哈工大机械原理大作业1-连杆机构运动分析-22题
哈尔滨工业大学机械原理大作业_连杆26题

1.运动分析题目如图所示机构,已知机构各构件的尺寸为AB=108mm,EF=320mm,BC=CE=CD=200mm,FG=162mm,AD=258mm,AG=514mm,DG=384mm,β=80º,构件1的角速度为ω1=10rad/s,试求构件2上点E的轨迹及构件5的角位移、角速度和角加速度,并对计算结果进行分析。
2.机构的结构分析,组成机构的基本杆组划分3.各基本杆组的运动分析数学模型(1)RR基本杆组:delt=0xB = xA + AB * Cos(f + delt)yB = yA + AB* Sin(f + delt)vxB = vxA - w * AB * Sin(f + delt)vyB = vyA + w * AB* Cos(f + delt)axB = axA - w ^ 2 * AB * Cos(f + delt):ayB = ayA - w ^ 2 * AB* Sin(f + delt)(2)RRR基本杆组Ci = 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)EB = 2 * BC * Cos(febc)xE = xB + EB* Cos(fbc + febc)yE = yB + EB * Sin(fbc + febc)vxE = vxB – wbc * EB* Sin(fbc + febc)vyE = vyB + wbc * EB* Cos(fbc + febc)axE = axB - wbc ^ 2 * EB * Cos(fbc + delt) - ebc * EB * Sin(fbc + febc)ayE = ayB - wbc ^ 2 * leb * Sin(fbc + delt) + ebc * leb * Sin(fbc + febc) Ci = lef * Cos(fef)Si = lef * Sin(fef)Cj = lfg * Cos(ffg)Sj = lfg * Sin(ffg)G1 = Ci * Sj - Cj * Siwef = (Cj * (vxG - vxE) + Sj * (vyG - vyE)) / G1wfg = (Ci * (vxG - vxE) + Si * (vyG - vyE)) / G1vxF = vxE - wef * lef * Sin(fef)vyF = vyE + wef * lef * Cos(fef)G2 = axG - axE + wef ^ 2 * Ci - wfg ^ 2 * CjG3 = ayG - ayE + wef ^ 2 * Si - wfg ^ 2 * Sjeef = (G2 * Cj + G3 * Sj) / G1efg = (G2 * Ci + G3 * Si) / G1axF = axE - eef * lef * Sin(fef) - wef ^ 2 * lef * Cos(fef)ayF = ayE + eef * lef * Cos(fef) - wef ^ 2 * lef * Sin(fef)4.计算编程Dim xA As DoubleDim yA As DoubleDim vxA As DoubleDim vyA As DoubleDim axA As Double 'A '点加速度x轴分量Dim ayA As Double 'A '点加速度y轴分量Dim xB As Double 'B'点'x轴坐标Dim yB As Double 'B点y轴坐标Dim vxB As Double 'B点速度x轴分量Dim vyB As Double 'B点速度y轴分量Dim axB As Double 'B点加速度x轴分量Dim ayB As Double 'B点加速度y轴分量Dim xC As Double 'C点x轴坐标Dim yC As Double C'点y轴坐标Dim vxC As Double 'C点速度x轴分量Dim vyC As Double 'C点速度y轴分量Dim axC As Double 'C点加速度x轴分量Dim ayC As Double 'C点加速度y轴分量Dim xD As Double 'D点x轴坐标Dim yD As Double 'D点y轴坐标Dim vxD As Double 'D点速度x轴分量Dim vyD As Double 'D点速度y轴分量Dim axD As Double 'D点加速度x轴分量Dim ayD As Double 'D点加速度y轴分量Dim xE As Double 'E点x轴坐标Dim yE As Double 'E点y轴坐标Dim vxE As Double 'E点速度x轴分量Dim vyE As Double 'E点速度y轴分量Dim axE As Double 'E点加速度x轴分量Dim ayE As Double 'E点加速度y轴分量Dim xF As Double 'F点x轴坐标Dim yF As Double 'F点y轴坐标Dim vxF As Double 'F点速度x轴分量Dim vyF As Double 'F点速度y轴分量Dim axF As Double 'F点加速度x轴分量Dim ayF As Double 'F点加速度y轴分量Dim xG As Double 'G点x轴坐标Dim yG As Double 'G点y轴坐标Dim vxG As Double 'G点速度x轴分量Dim vyG As Double 'G点速度y轴分量Dim axG As Double 'G点加速度x轴分量Dim ayG As Double 'G点加速度y轴分量Dim delt As Double ' AB杆初始转角Dim lab As Double 'AB杆长Dim lbc As Double 'BC杆长Dim lcd As Double ' CD杆长Dim lce As Double 'CE杆长Dim lef As Double 'EF杆长Dim lfg As Double 'FG杆长Dim leb As Double 'ED杆长Dim f As Double 'AB杆转角Dim fbc As Double 'BC杆转角Dim fcd As Double 'CD杆转角Dim fce As Double 'CE杆转角Dim fef As Double 'EF杆转角Dim ffg As Double 'FG杆转角Dim fge As Double 'ge杆转角Dim w As Double 'AB杆角速度Dim wbc As Double ' BC角速度Dim wcd As Double 'CD角速度Dim wce As Double 'CE角速度Dim wef As Double 'EF角速度Dim wfg As Double 'FG角速度Dim e As Double 'AB杆角加速度Dim ebc As Double ' BC杆角加速度Dim ecd As Double 'CD杆角加速度Dim ece As Double 'CE杆角加速度Dim eef As Double 'EF杆角加速度Dim efg As Double 'FG杆角加速度Dim LBD As Double 'BD距离Dim leg As Double 'EG距离Dim JCBD As Double '角CBDDim jfeg As Double '角FEGDim fBD As Double 'BD转角Dim feg As Double 'EG转角Dim Ci As DoubleDim Cj As DoubleDim Si As DoubleDim Sj As DoubleDim G1 As DoubleDim