哈工大-机械原理大作业-连杆机构运动分析
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一连杆运动分析（02）
哈⼯⼤机械原理⼤作业⼀连杆运动分析（02）⼀．设计题⽬⼆. 结构分析与基本杆组划分1.机构的结构分析机构各构件都在同⼀平⾯内运动，活动构件数n=3 P L=4 P H=0则机构的⾃由度为: F = 3n -2P L –P H = 3×3-2×4 = 12.基本杆组划分（1）去除虚约束和局部⾃由度本机构中⽆虚约束或局部⾃由度，此步骤跳过。
（2）拆杆组。
从远离原动件（即杆1）进⾏拆分，就可以得到由杆2,3组成的RRRⅡ级杆组和Ⅰ级机构杆1。
如下图：（3）确定机构的级别由（2）知，机构为Ⅱ级机构。
三. 运动分析数学模型以A为原点建⽴坐标系，如图：原动件AB的转⾓：φ1=0--2π运动副A的位置坐标：x A=0 y A=0 运动副D的位置坐标：x D=d y D=0 则运动副B的位置坐标：x B = acosφ1 y B = asinφ1其中：t=0:0.001:2*pi;a=60;b=90;c=120;xd=d;yd=0;xb=a.*cos(t);yb=a.*sin(t);m=xd-xb;n=yd-yb;lbd=(m.^2+n.^2).^(1/2);a0=2*b.*(xd-xb);b0=2*b.*(yd-yb);c0=b.^2+lbd.^2-c.^2;dd=2*atan((b0+(a0.^2+b0.^2-c0.^2).^(1/2))./(a0+c0)); plot(dd)曲柄a=50,55,60,65红蓝绿黄b=90,c=120,d=100 t=0:0.001:2*pi; a=50;b=90;c=120;d=100;xa=0;ya=0;xd=d;yd=0;xb=a.*cos(t);yb=a.*sin(t);m=xd-xb;n=yd-yb;lbd=(m.^2+n.^2).^(1/2);a0=2*b.*(xd-xb);b0=2*b.*(yd-yb);c0=b.^2+lbd.^2-c.^2;dd=2*atan((b0+(a0.^2+b0.^2-c0.^2).^(1/2))./(a0+c0)); plot(dd,'r'); hold on;grid on;t=0:0.001:2*pi;d=100;xa=0;ya=0;xd=d;yd=0;xb=a.*cos(t);yb=a.*sin(t);m=xd-xb;n=yd-yb;lbd=(m.^2+n.^2).^(1/2);a0=2*b.*(xd-xb);b0=2*b.*(yd-yb);c0=b.^2+lbd.^2-c.^2;dd=2*atan((b0+(a0.^2+b0.^2-c0.^2).^(1/2))./(a0+c0)); plot(dd,'b'); hold on;t=0:0.001:2*pi;a=60;b=90;c=120;d=100;xa=0;ya=0;xd=d;yd=0;xb=a.*cos(t);yb=a.*sin(t);m=xd-xb;n=yd-yb;lbd=(m.^2+n.^2).^(1/2);a0=2*b.*(xd-xb);b0=2*b.*(yd-yb);c0=b.^2+lbd.^2-c.^2;dd=2*atan((b0+(a0.^2+b0.^2-c0.^2).^(1/2))./(a0+c0)); plot(dd,'g'); hold on;t=0:0.001:2*pi;a=65;b=90;c=120;d=100;xa=0;ya=0;xd=d;yd=0;xb=a.*cos(t);yb=a.*sin(t);m=xd-xb;n=yd-yb;lbd=(m.^2+n.^2).^(1/2);a0=2*b.*(xd-xb);b0=2*b.*(yd-yb);c0=b.^2+lbd.^2-c.^2;dd=2*atan((b0+(a0.^2+b0.^2-c0.^2).^(1/2))./(a0+c0)); plot(dd,'y');a=50,55,60,65红蓝绿黄2.摇杆c=105,115,125,135红蓝绿黄a=50,b=90,d=100 t=0:0.001:2*pi; a=50;b=90;d=100;xa=0;ya=0;xd=d;yd=0;xb=a.*cos(t);yb=a.*sin(t);m=xd-xb;n=yd-yb;lbd=(m.^2+n.^2).^(1/2);a0=2*b.*(xd-xb);b0=2*b.*(yd-yb);c0=b.^2+lbd.^2-c.^2;dd=2*atan((b0+(a0.^2+b0.^2-c0.^2).^(1/2))./(a0+c0)); plot(dd,'r'); hold on;grid on;t=0:0.001:2*pi;a=50;b=90;c=115;d=100;xa=0;ya=0;xd=d;yd=0;xb=a.*cos(t);yb=a.*sin(t);m=xd-xb;n=yd-yb;lbd=(m.^2+n.^2).^(1/2);a0=2*b.*(xd-xb);b0=2*b.*(yd-yb);c0=b.^2+lbd.^2-c.^2;dd=2*atan((b0+(a0.^2+b0.^2-c0.^2).^(1/2))./(a0+c0)); plot(dd,'b');t=0:0.001:2*pi;a=50;b=90;c=125;d=100;xa=0;ya=0;xd=d;yd=0;xb=a.*cos(t);yb=a.*sin(t);m=xd-xb;n=yd-yb;lbd=(m.^2+n.^2).^(1/2);a0=2*b.*(xd-xb);b0=2*b.*(yd-yb);c0=b.^2+lbd.^2-c.^2;dd=2*atan((b0+(a0.^2+b0.^2-c0.^2).^(1/2))./(a0+c0)); plot(dd,'g'); hold on;t=0:0.001:2*pi;a=50;b=90;d=100;xa=0;ya=0;xd=d;yd=0;xb=a.*cos(t);yb=a.*sin(t);m=xd-xb;n=yd-yb;lbd=(m.^2+n.^2).^(1/2);a0=2*b.*(xd-xb);b0=2*b.*(yd-yb);c0=b.^2+lbd.^2-c.^2;dd=2*atan((b0+(a0.^2+b0.^2-c0.^2).^(1/2))./(a0+c0)); plot(dd,'y');c=105,115,125,135红蓝绿黄3.连杆b=80,90,100,110红蓝绿黄a=50,c=120,d=100 t=0:0.001:2*pi; a=50;b=80;c=120;d=100;ya=0;xd=d;yd=0;xb=a.*cos(t);yb=a.*sin(t);m=xd-xb;n=yd-yb;lbd=(m.^2+n.^2).^(1/2);a0=2*b.