.3165

290 55.6019 106.9102 273.3252 221.1329 -0.0173 -0.4090 -0.8967 -0.2718 -0.4578 300 55.0787 102.8823 264.7607 218.9966 -0.0997 -0.4800 -0.9979 -0.2008 -0.5135 310 53.7760 98.2358 255.1855 217.4477 -0.1886 -0.5444 -1.1213 -0.1481 -0.5388 -0.3560 -0.9028 0.0758

0.1253

0.0358 320 51.6630 93.0677 244.3304 216.0976 -0.2772 -0.2347 -1.4134 -0.8402 0.1379 0.0210 330 48.7870 87.5711 231.3350 213.4091 -0.3551 -0.0335 -4.1473 -5.1606 0.1504 0.0016 340 45.3000 82.0541 210.8268 201.0289 -0.4101 0.2382 -21.6876 -31.2573 0.1615 0.0280 350 41.4594 76.9211 168.4185 155.7385 -0.4319 0.5314 8.8888

5.4742

0.1699

0.0516 360 37.5877 72.6042 132.2974 110.8020 -0.4173 0.7684 11.4947 12.2491 0.1750

0.0662

1-B 0 35.6084 60.6281 114.9568 35.1604 (0.4138)

0.8169 4.9187 6.0195 0.1719 0.0674 10 30.8924 61.5362 102.5057 52.3535 (0.3491) 0.9214 1.8880 3.9732 0.1722 0.0665 20 27.0862 59.5197 95.1924 39.9378 (0.2697) 0.8595 0.5233 2.7968 0.1705 0.0577 30 24.2472 59.4280 89.3810 31.1071 (0.1938) 0.7106 (0.0275) 1.9043 0.1684 0.0473 40 22.2711 140.9068 83.5433 28.1206 (0.1299) 0.5471 (0.2483) 1.1174 0.1668 0.0383 50 21.0007 63.5668 77.0508 28.9672 (0.0788) 0.4034 (0.4096) 0.3728 0.1656 0.0315 60 20.2899 67.0707 69.4300 27.5319 (0.0384) 0.2872 (0.6704) (0.4521) 0.1645 0.0267 70 20.0246 71.1528 59.9933 25.8948 (0.0059) 0.1952 (1.1162) (1.5252) 0.1633 0.0234 80 20.1229 75.6089 47.5321 18.8230 0.0211 0.1216 (1.5023) (2.6442) 0.1615 0.0211

90

20.5287 80.2819 31.3070 3.1795 0.0444 0.0613 (0.7095) (2.2750) 0.1590 0.0194 100 21.2050 85.0474 13.4384 343.3043 0.0653 0.0103

1.1740

(0.0114)

0.1556

0.0181

110 22.1289 89.8033 358.3468 322.8561 0.0848

第14页

-0.5934 -1.2883 -0.6148 -1.6460 -0.5961 -3.3535 -0.5293 -5.0122 -0.4173 -2.9504 (0.4138) (1.3994) (0.2488) (0.7314) (0.0818) (0.5036) 0.0619 (0.4624) 0.1734 (0.4953) 0.2548 (0.5661) 0.3117 (0.6815) 0.3497 (0.8738) 0.3732 (1.1685) 0.3855 (1.4432) 0.3886 (1.3945) 0.3841

(1.0340)

-0.1739 -0.5122 -0.5258 -0.4142 -2.9018 -0.2419 -5.8883 -0.0235 -3.9199 0.1853

(2.4028) 0.2650 (1.4428) 0.4055 (0.8102) 0.4334 (0.3856) 0.3926 (0.1313) 0.3304 (0.0309) 0.2720 (0.0875) 0.2257 (0.3374) 0.1915 (0.8300) 0.1673 (1.4342) 0.1505 (1.7156) 0.1392 (1.5613)

0.1316

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