G2 As DoubleDim G3 As DoubleDim val As DoubleDim pi As DoubleDim pa As DoubleDim febc As Double '角EBCDim i As DoubleDim fj1 As DoublePrivate Sub Command1_Click() '求点E的轨迹Picture1.Scale (-300, 400)-(10, -15)Picture1.Line (-300, 0)-(10, 0) 'XPicture1.Line (0, 400)-(0, -15) 'YFor i = -300 To 0 Step 50 'X轴坐标Picture1.DrawStyle = 2Picture1.Line (i, 400)-(i, 0)Picture1.CurrentX = i - 10: Picture1.CurrentY = 0 Picture1.Print iNext iFor i = 0 To 350 Step 50 'Y轴坐标Picture1.DrawStyle = 2Picture1.Line (0, i)-(-400, i)Picture1.CurrentX = -20: Picture1.CurrentY = i + 7 Picture1.Print iNext iFor fj1 = 0 To 360 Step 0.01f = fj1 * paCall RR1Call RRR1Call RR2Picture1.PSet (xE, yE)Next fj1End SubPrivate Sub Command2_Click() '求构件5的角位移Picture2.Scale (-20, 5)-(380, -0.5)Picture2.Line (-20, 0)-(380, 0) 'XPicture2.Line (0, 3)-(0, -0.5) 'YFor i = 0 To 360 Step 30 'X轴坐标Picture2.DrawStyle = 2Picture2.Line (i, 3)-(i, 0)Picture2.CurrentX = i - 10: Picture2.CurrentY = 0 Picture2.Print iNext iFor i = -0.5 To 3 Step 0.5 'Y轴坐标Picture2.Line (0, i)-(380, i)Picture2.CurrentX = -25: Picture2.CurrentY = i Picture2.Print iNext iFor fj1 = 0 To 360 Step 0.01f = fj1 * paCall RR1Call RRR1Call RR2Call RRR2Picture2.PSet (fj1, ffg)Next fj1End SubPrivate Sub Command3_Click() '求构件5的角速度Picture3.Scale (-20, 10)-(380, -10)Picture3.Line (-20, 0)-(380, 0) 'XPicture3.Line (0, 10)-(0, -10) 'YFor i = 0 To 360 Step 30 'X轴坐标Picture3.DrawStyle = 2Picture3.Line (i, 10)-(i, -10)Picture3.CurrentX = i - 10: Picture3.CurrentY = 0 Picture3.Print iNext iFor i = -8 To 8 Step 2 'Y轴坐标Picture3.Line (0, i)-(380, i)Picture3.CurrentX = -20: Picture3.CurrentY = i Picture3.Print iNext iFor fj1 = 0 To 360 Step 0.01f = fj1 * paCall RR1Call RRR1Call RR2Call RRR2Picture3.PSet (fj1, wfg)Next fj1End SubPrivate Sub Command4_Click() '求构件5的角加速度Picture4.Scale (-20, 300)-(380, -200)Picture4.Line (-20, 0)-(380, 0) 'XPicture4.Line (0, 300)-(0, -200) 'YFor i = 0 To 360 Step 30 'X轴坐标Picture4.DrawStyle = 2Picture4.Line (i, 300)-(i, -200)Picture4.CurrentX = i - 10: Picture4.CurrentY = 0 Picture4.Print iNext iFor i = -200 To 300 Step 50 'Y轴坐标Picture4.Line (0, i)-(380, i)Picture4.CurrentX = -25: Picture4.CurrentY = i + 5 Picture4.Print iNext iFor fj1 = 0 To 360 Step 0.01f = fj1 * paCall RR1Call RRR1Call RR2Call RRR2Picture4.PSet (fj1, efgNext fj1End SubPrivate Sub Form_Load() '赋初值lab = 108lce = 200lbc = 200lcd = 200lef = 320lfg = 162w = 10e = 0delt = 0xA = 0yA = 0vyA = 0axA = 0ayA = 0xD = -178.311284yD = 186.464704vxD = 0vyD = 0axD = 0ayD = 0xG = -514yG = 0vxG = 0vyG = 0axG = 0ayG = 0pi = 3.1415926pa = pi / 180febc = pa * 50End SubPrivate Sub RR1() 'RR基本杆组xB = xA + lab * Cos(f + delt)yB = yA + lab * Sin(f + delt)vxB = vxA - w * lab * Sin(f + delt)vyB = vyA + w * lab * Cos(f + delt)axB = axA - w ^ 2 * lab * Cos(f + delt) - e * lab * Sin(f + delt)ayB = ayA - w ^ 2 * lab * Sin(f + delt) + e * lab * Sin(f + delt)End SubPrivate Sub RR2() 'RR基本杆组leb = 2 * lbc * Cos(febc)xE = xB + leb * Cos(fbc + febc)yE = yB + leb * Sin(fbc + febc)vxE = vxB - wbc * leb * Sin(fbc + febc)vyE = vyB + wbc * leb * Cos(fbc + febc)axE = axB - wbc ^ 2 * leb * Cos(fbc + delt) - ebc * leb * Sin(fbc + febc) ayE = ayB - wbc ^ 2 * leb * Sin(fbc + delt) + ebc * leb * Sin(fbc + febc) End SubPrivate Sub RRR1() 'RRR基本杆组LBD = Sqr((xD - xB) ^ 2 + (yD - yB) ^ 2)If LBD > lbc + lcd And LBD < Abs(lbc - lcd) ThenIf MsgBox("RRR杆组杆长不符合要求", vbOKOnly, "提示") = 1 Then EndEnd IfElseEnd IfIf LBD < lbc + lcd And LBD > Abs(lbc - lcd) Then val = (lbc ^ 2 + LBD ^ 2 - lcd ^ 2) / (2 * lbc * LBD) JCBD = Atn(-val / Sqr(-val * val + 1)) + 2 * Atn(1) ElseEnd IfIf LBD = lbc + lcd ThenJCBD = 0ElseEnd IfIf LBD = Abs(lbc - lcd) ThenIf lbc > lcd ThenJCBD = 0ElseEnd IfIf lbc < lcd ThenJCBD = piElseEnd IfElseEnd IfIf xD > xB And yD >= yB Then '第一象限fBD = Atn((yD - yB) / (xD - xB))ElseEnd IfIf xD = xB And yD > yB ThenfBD = pi / 2ElseEnd IfIf xD < xB And yD >= yB Then '第二象限fBD = pi + Atn((yD - yB) / (xD - xB))ElseEnd IfIf xD < xB And yD < yB Then '第三象限fBD = pi + Atn((yD - yB) / (xD - xB))ElseEnd IfIf xD = xB And yD < yB ThenfBD = 3 * pi / 2ElseEnd IfIf xD > xB And yD <= yB Then '第四象限fBD = 2 * pi + Atn((yD - yB) / (xD - xB))ElseEnd Iffbc = fBD - JCBDxC = xB + lbc * Cos(fbc)yC = yB + lbc * Sin(fbc)If xC > xD And yC >= yD Then '第一象限fcd = Atn((yC - yD) / (xC - xD))ElseEnd IfIf xC = xD And yC >= yD Thenfcd = pi / 2ElseEnd IfIf xC < xD And yC >= yD Then '第二象限fcd = pi + Atn((yC - yD) / (xC - xD))ElseEnd IfIf xC < xD And yC < yD Then '第三象限fcd = pi + Atn((yC - yD) / (xC - xD))ElseEnd IfIf xC = xD And yC < yD Thenfcd = 3 * pi / 2ElseEnd IfIf xC > xD And yC <= yD Then '第四象限fcd = 2 * pi + Atn((yC - yD) / (xC - xD))ElseEnd IfCi = 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)) / G1 wcd = (Ci * (vxD - vxB) + Si * (vyD - vyB)) / G1 vxC = 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 * Sj ebc = (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)End SubPrivate Sub RRR2() 'RRR基本杆组leg = Sqr((xG - xE) ^ 2 + (yG - yE) ^ 2)If leg > lef + lfg And leg < Abs(lef - lfg) ThenIf MsgBox("RRR杆组杆长不符合要求", vbOKOnly, "提示") = 1 Then EndElseEnd IfElseEnd IfIf leg < lef + lfg And leg > Abs(lef - lfg) Thenval = (lef ^ 2 + leg ^ 2 - lfg ^ 2) / (2 * lef * leg)jfeg = Atn(-val / Sqr(-val * val + 1)) + 2 * Atn(1)ElseEnd IfIf leg = lef + lfg Thenjfeg = 0ElseEnd IfIf leg = Abs(lef - lfg) ThenIf lef > lfg Thenjfeg = 0ElseEnd IfIf lef < lfg Thenjfeg = piElseEnd IfElseEnd IfIf xG > xE And yG >= yE Then '第一象限feg = Atn((yG - yE) / (xG - xE))ElseEnd IfIf xG = xE And yG > yE Thenfeg = pi / 2ElseEnd IfIf xG < xE And yG >= yE Then '第二象限feg = pi + Atn((yG - yE) / (xG - xE))ElseEnd IfIf xG < xE And yG < yE Then '第三象限feg = pi + Atn((yG - yE) / (xG - xE)) ElseEnd IfIf xG = xE And yG < yE Thenfeg = 3 * pi / 2ElseEnd IfIf xG > xE And yG <= yE Then '第四象限feg = 2 * pi + Atn((yG - yE) / (xG - xE)) ElseEnd Iffef = feg - jfegxF = xE + lef * Cos(fef)yF = yE + lef * Sin(fef)If xF > xG And yF >= yG Then '第一象限ffg = Atn((yF - yG) / (xF - xG))ElseEnd IfIf xF = xG And yF >= yG Thenffg = pi / 2ElseEnd IfIf xF < xG And yF >= yG Then '第二象限ffg = pi + Atn((yF - yG) / (xF - xG)) ElseEnd IfIf xF < xG And yF < yG Then '第三象限ffg = pi + Atn((yF - yG) / (xF - xG)) ElseEnd IfIf xF = xG And yF < yG Thenffg = 3 * pi / 2ElseEnd IfIf xF > xG And yF <= yG Then '第四象限ffg = 2 * pi + Atn((yF - yG) / (xF - xG)) ElseEnd IfCi = lef * Cos(fef)Si = lef * Sin(fef)Cj = lfg * Cos(ffg)Sj = lfg * Sin(ffg)G1 = Ci * Sj - Cj * Siwef = (Cj * (vxG - vxE) + Sj * (vyG - vyE)) / G1wfg = (Ci * (vxG - vxE) + Si * (vyG - vyE)) / G1vxF = vxE - wef * lef * Sin(fef)vyF = vyE + wef * lef * Cos(fef)G2 = axG - axE + wef ^ 2 * Ci - wfg ^ 2 * CjG3 = ayG - ayE + wef ^ 2 * Si - wfg ^ 2 * Sjeef = (G2 * Cj + G3 * Sj) / G1efg = (G2 * Ci + G3 * Si) / G1axF = axE - eef * lef * Sin(fef) - wef ^ 2 * lef * Cos(fef)ayF = ayE + eef * lef * Cos(fef) - wef ^ 2 * lef * Sin(fef)End Sub5.结果及分析图1 E点的运动轨迹(1)由图1所示,E点的运动轨迹呈稍倾斜“8字形”。