*(xd-xb);b0=2*b.*(yd-yb);c0=b.^2+lbd.^2-c.^2;dd=2*atan((b0+(a0.^2+b0.^2-c0.^2).^(1/2))./(a0+c0)); plot(dd,'r'); hold on;grid on;t=0:0.001:2*pi;a=50;b=90;c=120;d=100;xa=0;ya=0;xd=d;yd=0;xb=a.*cos(t);yb=a.*sin(t);m=xd-xb;n=yd-yb;lbd=(m.^2+n.^2).^(1/2);a0=2*b.*(xd-xb);b0=2*b.*(yd-yb);c0=b.^2+lbd.^2-c.^2;dd=2*atan((b0+(a0.^2+b0.^2-c0.^2).^(1/2))./(a0+c0)); plot(dd,'b'); hold on;t=0:0.001:2*pi;a=50;b=100;c=120;d=100;xa=0;ya=0;xd=d;xb=a.*cos(t);yb=a.*sin(t);m=xd-xb;n=yd-yb;lbd=(m.^2+n.^2).^(1/2);a0=2*b.*(xd-xb);b0=2*b.*(yd-yb);c0=b.^2+lbd.^2-c.^2;dd=2*atan((b0+(a0.^2+b0.^2-c0.^2).^(1/2))./(a0+c0)); plot(dd,'g'); hold on;t=0:0.001:2*pi;a=50;b=110;c=120;d=100;xa=0;ya=0;xd=d;yd=0;xb=a.*cos(t);yb=a.*sin(t);m=xd-xb;n=yd-yb;lbd=(m.^2+n.^2).^(1/2);a0=2*b.*(xd-xb);b0=2*b.*(yd-yb);c0=b.^2+lbd.^2-c.^2;dd=2*atan((b0+(a0.^2+b0.^2-c0.^2).^(1/2))./(a0+c0)); plot(dd,'y');b=80,90,100,110红蓝绿黄4.机架d=85,95,105,115 红蓝绿黄a=50,b=90,c=120 t=0:0.001:2*pi; a=50;b=90;c=120;d=85;yd=0;xb=a.*cos(t);yb=a.*sin(t);m=xd-xb;n=yd-yb;lbd=(m.^2+n.^2).^(1/2);a0=2*b.*(xd-xb);b0=2*b.*(yd-yb);c0=b.^2+lbd.^2-c.^2;dd=2*atan((b0+(a0.^2+b0.^2-c0.^2).^(1/2))./(a0+c0)); plot(dd,'r'); hold on;grid on;t=0:0.001:2*pi;a=50;b=90;c=120;d=95;xa=0;ya=0;xd=d;yd=0;xb=a.*cos(t);yb=a.*sin(t);m=xd-xb;n=yd-yb;lbd=(m.^2+n.^2).^(1/2);a0=2*b.*(xd-xb);b0=2*b.*(yd-yb);c0=b.^2+lbd.^2-c.^2;dd=2*atan((b0+(a0.^2+b0.^2-c0.^2).^(1/2))./(a0+c0)); plot(dd,'b'); hold on;t=0:0.001:2*pi;d=105;xa=0;ya=0;xd=d;yd=0;xb=a.*cos(t);yb=a.*sin(t);m=xd-xb;n=yd-yb;lbd=(m.^2+n.^2).^(1/2);a0=2*b.*(xd-xb);b0=2*b.*(yd-yb);c0=b.^2+lbd.^2-c.^2;dd=2*atan((b0+(a0.^2+b0.^2-c0.^2).^(1/2))./(a0+c0)); plot(dd,'g'); hold on;t=0:0.001:2*pi;a=50;b=90;c=120;d=115;xa=0;ya=0;xd=d;yd=0;xb=a.*cos(t);yb=a.*sin(t);m=xd-xb;n=yd-yb;lbd=(m.^2+n.^2).^(1/2);a0=2*b.*(xd-xb);b0=2*b.*(yd-yb);c0=b.^2+lbd.^2-c.^2;dd=2*atan((b0+(a0.^2+b0.^2-c0.^2).^(1/2))./(a0+c0)); plot(dd,'y');d=85,95,105,115 红蓝绿黄。
哈工大机械原理大作业连杆机构运动分析29
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-29院系：机电工程学院班级：设计者：学号：指导教师：设计时间：哈尔滨工业大学一、设计题目(29)二、VB编程得到动画、轨迹、位移、速度、加速度线图1.用VB编写程序得到的机构动画2.构件2上的E点轨迹4.构件7的速度线图三、计算说明书(一)建立机构运动分析数学模型对机构进行结构分析，找出基本杆组1.基本杆组划分a)杆件1为原动件b)构件2、3为RRR型II级杆组c)构件4、5为RRR型II级杆组d)构件6、7为RRP型II级杆组2.结构分析与自由度计算机构为平面连杆机构，活动构件数n=7,L P =10,转动副为9个，移动副为1个，高副为0个，则机构自由度为F=3n-2P L -P H =3x7-2x10=1。
各基本杆组的运动分析数学模型1.原动件（I 级构件）图1（1）位置分析B 点位置方程cos sin B A i iBA i i x x l y y l ϕϕ=+⎧⎨=+⎩ （1-1）（2）速度分析把（1-1）对时间t 求导得B 速度方程sin cos B B A i i i BB A i i i dx x x l dt dy y y l dt ϕϕϕϕ⎫==-⎪⎪⎬⎪==+⎪⎭g g g g g g （1-2）（3）加速度分析把（2-2）对时间他求导得B 加速度方程222222cos sin sin cos B B A i i i i i i BB A i i i i i i d x x x l l dt d y y y l l dt ϕϕϕϕϕϕϕϕ⎫==--⎪⎪⎬⎪==-+⎪⎭g g g g g g g g g g g g g g （1-3） 上式中 i i d dt ϕϕω==g22i i d dtϕϕα==g g 2. RRR 杆组的运动分析3.RRP杆组的运动分析图2（1） 位置分析内运动副C 的位置方程cos cos sin sin sin cos C B i i K j j jCB i i K j j j x x l x s l y y l y s l ϕϕϕϕϕϕ=+=+-⎧⎪⎨=+=++⎪⎩ （2-1）i l 的转角 0arcsin()ji j iA l l ϕϕ+=+ （2-2）式中0()sin ()cos B k j