哈工大机械原理大作业1 连杆机构运动分析 牛头刨床 学号5号

大作业1 连杆机构运动分析运动分析题目图1-13 牛头刨床机构简图一、按比例画出机构运动简图见A3图纸二、机构的结构分析及基本杆组的划分(1)机构的结构分析该机构为平面连杆机构,活动构件数n=5;有A、B、C、E、F五个转动副和B、F两个移动副,没有高副,故低副数PL=7,高副数PH=0。
机构的自由度F=3n-2PL-PH=3*5-2*7=1。
机构有确定运动轨迹。
(2)基本杆组的划分图1-13中,原动件构件1为Ⅰ级杆组,移除之后按照拆杆组法对机构进行拆分,可得由滑块2和杆3组成的RPRⅡ级杆组,以及由杆4和滑块5组成的RRPⅡ级杆组。
拆分图如下:图1-13-1 Ⅰ级杆组图1-13-2 RPRⅡ级杆组图1-13-3 RRPⅡ级杆组三、各杆组的运动分析数学模型图1-13-1 Ⅰ级杆组 x B =x A +l AB cos ϕy B =y A +l AB sin ϕ图1-13-2 RPR Ⅱ级杆组 x E =x B +(l CE -s)cos ϕj y E =y B +(l CE -s)sin ϕjϕj =arctan(B 0/A 0)A 0=xB -x CB 0=y B -y CS =2020B A + 图1-13-3 RRP Ⅱ级杆组F 的位置 x F =x E -l EF cos ϕiy F =y E +l EF sin ϕi ϕi =arcsin(A 1/l EF )A 1=H-H 1-y EF 的速度F 的加速度四、建立坐标系以A 为原点建立坐标系,则A (0,0)五、编程使用MATLAB 编写程序如下lAB=108;lCD=620;lEF=300;H1=350;H=635;xC=0;yC=-350;syms t;f=(255*pi/30)*t;xB=lAB*cos(f);yB=lAB*sin(f);A0=xB-xC;B0=yB-yC;S=sqrt(A0^2+B0^2);f1=atan(B0/A0);xE=xB+(lAB-S)*cos(f1);yE=yB+(lAB-S)*sin(f1);A1=H-H1-yE;f2=asin(A1/lEF);xF=xE-lEF*cos(f2);yF=yE+lEF*sin(f2);a=0:0.001:0.5;xF=subs(xF,t,a);plot(a,xF)title('位移x随时间t变化图像') xlabel('t(s)'),ylabel(X')lAB=108;lCD=620;lEF=300;H1=350;H=635;xC=0;yC=-350;syms t;f=(255*pi/30)*t;xB=lAB*cos(f);yB=lAB*sin(f);A0=xB-xC;B0=yB-yC;S=sqrt(A0^2+B0^2);f1=atan(B0/A0);xE=xB+(lAB-S)*cos(f1);yE=yB+(lAB-S)*sin(f1);A1=H-H1-yE;f2=asin(A1/lEF);xF=xE-lEF*cos(f2);yF=yE+lEF*sin(f2);vF=diff(xF,t);a=0:0.001:0.5;vF=subs(vF,t,a);plot(a,vF)title('速度v随时间t变化图像') xlabel('t(s)'),ylabel(V')lAB=108;lCD=620;lEF=300;H1=350;H=635;xC=0;yC=-350;syms t;f=(255*pi/30)*t;xB=lAB*cos(f);yB=lAB*sin(f);A0=xB-xC;B0=yB-yC;S=sqrt(A0^2+B0^2);f1=atan(B0/A0);xE=xB+(lAB-S)*cos(f1);yE=yB+(lAB-S)*sin(f1);A1=H-H1-yE;f2=asin(A1/lEF);xF=xE-lEF*cos(f2);yF=yE+lEF*sin(f2);aF=diff(xF,t,2);a=0:0.001:0.5;aF=subs(aF,t,a);plot(a,aF)title('加速度a随时间t变化图像') xlabel('t(s)'),ylabel(A')六、位移、速度、加速度图像位移xE随时间t变化图像速度vE随时间t变化图像加速度aE随时间t变化图像七、运动分析由MATLAB编程后绘制所得图线分析可知,牛头刨床的刨头F行程约为500mm,在0.06s~0.17s之间速度和加速度波动较大,在0.17s~0.29s 之间速度和加速度波动较小,这就保证了刨头在空行程时有急回运动,而在工作行程是由较均匀的切削速度,运动连续,且运动性能良好稳定。
哈尔滨工业大学机械原理大作业-连杆机构运动分析

%打印图像
figure(1);
plot(fi1,sF);
title('位移变化曲线');
figure(2);
plot(fi1,vF);
title('速度变化曲线');
figure(3);
plot(fi1,aF);
title('加速度变化曲线');
六、计算结果
图8:推杆位移变化曲线
图9:推杆速度变化曲线
xD=400;yD=500;vDx=0;vDy=0;aDx=0;aDy=0;
xK=0;yK=600;vKx=0;vKy=0;aKx=0;aKy=0;
l1=150;l2=600;l3=500;lBE=480;l4=600;
fi5=pi;
n1=50;
w1=2*pi*n1/60;
fi1=linspace(0,2*pi,1000);
aEy(i)=aBy(i)-w2(i)^2*lBE*sin(fi2(i))+a2(i)*lBE*cos(fi2(i));
%求F点的运动参数
A1(i)=(yE(i)-yK)*cos(fi5)-(xE(i)-xK)*sin(fi5);
fi4(i)=fi5-asin(A1(i)/l4);
xF(i)=xE(i)+l4*cos(fi4(i));
(2)速度和加速度分析
B点的速度
B点的加速度
2、由“RRRⅡ级杆组”,已知B点和D点的运动参数,可求得构件2、构件3的运动参数
图5
D点的坐标方程
D点的速度
D点的加速度
(1)位置方程
构件2、构件3的长度
先求出 和
其中
则可求得
哈工大机械原理大作业

H a r b i n I n s t i t u t e o f T e c h n o l o g y机械原理大作业一课程名称:机械原理设计题目:连杆机构运动分析院系:机电学院班级: 1208105分析者:殷琪学号:指导教师:丁刚设计时间:哈尔滨工业大学设计说明书1 、题目如图所示机构,一只机构各构件的尺寸为AB=100mm,BC=4.28AB,CE=4.86AB,BE=8.4AB,CD=2.14AB,AD=4.55AB,AF=7AB,DF=3.32AB,∠BCE=139?。
构件1的角速度为ω1=10rad/s,试求构件2上点E的轨迹及构件5的角位移、角速度和角加速度,并对计算结果进行分析。
2、机构结构分析该机构由6个构件组成,4和5之间通过移动副连接,其他各构件之间通过转动副连接,主动件为杆1,杆2、3、4、5为从动件,2和3组成Ⅱ级RRR基本杆组,4和5组成Ⅱ级RPR 基本杆组。
如图建立坐标系3、各基本杆组的运动分析数学模型1) 位置分析2) 速度和加速度分析 将上式对时间t 求导,可得速度方程:将上式对时间t 求导,可得加速度方程:RRR Ⅱ级杆组的运动分析如下图所示 当已知RRR 杆组中两杆长L BC 、L CD 和两外副B 、D 的位置和运动时,求内副C的位置、两杆的角位置、角运动以及E 点的运动。
1) 位置方程由移项消去j ϕ后可求得i ϕ:式中,可求得j ϕ:E 点坐标方程:其中2) 速度方程两杆角速度方程为式中,点E 速度方程为3) 加速度方程两杆角加速度为式中,点E 加速度方程为RPR Ⅱ级杆组的运动分析(1) 位移方程(2)速度方程其中(3)加速度方程4、 计算编程利用MATLAB 软件进行编程,程序如下:% 点B 和AB 杆运动状态分析>>r=pi/180;w 1=10;e 1=0;l 1=100;Xa=0;Ya=0;Vax=0;Vay=0;aax=0;aay=0;f1=0:1: 360;% B 点位置Xb=Xa+l1*cos(r*f1);Yb=Ya+l1*sin(r*f1);% B点速度Vbx=Vax-w1*l1*sin(r*f1);Vby=Vay+w1*l1*cos(r*f1);% B点加速度abx=aax-l1*w1.^2.*cos(r*f1);aby=aay-l1*w1.^2.*sin(r*f1);% RRR2级杆组运动分析% 输入D点参数l2=428;l3=214;Xd=455;Yd=0;Vdx=0;Vdy=0;adx=0;ady=0;% 计算E点、2杆、3杆运动参数lbe=840;lce=486;a0=2*l2*(Xd-Xb);b0=2*l2*(Yd-Yb);c0=l2^2+(Xb-Xd).^2+(Yb-Yd).^2-l3^2;f2=2*atan((b0+sqrt(a0.^2+b0.^2-c0.^2))./(a0+c0)); % C点位置Xc=Xb+l2*cos(f2);Yc=Yb+l2*sin(f2);% 2杆、3杆运动参数计算dX=Xc-Xd;dY=Yc-Yd;for n=1:length(dX)if dX(n)>0&dY(n)>=0f3(n)=atan(dY(n)/dX(n));elseif dX(n)==0&dY(n)>0f3(n)=pi/2;elseif dX(n)<0&dY(n)>=0f3(n)=pi+atan(dY(n)/dX(n));elseif dX(n)<0&dY(n)<0f3(n)=pi+atan(dY(n)/dX(n));elseif dX(n)==0&dY(n)<0f3(n)=1.5*pi;elseif dX(n)>0&dY(n)<0f3(n)=2*pi+atan(dY(n)/dX(n));endendC2=l2*cos(f2);C3=l3*cos(f3);S2=l2*sin(f2);S3=l3*sin(f3);G1=C2.*S3-C3.*S2;w2=(C3.*(Vdx-Vbx)+S3.*(Vdy-Vby))./G1;w3=(C2.*(Vdx-Vbx)+S2.*(Vdy-Vby))./G1;G2=adx-abx+(w2.^2).*C2-(w3.^2).*C3;G3=ady-aby+(w2.^2).*S2-(w3.^2).*S3;e2=(G2.*C3+G3.*S3)./G1;% E点位置w=acos((l2^2+lbe^2-lce^2)/(2*l2*lbe));Xe=Xb+lbe*cos(f2-w);Ye=Yb+lbe*sin(f2-w);Vex=Vbx-lbe*w2.*sin(f2-w);Vey=Vby+lbe*w2.*cos(f2-w);aex=abx-lbe*(e2.*sin(f2-w)+w2.^2.*cos(f2-w));aey=aby+lbe*(e2.*cos(f2-w)-w2.^2.*sin(f2-w));% 计算杆5运动参数Xf=646.2912088;Yf=-268.9008617;l5=sqrt((Xe-Xf).^2+(Ye-Yf).^2);dX=Xe-Xf;dY=Ye-Yf;for n=1:length(dX)if dX(n)>0&dY(n)>=0f5(n)=atan(dY(n)/dX(n));elseif dX(n)==0&dY(n)>0f5(n)=pi/2;elseif dX(n)<0&dY(n)>=0f5(n)=pi+atan(dY(n)/dX(n));elseif dX(n)<0&dY(n)<0f5(n)=pi+atan(dY(n)/dX(n));elseif dX(n)==0&dY(n)<0f5(n)=1.5*pi;elseif dX(n)>0&dY(n)<0f5(n)=2*pi+atan(dY(n)/dX(n));endendw5=(-Vex.*sin(f5)+Vey.*cos(f5))./l5;a5=(-aex.*sin(f5)+aey.*cos(f5))./l5;% 画出各参数曲线figure(1);plot(Xe,Ye,'k');xlabel('Xe/\mm');ylabel('Ye/mm');grid on;title('E点位置');figure(2);plot(f1,f5,'k');xlabel('f/\circ');ylabel('f5/\circ');grid on;title('5杆角位移');figure(3);plot(f1,w5,'k');xlabel('f/\circ');ylabel('w5/rad/s');grid on;title('5杆角速度');figure(4);plot(f1,a5,'k');xlabel('f/\circ');ylabel('a5/rad/s2');gridon;title('5杆角加速度');Warning: Unable to interpret TeX string "Xe/\mm"5、计算结果图一:E点的运动轨迹图二:5杆角位移图三:5杆角速度图四:5杆角加速度6、计算结果分析由E点位置图像可看出,构件4做周期往复运动,由图二、三、四可看出,构件5的角位移、角速度、角加速度均成周期性变化。
哈工大机械原理连杆和凸轮大作业24题

班级学号机械原理大作业说明书题目 1、连杆机构运动分析2、凸轮机构设计学生姓名1连杆机构运动分析1.设计题目:一、先建立如下坐标系:二、划分杆组如下,进行结构分析:该机构由I级杆组RR(如图1)、II级杆组RPR(如图2、3)和II级杆组RRP(如图4)组成。
(1)(2)(3)(4)三、运动分析数学模型:(1)同一构件上点的运动分析:如右图所示的原动件1,已知杆1的角速度=10/rad s ω,杆长1l =170mm,A y =0,A x =110mm 。
可求得下图中B 点的位置B x 、B y ,速度xB v 、yB v ,加速度xB a 、yB a 。
θcos 1l xB =,θsin 1l yB =θωυsin 1l xB -=,θωυcos 1l yB =,222B2==-cos =-BxB i d x a l x dt ωϕω2222==-sin =-B yB i B d y a l y dtωϕω。
(2)RPRII 级杆组的运动分析:a. 如右图所示是由2个回转副和1个移动副组成的II 级组。
已知两个外运动副C 、B 的位置(B x 、B y 、c x =110mm 、C y =0)、速度(xB υ,yB υ,xC υ=0,yC υ=0)和加速度(0,0,,==yC xC yB xB a a a a )。
可确定下图中D 点的位置、速度和加速度。
确定构件3的角位移1ϕ、角速度1ω、角加速度1α。
1sin 31..ϕϕl x dt dx C B -= 1s i n 131c o s 13.....2ϕϕϕϕl l x dt x d C B --= 1cos 31..ϕϕl y dt dy C B += 1c o s 131s i n 13.....2ϕϕϕϕl l y dty d C B +-= 根据关系:1111d 122..11.αϕϕωϕϕ====dtd dt , 故可得出: D x =)1cos(4βϕ++l x CD y =)1sin(4βϕ++l y Cb. 如右图所示是由2个回转副和1个移动副组成的II级组。