B K j A x x y y ϕϕ=---满足装配条件0j i A l l +≤ 滑块D 相对参考点K 的位移为sin cos cos sin C k j jC K j jjjx x l y y l s ϕϕϕϕ-+--==（2-3）滑块D 的位置方程 cos sin D K iD K ix x s y y s ϕϕ=+⎧⎨=+⎩ （2-4）（2） 速度分析杆i l 的角速度123sin cos j ji i Q Q Q ϕϕωϕ-+==g（2-5）滑块D 沿导路的移动速度 123cos sin i i i iQ l Q l s Q ϕϕ-+=g（2-6）式中1(sin cos )K B j j j j Q x x s l ϕϕϕ=--+ggg2(cos sin )K B j j j j Q y y s l ϕϕϕ=-+-g g g3sin sin cos cos i i j i i j Q l l ϕϕϕϕ=+内运动副C 的速度为sin cos C B i i iC B i i ix x l y y l ϕϕϕϕ⎧=-⎪⎨⎪=+⎩gg gg g g （2-7）外移动副D 的速度为cos sin sin cos D K i j jD K i j j x x s s y y s s ϕϕϕϕϕϕ⎧=+-⎪⎨⎪=++⎩gg g g g g g g（2-8） （3） 加速度分析 杆i l 的角加速度453sin s j ji i Q Q co Q ϕϕεϕ-+==g g（2-9）滑块D 沿导路移动的加速度为453cos sin i i i i Q l Q l s Q ϕϕ--=g g （2-10） 式中224cos (sin cos )(cos sin )2sin K B i i i j j j j j j j j j j Q x x l s l s l s ϕϕϕϕϕϕϕϕϕϕ=-+-+---g g g g g g g g g g225sin (cos sin )(sin cos )2cos K B i i i j j j j j j j j j j Q y y l s l s l s ϕϕϕϕϕϕϕϕϕϕ=-++--++g g g g g g g g g g内运动副C 的加速度22cos sin sin cos C B i i i j i j C B i i i j i jx x l l y y l l ϕϕϕϕϕϕϕϕ⎧=--⎪⎨⎪=-+⎩g gg g g g g g gg g g g g（2-11） 滑块D 的加速度22cos sin cos 2sin sin cos sin 2cos D K j j j j j j jD K j j j j j j jx x s s s s y y s s s s ϕϕϕϕϕϕϕϕϕϕϕϕϕϕ⎧=+---⎪⎨⎪=++-+⎩g g g g g g g g g g gg g g g g g g gg g g（2-12） 以上为基本杆组的通用分析，根据已知条件进行赋值均在程序中体现(二) 计算流程框图（见下页）(三)VB编写程序清单'定义变量Dim xA As Double 'A点的坐标、速度、加速度Dim yA As DoubleDim vxA As DoubleDim vyA As DoubleDim axA As DoubleDim ayA As DoubleDim xB As Double 'B点Dim yB As DoubleDim vxB As DoubleDim vyB As DoubleDim axB As DoubleDim ayB As DoubleDim xD As Double 'D点Dim yD As DoubleDim vxD As DoubleDim vyD As DoubleDim axD As DoubleDim ayD As DoubleDim xE As Double 'E点Dim yE As DoubleDim vxE As DoubleDim vyE As DoubleDim axE As DoubleDim ayE As DoubleDim xG As Double 'G点Dim yG As DoubleDim vxG As DoubleDim vyG As DoubleDim axG As DoubleDim ayG As DoubleDim xH As Double 'H点Dim yH As DoubleDim vxH As DoubleDim vyH As DoubleDim axH As DoubleDim ayH As DoubleDim xM As Double 'M点Dim yM As DoubleDim vxM As DoubleDim vyM As DoubleDim axM As DoubleDim xN As Double '参考点NDim yN As DoubleDim vxN As DoubleDim vyN As DoubleDim axN As DoubleDim ayN As DoubleDim xK As Double 'K点Dim yK As DoubleDim vxK As DoubleDim vyK As DoubleDim axK As DoubleDim ayK As DoubleDim delt1 As Double 'AB杆初始转角Dim L1 As Double 'AB杆长Dim f1 As Double 'AB杆转角Dim w1 As Double 'AB杆角速度Dim e1 As Double 'AB杆角加速度Dim L2 As Double 'BC杆Dim f2 As DoubleDim w2 As DoubleDim e2 As DoubleDim L3 As Double 'CD杆Dim f3 As DoubleDim w3 As DoubleDim e3 As DoubleDim LBE As Double 'BE杆Dim delt2 As DoubleDim L4 As Double 'EF杆Dim f4 As DoubleDim w4 As DoubleDim e4 As DoubleDim LFG As Double 'FG杆Dim f5 As DoubleDim w5 As DoubleDim e5 As DoubleDim deltGH As Double 'GH杆Dim LGH As DoubleDim L6 As Double 'HM（HK）杆Dim f6 As DoubleDim w6 As DoubleDim e6 As DoubleDim Lj As Double 'MK杆Dim wj As DoubleDim ej As DoubleDim ss As Double '移动副K的位移Dim vss As Double '移动副K的速度Dim ass As Double '移动副K的加速度Dim pi As DoubleDim pa As DoubleDim i As DoubleDim fj1 As DoublePrivate Sub Command1_Click() '点E的轨迹Picture1.Scale (-50, 250)-(600, -100)Picture1.Line (-50, 0)-(600, 0) 'XPicture1.Line (0, 250)-(0, -100) 'YFor i = -50 To 600 Step 50 'X轴坐标Picture1.DrawStyle = 2Picture1.Line (i, 250)-(i, -100)Picture1.CurrentX = i - 0: Picture1.CurrentY = 0 Picture1.Print iNext iFor i = -100 To 250 Step 50 'Y轴坐标Picture1.DrawStyle = 2Picture1.Line (-50, i)-(600, i)Picture1.CurrentX = -20: Picture1.CurrentY = i + 7 Picture1.Print iNext iFor fj1 = 0 To 360 Step 0.01f1 = fj1 * paCall RR1Call RRR1Call RR2Picture1.PSet (xE, yE)Next fj1End SubPrivate Sub Command2_Click() '求点G的位移Picture2.Scale (-20, 300)-(380, 200)Picture2.Line (-20, 0)-(380, 0) 'XPicture2.Line (0, 300)-(0, 200) 'YFor i = 0 To 360 Step 30 'X轴坐标Picture2.DrawStyle = 2Picture2.Line (i, 300)-(i, 0)Picture2.CurrentX = i - 10: Picture2.CurrentY = 0Picture2.Print iNext iFor i = 200 To 300 Step 10 '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 0.01f1 = fj1 * paCall RR1Call RRR1Call RR2Call RRR2Call RR3Call RRP1Picture2.PSet (fj1, ss)Next fj1End SubPrivate Sub Command3_Click() '求点G的速度Picture3.Scale (-30, 600)-(380, -600)Picture3.Line (-30, 0)-(380, 0) 'XPicture3.Line (0, 600)-(0, -600) 'YFor i = 0 To 360 Step 30 'X轴坐标Picture3.DrawStyle = 2Picture3.Line (i, 600)-(i, -600)Picture3.CurrentX = i - 10: Picture3.CurrentY = 0 Picture3.Print iNext iFor i = -600 To 600 Step 50 'Y轴坐标Picture3.Line (0, i)-(380, i)Picture3.CurrentX = -28: Picture3.CurrentY = i Picture3.Print iNext iFor fj1 = 0 To 360 Step 0.01f1 = fj1 * paCall RR1Call RRR1Call RR2Call RRR2Call RR3Call RRP1Picture3.PSet (fj1, vss)Next fj1End SubPrivate Sub Command4_Click() '求点G的加速度Picture4.Scale (-20, 20000)-(380, -10000)Picture4.Line (-20, 0)-(380, 0) 'XPicture4.Line (0, 20000)-(0, -10000) 'YFor i = 0 To 360 Step 30 'X轴坐标Picture4.DrawStyle = 2Picture4.Line (i, 20000)-(i, -10000)Picture4.CurrentX = i - 10: Picture4.CurrentY = 0 Picture4.Print iNext iFor i = -10000 To 20000 Step 1000 '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 0.01f1 = fj1 * paCall RR1Call RRR1Call RR2Call RRR2Call RR3Call RRP1Picture4.PSet (fj1, ass)Next fj1End SubPrivate Sub Form_Load() '赋初值xA = 0yA = 0vxA = 0vyA = 0axA = 0ayA = 0xD = 730yD = -138vxD = 0vyD = 0axD = 0ayD = 0xG = 465yG = -248vxG = 0vyG = 0axG = 0ayG = 0xN = 545yN = 0vxN = 0vyN = 0axN = 0ayN = 0delt1 = 0L1 = 200w1 = 10e1 = 0L2 = 670L3 = 350delt2 = 0LBE = 335L4 = 380LFG = 130deltGH = 56 * paLGH = 100L6 = 486Lj = 0fj = pi / 2wj = 0ej = 0pi = 3.14pa = pi / 180End SubPublic Sub RR1() '杆ABxB = xA + L1 * Cos(f1 + delt1)yB = yA + L1 * Sin(f1 + delt1)vxB = vxA - w1 * L1 * Sin(f1 + delt1)vyB = vyA + w1 * L1 * Cos(f1 + delt1)axB = axA - w1 ^ 2 * L1 * Cos(f1 + delt1) - e1 * L1 * Sin(f1 + delt1) ayB = ayA - w1 ^ 2 * L1 * Sin(f1 + delt1) + e1 * L1 * Cos(f1 + delt1) End SubPublic Sub RRR1() '杆BCDDim xC As DoubleDim yC As DoubleDim vxC