哈工大-机械原理大作业-连杆机构运动分析

机械原理大作业(一)作业名称:连杆机构运动分析设计题目: 20院系:英才学院班级: XXXXXXX设计者:邵广斌学号: XXXXXXXXXX指导教师:林琳设计时间: 2013年05月19日哈尔滨工业大学机械设计1.运动分析题目如图所示机构,已知机构各构件的尺寸为150AB mm =,97β=︒,400BC mm =,300CD mm =,320AD mm =,100BE mm =,230EF mm =,400FG mm =,构件1的角速度为110/rad s ω=,试求构件2上点F 的轨迹及构件5上点G 的位移、速度和加速度,并对计算结果进行分析。
2. 机构分析该机构由原动件AB (Ⅰ级杆组)、BCD (RRR Ⅱ级杆组)和FG (RRP Ⅱ级杆组)组成。
3. 建立坐标系如图3,建立以定点A 为原点的平面直角坐标系A-xy 。
图1 运动机构结构图4. 运动分析数学模型4.1 原动件AB原动件AB 的转角: 10~2ψπ= 原动件AB 的角速度:110/rad s ω=原动件AB 的角加速度: 10α= 运动副A 的位置坐标: 0A x = 0A y =运动副A 的速度: 0xA v = 0yA v = 运动副A 的加速度: 0xA a = 0yA a =原动件AB 长度:150AB l mm =运动副B 的位置坐标: 1B A AB x x l cos ψ=+1B A AB y x l sin ψ=+运动副B 的速度: 11 xB xA AB v v l sin ωψ=-11 yB yA AB v v l cos ωψ=+运动副B 的加速度: 2 1111 xBxA AB AB a a l cos l sin ωψαψ=--21111yB yA AB AB a a l sin l cos ωψαψ=-+4.2 RRR Ⅱ级杆组BCD运动副D 的位置坐标: 320D x mm = 0D y = 运动副D 的速度: 0xD v = 0yD v = 运动副D 的加速度: 0xD a = 0yD a = 杆BC 长度: 400BC l mm = 杆CD 长度:300CD l mm =BC 相对于x 轴转角:200ψ=其中02BC D B A l x x =-() 0 2 BC D B B l y y =-()2220B B C C l C l D l D =+- 222())(BDD B D B l x x y y =-+- CD 相对于x 轴转角: 3C DC Dy y arctanx x ψ-=-求导可得BC 角速度2ω、角加速度2α以及CD 角速度3ω、角加速度3α。
哈工大机械原理大作业连杆

哈工大机械原理大作业连杆Modified by JACK on the afternoon of December 26, 2020Harbin Institute of Technology机械原理大作业一课程名称:机械原理设计题目:连杆机构运动分析院系:机电工程学院班级:设计者:学号:指导教师:设计时间:1.运动分析题目(11)在图所示的六杆机构中,已知:AB l =150mm, AC l =550mm, BD l =80mm, DE l =500mm,曲柄以等角速度1w =10rad/s 沿逆时针方向回转,求构件3的角速度、角加速度和构件5的位移、速度、加速度。
2.机构的结构分析建立以点A 为原点的固定平面直角坐标系A-x, y,如下图:机构结构分析该机构由Ⅰ级杆组RR (原动件1)、Ⅱ级杆组RPR (杆2及滑块3)和Ⅱ级杆组RRP (杆4及滑块5)组成。
3.建立组成机构的各基本杆组的运动分析数学模型原动件1(Ⅰ级杆组RR )由图所示,原动件杆1的转角a=0-360°,角速度1w =10rad/s ,角加速度1a =0,运动副A 的位置坐标A x =A y =0,速度(A ,A),加速度(A ,A ),原动件1的长度AB l =150mm 。
求出运动副B 的位置坐标(B x , B y )、速度(B ,B )和加速度(B ,B )。
杆2、滑块3杆组(RPR Ⅱ级杆组)已出运动副B 的位置(B x , B y )、速度(B ,B )和加速度(B ,B ),已知运动副C 的位置坐标C x =0, C y =550mm,速度,加速度,杆长AC l =550mm 。
求出构件2的转角b,角速度2w 和角加速度2a . 构件二上点D 的运动已知运动副B 的位置(B x , B y )、速度(B ,B )、加速度(B ,B ),已经求出构件2的转角b ,角速度2w 和角加速度2a ,杆BD 的长度BD l =80mm 。
机械原理大作业连杆机构22号

构件5角位移随时间变化先变大后变小,当t=0.26s左右时构件5角位移达到最大,为4.4rad左右;当t=5.5左右时构件5角位移达到最小为2.3rad左右。
构件5角速度先增大后减小再增大,当t=0.1s左右时达最大角速度为10rad/s左右,当t=0.48s左右时,构件5角速度为-12rad/s左右。
fEGF=acos((lEF.^2+lFG.^2-lEG.^2)./(2*lEF.*lFG));
fEGX=atan2((yE-yG),(xE-xG));
fFGX=fEGF+fEGX;
xF=xG-lFG.*cos(fFGX);
yF=yG+lFG.*sin(fFGX);
subplot(2,2,1);
plot(xE,yE);
lBC=670;
lEF=390;
lFG=130;
lCD=350;
xA=0;
yA=0;
xG=465;
yG=-248;
xD=730;
yD=-138;
t=[0:0.000001:0.2*pi];
f1=10.*t;
xB=lAB.*cos(f1);
yB=lAB.*sin(f1);
lBD=sqrt((xB-xD).^2+(yB-yD).^2);
大作业1连杆机构运动分析
1.运动分析题目
(31)如图1-31所示机构,已知机构各构件的尺寸为AB=200mm,BC=670mm,CD=350mm,BE=335mm,EF=380mm,FG=130mm,GH=100mm,HK=486mm,β=124°,xD=730mm,yD=138mm,yG=138mm,h=80mm,构件1的角速度为ω1=10rad/s,试求构件2上点E的轨迹及构件5的角位移、角速度和角加速度,并对计算结果进行分析。
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Harbin Institute of Technology机械原理大作业一课程名称:机械原理设计题目:连杆机构运动分析院系:班级:设计者:学号:指导教师:设计时间:22题:如图所示机构,已知机构各构件的尺寸为AB=120mm, BC=180mm ,CD=350mm, CE=300mm, h=100mm, EF=400mm, x D =130mm, y D =140mm ,构件1的角速度为ω=10rad/s 。
试求构件2上E 点的轨迹及构件5上F 点位移、速度和加速度,并对计算结果进行分析。
一、建立直角坐标系以A 点为直角坐标系的原点建立直角坐标系X-Y ,二、机构结构分析该机构由原动件AB 、机架及两个II 级杆组RRR 、RRP 组成。
两个II 级杆组如图所示。
RRP: RRR:+三、各基本杆组运动分析 1.原动件AB如图所示,已知原动件杆1的转角︒︒=360-0ϕ,pi =δ,角速度s rad /101==ωϕ,角加速度0==εϕ ,运动副A 的位置坐标为0,0==A A y x ,速度为0,0==A A y x ,加速度为0,0==A A yx ,原动件杆1的长度mm l AB 120=。
位置分析:)cos(δϕ+=i AB B l x )sin(δϕ+=i AB B l y 速度分析:)sin(δϕ+⨯⨯-=i AB xB l w v )sin(δϕ+⨯⨯-=i AB yB l w v 加速度分析:)sin()cos(2δϕδϕ+-+-=i AB i AB xB el l w a )()sin(2δϕδϕ+++-=i AB i AB yB coa el l w a 将已知参数带入可求出yB xB yB xB B B a a v v y x ,,,,,。
2.II 级杆组(RRR )C 点:已知B 点参数(x B ,y B ,v xB ,v yB ,a xB ,a yB ),D 点的参数(x B ,y B ,v xB ,v yB ,a xB ,a yB ),杆2的长度L i , 杆3的长度L j ,可求得杆2的运动参数(f 2,w 2,e 2).位置分析:)(cos )(cos D j f l x i f l x x j i B C +=+= (1) )(sin )(sin C j f l y i f l y y j D i B +=+= (2) 连立(1)、(2)求得:02020200arctan 2)(C A C B A B i f +-+±=其中: )(2B D 0x x l A i -= )(2B D 0y y l B i -=2B D 2B D 2220)()(,y y x x l l l l C BD j BD i -+-=-+= 求得分f(i)后,带入(1)、(2),便可求得 f(j) ,速度分析:1B D /)]()([G v v S v v C w yB yD j x x j i -+-=CC ,y x1B D /)]()([G v v S v v C w yB yD j x x i j -+-= 其中: )(sin ),(cos i f l S i f l C i i i i == )(sin ),(cos j f l S j f l C j j j j ==)(sin )(sin B C j f l w v i f l w v v j j xD i i x x -=-= )(cos )(cos B j f l w v i f l w v v j j yD i i y yD +=+= 加速度分析:132/)(G S G C G e j j i += 132/)(G S G C G e i i j += 其中: j j i i xB xD C w C w a a G 222-+-= j j i i y y S w S w a a G 22B D 3-+-= )(cos )(sin 2B C i f l w i f l e a a i i i i x x --= )(sin )(cos 2B C i f l w i f l e a a i i i i y y -+=E 点:通过杆组RR (AB )的分析,可易知B 点的运动参数(x B ,y B ,v xB ,v yB ,a xB ,a yB ),通过对II 级杆组RRR (杆2、3)的分析可知杆2的运动参数(f 2(i),w 2(i),e 2(i))即可得杆BE 的运动参数(f(i),w(i),e(i)),引用RR 杆组模块,可求的E 点的运动参数(x E ,y E ,v xE ,v yE ,a xE ,a yE )。
其中RR 类模块中A 点参数为B 的运动参数,杆AB 的角位移,角速度,角加速度为BE 杆参数。
位置分析:)(cos i f l x x AB A B += )(sin i f l y y AB A B += 速度分析:)(sin i f l w v v AB xA xB ⨯⨯-= )(sin i f l w v v AB yA yB ⨯⨯+=加速度分析:)(sin )(cos 2i f el i f l w a a AB AB xA xB --= )(sin )(cos 2i f el i f l w a a AB AB yA yB +-=3.II 级杆组RRP通过RR 杆组(BE ) 可求得E 点参数(x E ,y E ,v xE ,v yE ,a xE ,a yE ),杆EF 的长Li,取参考点K 为(0,100),可得到F 点的运动参数(s F ,v F ,a F )。
其中引用RRP 杆组,B 点参数为E 点参数,CD 杆Lj 取0,参考点K 的运动参数(x K ,y K ,v xK ,v yK ,a xK ,a yK ),导路运动参数(fj,wj,ej),可求得F 的位移,速度,加速度。
位置分析:)(sin )(cos )(cos C j f l j f s x i f l x x j K i D -+=+= )(cos )(sin )(sin C j f l j f s y i f l y y j K i D ++=+= 可求得)(arcsin)(j f l l A i f ijk ++=,其中: )(cos )()(sin )(0j f y y j f x x A K D K D ---= 带入上式即可解的x G ,y G ,s速度分析:321/)(cos )(sin Q j f Q j f Q w i +-=( 321/)(sin )(cos Q i f l Q i f l Q v i i D +-=( 其中: ))(cos )(sin (1j f l j f s w v v Q j j xD xK +--= ))(sin )(cos (2j f l j f s w v v Q j j yD yK -+-= )(cos )(cos )(sin )(sin 3j f i f l j f i f l Q i i +=)(sin i f l w v v i i xD xG -= )(cos i f l w v v i i yD yG += 加速度分析:354/))(cos )(sin (Q j f Q j f Q e i +-= 354/))(sin )(cos (Q j f l Q i f l Q s i i i --= 其中:)(sin 2))(sin )(cos ())(cos )(sin ()(cos 224j f w v j f l j f s w j f l j f s e j f l w a a Q j s j j j j i i xD xK ---+-+-=)(cos 2))(sin )(sin ())(sin )(cos ()(sin 225j f w v j f l j f s w j f l j f s e j f l w a a Q j s j j j j i i yD yK ++--++-=)(sin 2)(cos )(sin )(cos 2D j f w v j f sw j f se j f a a a j s j j s xK x ---+=)(cos 2)(sin )(cos )(sin 2D j f w v j f sw j f se j f a a a j s j j s yK y +-++= 四、计算编程Private S(3600) As Double Private v(3600) As Double Private a(3600) As Double Private xE(3600) As Double Private yE(3600) As DoublePrivate Sub Form_Load() Dim i As Single Dim pi As Double Dim pa As Double Dim RR1 As RR Dim RR2 As RR Dim RRR1 