As DoubleDim vyC As DoubleDim axC As DoubleDim ayC As DoubleDim LBD As DoubleDim JCBD As DoubleDim val1 As DoubleDim fDB As DoubleDim C2 As DoubleDim C3 As DoubleDim S2 As DoubleDim S3 As DoubleDim G11 As DoubleDim G12 As DoubleDim G13 As DoubleLBD = Sqr((xD - xB) ^ 2 + (yD - yB) ^ 2)If LBD > L2 + L3 And LBD < Abs(L2 - L3) ThenIf MsgBox("RRR杆组杆长不符合要求", vbOKOnly, "提示") = 1 Then EndElseEnd IfElseEnd IfIf LBD < L2 + L3 And LBD > Abs(L2 - L3) Thenval1 = (L2 ^ 2 + LBD ^ 2 - L3 ^ 2) / (2 * L2 * LBD)JCBD = Atn(-val1 / Sqr(-val1 * val1 + 1)) + 2 * Atn(1)ElseEnd IfIf LBD = L2 + L3 ThenJCBD = 0ElseEnd IfIf LBD = Abs(L2 - L3) ThenIf L2 > L3 ThenJCBD = 0ElseEnd IfIf L2 < L3 ThenJCBD = piElseEnd IfElseEnd IfIf xD > xB And yD >= yB Then '第一象限fDB = Atn((yD - yB) / (xD - xB))ElseEnd IfIf xD = xB And yD > yB ThenfDB = pi * 2ElseEnd IfIf xD < xB And yD >= yB Then '第二象限fDB = pi + Atn((yD - yB) / (xD - xB)) ElseEnd IfIf xD < xB And yD < yB Then '第三象限fDB = pi + Atn((yD - yB) / (xD - xB)) ElseEnd IfIf xB = xD And yD < yB ThenfDB = 3 * pi / 2ElseEnd IfIf xD > xB And yD <= yB Then '第四象限fDB = 2 * pi + Atn((yD - yB) / (xD - xB)) ElseEnd Iff2 = fDB + JCBDxC = xB + L2 * Cos(f2)yC = yB + L2 * Sin(f2)If xC > xD And yC >= yD Then '第一象限f3 = Atn((yC - yD) / (xC - xD))ElseEnd IfIf xC = xD And yC > yD Thenf3 = pi / 2ElseEnd IfIf xC < xD And xC >= xD Then '第二象限f3 = pi + Atn((yC - yD) / (xC - xD))ElseEnd IfIf xC < xD And xC < xD Then '第三象限f3 = pi + Atn((yC - yD) / (xC - xD))ElseEnd IfIf xC = xD And xC < xD Thenf2 = 3 * pi / 2ElseEnd IfIf xC > xD And xC <= xD Then '第四象限f2 = 2 * pi + Atn((yC - yD) / (xC - xD))ElseEnd IfC2 = L2 * Cos(f2)S2 = L2 * Sin(f2)C3 = L3 * Cos(f3)S3 = L3 * Sin(f3)G11 = C2 * S3 - C3 * S2w2 = (C3 * (vxD - vxB) + S3 * (vyD - vyB)) / G11w3 = (C2 * (vxD - vxB) + S2 * (vyD - vyB)) / G11vxC = vxB - w2 * L2 * Sin(f2)vyC = vyB + w2 * L2 * Cos(f2)G12 = axD - axB + w2 ^ 2 * C2 - w3 ^ 2 * C3G13 = ayD - ayB + w2 ^ 2 * S2 - w3 ^ 2 * S3e2 = (G12 * C3 + G13 * S3) / G11e3 = (G12 * C2 + G13 * S2) / G11axC = axB - e2 * L2 * Sin(f2) - w2 ^ 2 * L2 * Cos(f2)ayC = ayB - e2 * L2 * Cos(f2) - w2 ^ 2 * L2 * Sin(f2)End SubPublic Sub RR2() '杆BExE = xB + LBE * Cos(f2 + delt2)yE = yB + LBE * Sin(f2 + delt2)vxE = vxB - w2 * LBE * Sin(f2 + delt2)vyE = vyB + w2 * LBE * Cos(f2 + delt2)axE = axB - w2 ^ 2 * LBE * Cos(f2 + delt2) - e2 * LBE * Sin(f2 + delt2) ayE = ayB - w2 ^ 2 * LBE * Sin(f2 + delt2) + e2 * LBE * Cos(f2 + delt2) End SubPublic Sub RRR2() '杆EFGDim xF As DoubleDim yF As DoubleDim vxF As DoubleDim vyF As DoubleDim axF As DoubleDim ayF As DoubleDim LEG As DoubleDim JFEG As DoubleDim val2 As DoubleDim fGE As DoubleDim C4 As DoubleDim C5 As DoubleDim S4 As DoubleDim S5 As DoubleDim G21 As DoubleDim G22 As DoubleDim G23 As DoubleLEG = Sqr((xG - xE) ^ 2 + (yG - yE) ^ 2)If LEG > L4 + LFG And LEG < Abs(L4 - LFG) ThenIf MsgBox("RRR杆组杆长不符合要求", vbOKOnly, "提示") = 1 Then EndElseEnd IfElseEnd IfIf LEG < L4 + LFG And LEG > Abs(L4 - LFG) Thenval2 = (L4 ^ 2 + LEG ^ 2 - LFG ^ 2) / (2 * L4 * LEG)JFEG = Atn(-val2 / Sqr(-val2 * val2 + 1)) + 2 * Atn(1)ElseEnd IfIf LEG = L4 + LFG ThenJFEG = 0ElseEnd IfIf LEG = Abs(L4 - LFG) ThenIf L4 > LFG ThenJFEG = 0ElseEnd IfIf L4 < LFG ThenJFEG = piElseEnd IfElseEnd IfIf xG > xE And yG >= yE Then '第一象限fGE = Atn((yG - yE) / (xG - xE))ElseEnd IfIf xG = xE And yG > yE ThenfGE = pi * 2ElseEnd IfIf xG < xE And yG >= yE Then '第二象限fGE = pi + Atn((yG - yE) / (xG - xE)) ElseEnd IfIf xG < xE And yG < yE Then '第三象限fGE = pi + Atn((yG - yE) / (xG - xE)) ElseEnd IfIf xE = xG And yG < yE ThenfGE = 3 * pi / 2ElseEnd IfIf xG > xE And yG <= yE Then '第四象限fGE = 2 * pi + Atn((yG - yE) / (xG - xE)) ElseEnd Iff4 = fGE - JFEGxF = xE + L4 * Cos(f4)yF = yE + L4 * Sin(f4)If xF > xG And yF >= yG Then '第一象限f5 = Atn((yF - yG) / (xF - xG))ElseEnd IfIf xF = xG And yF > yG Thenf5 = pi / 2ElseEnd IfIf xF < xG And xF >= xG Then '第二象限f5 = pi + Atn((yF - yG) / (xF - xG))ElseEnd IfIf xF < xG And xF < xG Then '第三象限f5 = pi + Atn((yF - yG) / (xF - xG))ElseEnd IfIf xF = xG And xF < xG Thenf4 = 3 * pi / 2ElseEnd IfIf xF > xG And xF <= xG Then '第四象限f4 = 2 * pi + Atn((yF - yG) / (xF - xG)) ElseEnd IfC4 = L4 * Cos(f4)S4 = L4 * Sin(f4)C5 = LFG * Cos(f5)S5 = LFG * Sin(f5)G21 = C4 * S5 - C5 * S4w4 = (C5 * (vxG - vxE) + S5 * (vyG - vyE)) / G21w5 = (C4 * (vxG - vxE) + S4 * (vyG - vyE)) / G21vxF = vxE - w4 * L4 * Sin(f4)vyF = vyE + w4 * L4 * Cos(f4)G22 = axG - axE + w4 ^ 2 * C4 - w5 ^ 2 * C5G23 = ayG - ayE + w4 ^ 2 * S4 - w5 ^ 2 * S5e4 = (G22 * C5 + G23 * S5) / G21e5 = (G22 * C4 + G23 * S4) / G21axF = axE - e4 * L4 * Sin(f4) - w4 ^ 2 * L4 * Cos(f4)ayF = ayE - e4 * L4 * Cos(f4) - w4 ^ 2 * L4 * Sin(f4)End SubPublic Sub RR3() '杆GHxH = xG + LGH * Cos(f5 + deltGH)yH = yG + LGH * Sin(f5 + deltGH)vxH = vxG - w5 * LGH * Sin(f5 + deltGH)vyH = vyG + w5 * LGH * Cos(f5 + deltGH)axH = axG - w5 ^ 2 * LGH * Cos(f5 + deltGH) - e5 * LGH * Sin(f5 + deltGH) ayH = ayG - w5 ^ 2 * LGH * Sin(f5 + deltGH) + e5 * LGH * Cos(f5 + deltGH) End SubPublic Sub RRP1() '杆组H(M)KDim A0 As DoubleDim Q1 As DoubleDim Q2 As DoubleDim Q3 As DoubleDim Q4 As DoubleDim Q5 As DoubleDim val3 As DoubleA0 = Lj + (yN - yH) * Cos(fj) - (xN - xH) * Sin(fj)val3 = A0 / L6fi = Atn(val3 / Sqr(-val3 * val3 + 1)) + fjxM = xH + L6 * Cos(fi)yM = yH + L6 * Sin(fi)ss = (xM - xN) * Cos(fj) + (yM - yN) * Sin(fj)xK = xN + ss * Cos(fj)yK = yN + ss * Sin(fj)Q1 = vxN - vxH - wj * (ss * Sin(fj) + Lj * Cos(fj))Q2 = vyN - vyH + wj * (ss * Cos(fj) - Lj * Sin(fj))Q3 = L6 * Sin(fi) * Sin(fj) + L6 * Cos(fi) * Cos(fj)w6 = (-Q1 * Sin(fj) + Q2 * Cos(fj)) / Q3vss = -(Q1 * L6 * Cos(fi) + Q2 * L6 * Sin(fi)) / Q3vxM = vxH - w6 * L6 * Sin(fi)vyM = vyH + w6 * L6 * Cos(fi)vxK = vxN + vss * Cos(fj) - ss * wj * Sin(fj)vyK = vyN + vss * Sin(fj) + ss * wj * Cos(fj)Q4 = axN - axH + w6 ^ 2 * L6 * Cos(fi) - ej * (ss * Sin(fj) + Lj * Cos(fj)) - wj ^ 2 * (ss * Cos(fj) - Lj * Sin(fj)) - 2 * vss * wj * Sin(fj)Q5 = ayN - ayH + w6 ^ 2 * L6 * Sin(fi) + ej * (ss * Cos(fj) - Lj * Sin(fj)) - wj ^ 2 * (ss * Sin(fj) + Lj * Cos(fj)) + 2 * vss * wj * Cos(fj)e6 = (-Q4 * Sin(fj) + Q5 * Cos(fj)) / Q3ass = (-Q4 * L6 * Cos(fi) - Q5 * L6 * Sin(fi)) / Q3axM = axH - e6 * L6 * Sin(fi) - w6 ^ 2 * L6 * Cos(fi)ayM = ayH + e6 * L6 * Cos(fi) - w6 ^ 2 * L6 * Sin(fi)axK = axN + ass * Cos(fj) - ss * ej * Sin(fj) - ss * wj ^ 2 * Cos(fj) - 2 * vss * wj * Sin(fj)ayK = ayN + ass * Sin(fj) + ss * ej * Cos(fj) - ss * wj ^ 2 * Sin(fj) + 2 * vss * wj * Cos(fj)End Sub(四)计算结果分析用VB编程可得构件6的位移、速度、加速度图像，由图像可得机构运动一个周期内每个时刻的运动参数值，较为直观。
哈工大机械原理大作业连杆机构9
机械原理大作业大作业一：连杆机构运动分析学生姓名：学号：指导教师：丁刚完成时间：机电工程学院机械设计系制二〇一八年四月连杆机构运动分析1题目（9）图1 设计题目在图1所示的机构中，已知l AB=60mm，l BC=180mm，l DE=200mm，l CD=120mm，l EF=300mm，h=80mm，h1=85mm，h2=225mm，构件1以等角速度ω1=100rad/s 转动。
求在一个运动循环中，滑块5的位移、速度和加速度曲线。
2分析结构1、杆1为RR主动件，绕A以ω1 转动，自由度1.2、4杆和滑块5为RRP II级杆组.，自由度0.3、2，3杆组成II级杆组RRR，自由度0.总共自由度为F=5*3-2*7=1 .由上述的杆组类型，确认出所需运动分析数学模型：同一构件上的点、RRP、RRR。
3.杆组法对平面连杆机构进行运动分析3.1对主动件杆1 RR I级构件的分析主动杆1转角：φ= [0°,360°) δ=0°,则φ’=ω1=100 rad/s角加速度φ’’=0.已知h2=225mm, h=80mm, l AB=60mm 所以A（225mm,80mm）A点速度(0,0),加速度(0,0)B点位置(x A+l AB*cos(φ), Y A+l AB*sin(φ))B点速度(-l AB*sin(φ), l AB*cos(φ)),加速度(-l AB*cos(φ), -l AB*sin(φ))3.2RRRII 级杆组分析（模型参考教材P37-38）图3 如图所示两个构件组成II 级杆组。
已知了B 的位置（x B ，y B ）= (x A +l AB *cos(φ), Y A +l AB *sin(φ)),速度（x ’B ，y ’B ） 和加速度（x ’’B ,y ’’B ）, 已知运动副D （0,0）， 还可知，x ’D =y ’D =0, x ’’D =y ’’D =0. l BC =180 mm, l CD = 120mm所以，x c =x D +l CD *cos(φi)= x B +l BC *cos(φj) y c =x D +l CD *sin(φi)= x B +l BC *sin(φi) 对于φ的求解： A 0=2*l CD （x B -x D ） B 0=2*l BC （y B -y D ） C 0=l CD 2+ l BD 2- l BC 2为了保证机构的装配正常：l BD ≤l CD + l BC AND l BD ≥Abs （l CD - l BC ）可求3杆的转角φi=2*arctan(（B 0±sqrt （A 02 + B 02- C 02））/（A 02+ C 02)），角速度w3=φi ’和角加速度α3= φi ’’3.3 同一构件上的点(模型参考书P35-36)Φiφjφi已知D(0,0),速度(0,0),加速度(0,0),3杆转角φi 角速度φi’角加速度φi’’，Φi和它的导数在3.2都有体现LDE= 200mm可求出E的坐标,速度,加速度.x E =x c+lCE*cos(φi)y E =x C+lCE*sin(φi)同样地，速度、加速度通过求导即可得出算式，可以编出程序。
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 。
- 1、下载文档前请自行甄别文档内容的完整性，平台不提供额外的编辑、内容补充、找答案等附加服务。
- 2、"仅部分预览"的文档,不可在线预览部分如存在完整性等问题,可反馈申请退款(可完整预览的文档不适用该条件!)。
- 3、如文档侵犯您的权益，请联系客服反馈,我们会尽快为您处理(人工客服工作时间：9:00-18:30)。
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。
运动副C 的位置坐标： 2C B BC x x l cos ψ=+ 2C B B C x x l c o s ψ=+ 求导可得C 的速度Xc v 、yC v 及加速度xC a 、yC a 。
4. 3 构件BCD 上E 点的运动BE 为同一构件上的两点。
由4.1及4.2知B 点位置坐标、速度、加速度以及构件BCD 的转角、角速度和角加速度，且100BE l mm =，可求出E 点的相关参数。
E 点的位置坐标： 2E B BE x x l cos ψ=+ 2E B B E y x l s i n ψ=+E 点的速度： 22 ?xE xB BE v v l sin ωψ-= 22 yE yB BE v v l cos ωψ=+E 点的加速的：22222 xE xB BE BE a a l cos l sin ωψαψ=--2 y 2222yEB BE BE a a l sin l cos ωψαψ=-+4.4 构件BCD 上F 点的运动EF 为同一构件上的两点，由4.3知E 点位置坐标、速度、加速度，且100BE l mm =可求出F 点的相关参数。
如图4，由几何关系可知杆EF 与y 轴负方向夹角即为杆2相对于x 轴正方向夹角2ψ。
图4 杆EF 与y 轴负方向夹角运动副F 的位置坐标： 2x F E EF x l sin ψ=+ 2F E E F y x l c o s ψ=- 运动副F 的速度： 22 xF xE EF v v l cos ωψ=+ 22 yF yE EF v v l sin ωψ=+运动副F 的加速度：22222 xF xE EF EF a a l sin l cos ωψαψ=-+22222yF yE EF EF a a l cos l sin ωψαψ=++4.5 RRP Ⅱ级杆组FG由4.4知F 点的置坐标、速度、加速度，且400FG l mm =，可求得FG 相关参数。