As RRR Dim RRP1 As RRP Dim d1 As DoubleSet RR1 = New RR Set RR2 = New RR Set RRR1 = New RRR Set RRP1 = New RRP pi = 3.1415926 pa = pi / 180For i = 0 To 3600RR1.xA = 0: RR1.yA = 0 RR1.vxA = 0: RR1.vyA = 0 RR1.axA = 0: RR1.ayA = 0RR1.f = i * pa / 10: RR1.delt = 0 RR1.w = 10: RR1.e = 0 RR1.L = 120 RR1.cald1 = Sqr((RR1.xB - 130) ^ 2 + (RR1.yB + 140) ^ 2) If d1 > 530 Or d1 < 170 ThenS(i) = 0: v(i) = 0: a(i) = 0: xE(i) = 0: yE(i) = 0 GoTo S Else End IfRRR1.xB = 130: RRR1.yB = -140 RRR1.vxB = 0: RRR1.vyB = 0RRR1.axB = 0: RRR1.ayB = 0RRR1.xD = RR1.xB: RRR1.yD = RR1.yBRRR1.vxD = RR1.vxB: RRR1.vyD = RR1.vyBRRR1.axD = RR1.axB: RRR1.ayD = RR1.ayBRRR1.Li = 350: RRR1.Lj = 180RRR1.M = 1RRR1.calRR2.xA = RR1.xB: RR2.yA = RR1.yBRR2.vxA = RR1.vxB: RR2.vyA = RR1.vxBRR2.axA = RR1.axB: RR2.ayA = RR1.ayBRR2.f = RRR1.fj: RR2.delt = 0RR2.w = RRR1.wj: RR2.e = RRR1.ejRR2.L = 120RR2.calxE(i) = RR2.xB: yE(i) = RR2.yBRRP1.xB = RR2.xB: RRP1.yB = RR2.yBRRP1.vxB = RR2.vxB: RRP1.vyB = RR2.vyBRRP1.axB = RR2.axB: RRP1.ayB = RR2.ayBRRP1.Li = 400: RRP1.Lj = 0RRP1.fj = 0: RRP1.wj = 0: RRP1.ej = 0RRP1.xK = 0: RRP1.yK = 100:RRP1.vxK = 0: RRP1.vyK = 0RRP1.axK = 0: RRP1.ayK = 0RRP1.M = 1RRP1.calS(i) = RRP1.ss: v(i) = RRP1.vss / 1000: a(i) = RRP1.ass / 1000 S: Next iEnd SubPrivate Sub Command1_Click() 'D点轨迹Picture1.Scale (-500, 500)-(500, -500)Picture1.Line (-500, 0)-(500, 0) 'XPicture1.Line (0, 500)-(0, -500) 'YFor i = -500 To 500 Step 100 'X轴坐标Picture1.DrawStyle = 2Picture1.Line (i, 500)-(i, -500)Picture1.CurrentX = i - 10: Picture1.CurrentY = 0Picture1.Print iNext iFor i = -500 To 500 Step 100 'Y轴坐标Picture1.DrawStyle = 2Picture1.Line (-500, i)-(500, i)Picture1.CurrentX = -10: Picture1.CurrentY = iPicture1.Print iNext iFor i = 0 To 3600Picture1.PSet (xE(i), yE(i))Next iEnd SubPrivate Sub Command2_Click() 'G点位移Picture2.Scale (-10, 700)-(380, -100)Picture2.Line (-10, 0)-(380, 0) 'XPicture2.Line (0, 700)-(0, -100) 'YFor i = -10 To 380 Step 30 'X轴坐标Picture2.DrawStyle = 2Picture2.Line (i, 700)-(i, -100)Picture2.CurrentX = i - 10: Picture2.CurrentY = 0 Picture2.Print iNext iFor i = -100 To 700 Step 100 'Y轴坐标Picture2.DrawStyle = 2Picture2.Line (-10, i)-(380, i)Picture2.CurrentX = -10: Picture2.CurrentY = iPicture2.Print iNext iFor i = 0 To 3600Picture2.PSet (i / 10, S(i))Next iEnd SubPrivate Sub Command3_Click() 'G点速度Picture3.Scale (-10, 10)-(380, -10)Picture3.Line (-10, 0)-(380, 0) 'XPicture3.Line (0, 10)-(0, -10) 'YFor i = -10 To 380 Step 30 'X轴坐标Picture3.DrawStyle = 2Picture3.Line (i, 10)-(i, -10)Picture3.CurrentX = i - 10: Picture3.CurrentY = 0 Picture3.Print iNext iFor i = -10 To 10 Step 2 'Y轴坐标Picture3.DrawStyle = 2Picture3.Line (-10, i)-(380, i)Picture3.CurrentX = -10: Picture3.CurrentY = iPicture3.Print iNext iFor i = 0 To 3600Picture3.PSet (i / 10, v(i))Next iEnd SubPrivate Sub Command4_Click() 'G点加速度Picture4.Scale (-10, 25)-(380, -15)Picture4.Line (-10, 0)-(380, 0) 'XPicture4.Line (0, 25)-(0, -15) 'YFor i = -10 To 380 Step 30 'X轴坐标Picture4.DrawStyle = 2Picture4.Line (i, 25)-(i, -15)Picture4.CurrentX = i - 10: Picture4.CurrentY = 0 Picture4.Print iNext iFor i = -15 To 25 Step 5 'Y轴坐标Picture4.DrawStyle = 2Picture4.Line (-10, i)-(380, i)Picture4.CurrentX = -10: Picture4.CurrentY = iPicture4.Print iNext iFor i = 0 To 3600Picture4.PSet (i / 10, a(i))Next iEnd Sub五、计算结果E点轨迹F位移11F速度F 加速度(单位m/(s 2))。