DG 相对于x 轴转角： 518083ψβ=︒-=︒ 杆4相对于x 轴转角： 405/ FG arcsin A l ψψ=+（）其中()055)() () F D F D A x x sin y y cos ψψ=---（运动副G 的位置坐标： 4()G F FG x x l cos ψ=+ 5()G F FG y y l sin ψ=+ 滑块在导轨上的位移： ()5/()G D s x x cos ψ=- 求导可得G 的速度xG v 、yG v 以及加速度xG a 、yG a 。
5. 计算编程 （使用Matlab 编写）5.1 用RR 类模块求B 点运动经典文档下载后可编辑复制f1=[0:pi/180:2*pi]; %原动件AB杆转角范围% w1=10; %AB杆角速度%e1=0; %AB杆角加速度%xA=0;yA=0;vxA=0;vyA=0;axA=0;ayA=0; %运动副A的相关参数% l1=150; %杆AB长%xB=xA+cos(f1)*l1; %运动副B位置%yB=yA+sin(f1)*l1;vxB=vxA-w1*l1*sin(f1); %运动副B速度%vyB=vyA+w1*l1*cos(f1);axB=axA-w1^2*l1*cos(f1)-e1*l1*sin(f1); %运动副B加速度%ayB=ayA-w1^2*l1*sin(f1)+e1*l1*cos(f1);plot(xB,yB) %绘出运动副B运动轨迹%5.2 用RRRⅡ级杆组模块求C点运动xD=320; yD=0; vxD=0;vyD=0;axD=0;ayD=0; %运动副D的相关参数%l2=400; %杆BC长%l3=300; %杆CD长%LBD=realsqrt((xD-xB).^2+(yD-yB).^2); %BD间距离%A0=2*l2*(xD-xB);B0=2*l2*(yD-yB);C0=l2^2+LBD.^2-l3^2;f2=2*atan((B0+1*realsqrt(A0.^2+B0.^2-C0.^2))./(A0+C0)); %杆BC转角%xC=xB+l2*cos(f2); %运动副C位置%yC=yB+l2*sin(f2);f3=atan((yC-yD)./(xC-xD))+pi; %杆CD转角%C2=l2*cos(f2);S2=l2*sin(f2);C3=l3*cos(f3);S3=l3*sin(f3);G1=C2.*S3-C3.*S2;w2=(C3.*(vxD-vxB)+S3.*(vyD-vyB))./G1; %杆BC角速度%w3=(C2.*(vxD-vxB)+S2.*(vyD-vyB))./G1; %杆CD角速度%vxC=vxB-l2*w2.*sin(f2); %运动副C速度%vyC=vxB+l2*w2.*cos(f2);G2=axD-axB+w2.^2.*C2-w3.^2.*C3;G3=ayD-ayB+w2.^2.*S2-w3.^2.*S3;e2=(G2.*C3+G3.*S3)./G1; %杆BC角加速度%e3=(G2.*C2+G3.*S2)./G1; %杆CD角加速度%axC=axB-l2*e2.*sin(f2)-l2*w2.^2.*cos(f2); %运动副C加速度%ayC=ayB+l2*e2.*cos(f2)-l2*w2.^2.*sin(f2);plot(xC,yC) %绘出运动副C运动轨迹%5.3 用RR类模块求构件2上E点的运动lBE=100; %杆BE长%经典文档下载后可编辑复制xE=xB+lBE*cos(f2); %E点的相关参数%yE=yB+lBE*sin(f2);vxE=vxB-lBE*w2.*sin(f2);vyE=vyB+lBE*w2.*cos(f2);axE=axB-lBE*w2.^2.*cos(f2)-lBE*e2.*sin(f2);ayE=ayB-lBE*w2.^2.*sin(f2)+lBE*e2.*cos(f2);plot(xE,yE) %绘出E点运动轨迹%5.4用RR类模块求构件2上F点的运动lEF=230; %杆EF长%xF=xE+lEF*sin(f2); %运动副F的相关参数% yF=yE-lEF*cos(f2);vxF=vxE+lEF*w2.*cos(f2);vyF=vyE+lEF*w2.*sin(f2);axF=axE-lEF*w2.^2.*sin(f2)+lEF*e2.*cos(f2);ayF=ayE+lEF*w2.^2.*cos(f2)+lEF*e2.*sin(f2);plot(xF,yF) %绘出运动副F运动轨迹%5.5用RRPⅡ级杆组模块求G点的运动l4=400; %杆FG长%f5=-83/180*pi; %导轨DG相对x轴转角% A0=(xF-xD)*sin(f5)-(yF-yD)*cos(f5);f4=asin(A0/l4)+f5; %杆FG转角%xG=xF+l4*cos(f4); %运动副G位置%yG=yF+l4*sin(f4);s=(xG-xD)/cos(f5); %滑块距D点的位移%Q1=vxD-vxF;Q2=vyD-vyF;Q3=l4*sin(f4)*sin(f5)+l4*cos(f4)*cos(f5);w4=(-Q1*sin(f5)+Q2*cos(f5))/Q3; %杆FG角速度%vxG=vxF+l4*w4.*(-sin(f4)); %运动副G速度%vyG=vyF+l4*w4.*cos(f4);vG=vxG*cos(f5)+vyG*sin(f5); %滑块沿导轨运动速度%Q4=axD-axF+l4*w4.^2.*cos(f4);Q5=ayD-ayF+l4*w4.^2.*sin(f4);e4=(-Q4*sin(f5)+Q5*cos(f5))/Q3; %杆FG角加速度%axG=axF+l4*e4.*(-sin(f4))+l4*w4.^2.*(-cos(f4)); %运动副G加速度%ayG=axF+l4*e4.*cos(f4)+l4*w4.^2.*(-sin(f4));aG=axG*cos(f5)+ayG*sin(f5); %滑块沿导轨运动加速度% f=f1/pi*180;plot(f,s) %绘出滑块位移-AB转角曲线% plot(f,vG/1000) %绘出滑块速度-AB转角曲线% plot(f,aG/1000) %绘出滑块加速度-AB转角曲线%6.计算结果6.1 F点运动轨迹图5 F点运动轨迹6.2 G点的位移、速度和加速度图6 G点位移与AB杆转角关系图7 G点速度与AB杆转角关系图8 G点加速度与AB杆转角关系表2 G点位移、速度、加速度部分计算结果7. 计算结果分析7.1 F 点运动分析F 点运动轨迹如图5所示。