1、Harbin Institute of Technology機械原理大作業設計說明書（論文）課程名稱： 機械原理 設計題目：連桿機構運動分析(27) 院 系：能源科學與工程學院 班 級： 1202101 設 計 者： 滕令凱 學 號： 1120200605 指導教師： 焦映厚 設計時間： 2014年6月 運動分析題目第二十七題 如圖所示機構，已知機構各構件的尺寸為AB=280mm，BC=350mm，CD=320mm, AD=160mm, BE=175mm, EF=220mm, xc=25mm, yg=80mm, 構件一的角速度為w1=10rad/s, 試求構件2上點F的軌跡及構件5的角位移，角

2、速度和角加速度，并對計算結果進行分析。YAGCBEFyGXgDX一、建立坐標系以A點為原點建立如圖所示坐標系x-y，如上圖所示二、機構結構分析該機構可認為由一個I級桿組RR（桿AB）、II級桿組RRR（桿2、3）、II級桿組RPR（桿5及滑塊4）組成。如下圖所示。AB II級桿組RRCBDE II級桿組RRRGF II級桿組RPR三、確定已知參數和設計流程一）AB（I級桿組RR）運動副A的位置坐標為AB=28OmmB的位置坐標二）BCD桿（II級桿組RRR）運動副D的位置坐標BC=350mm, CD=320mm由余弦定理，可求得由正弦定理得由余弦定理得由此可以求出運動副C的位置坐標（X,Y）,

3、速度（vx，vy）和加速度(ax,ay),桿BC與x軸的夾角，桿BC的角速度，桿BC的角加速度，桿CD與x軸的夾角，角速度，角加速度。三）GF （II級桿組RPR）G點的位置坐標由此可以求出構件GF的轉角，角速度和角加速度四）構件BC上E點的運動BE=175mm，根據前面求出的量，可以得到E的位置坐標，速度和加速度，同理可以得到F點的運動規律。四、編程計算編程語言為VB，編程環境為visual basic6.0精簡版源代碼如下Dim xA As Double '點A的坐標，速度，加速度Dim yA As DoubleDim vxA As DoubleDim vyA As DoubleD

4、im axA As DoubleDim ayA As DoubleDim xB As Double '點B的坐標，速度，加速度Dim yB As DoubleDim vxB As DoubleDim vyB As DoubleDim axB As DoubleDim ayB As DoubleDim xC As Double '點C的坐標，速度，加速度Dim yC As DoubleDim vxC As DoubleDim vyC As DoubleDim axC As DoubleDim ayC As DoubleDim xD As Double '點D的坐標，速度，

5、加速度Dim yD As DoubleDim vxD As DoubleDim vyD As DoubleDim axD As DoubleDim ayD As DoubleDim xE As Double '點E的坐標，速度，加速度Dim yE As DoubleDim vxE As DoubleDim vyE As DoubleDim axE As DoubleDim ayE As DoubleDim xF As Double '點F的坐標，速度，加速度Dim yF As DoubleDim vxF As DoubleDim vyF As DoubleDim axF As

6、DoubleDim ayF As DoubleDim xG As Double '點G的坐標，速度，加速度Dim yG As DoubleDim vxG As DoubleDim vyG As DoubleDim axG As DoubleDim ayG As DoubleDim delt As Double '構件1的初始角位移Dim lab As Double '桿AB的長度Dim lbc As Double '桿BC的長度Dim lcd As Double '桿CD的長度Dim lad As Double '桿AD的長度Dim lbe As

7、 Double '桿BE的長度Dim lef As Double '桿EF的長度Dim lbf As Double 'BF兩點間的距離Dim fab As Double '桿AB的角位移Dim fbc As Double '桿BC的角位移Dim fcd As Double '桿CD的角位移Dim fef As Double '桿EF的角位移Dim ffg As Double '桿FG的角位移Dim febf As Double '角EBF的角度Dim fj1 As DoubleDim wab As Double '

8、桿AB的角速度Dim wbc As Double '桿BC的角速度Dim wcd As Double '桿CD的角速度Dim wce As Double '桿CE的角速度Dim wef As Double '桿EF的角速度Dim wfg As Double '桿FG的角速度Dim eab As Double '桿AB的角加速度Dim ebc As Double '桿BC的角加速度Dim ecd As Double '桿CD的角加速度Dim ece As Double '桿CE的角加速度Dim eef As Double &

9、#39;桿EF的角加速度Dim efg As Double '桿FG的角加速度Dim LBD As Double 'BD的長度Dim LGF As Double 'GF的長度Dim JCBD As Double '角CBD的角度Dim fbd As Double '桿BD的角位移Dim Ci As Double 'RRR桿組的中間變量Dim Cj As DoubleDim Si As DoubleDim Sj As DoubleDim G1 As DoubleDim G2 As DoubleDim G3 As DoubleDim val As D

10、ouble '角CBD的余弦值Dim pi As Double '圓周率Dim pa As Double '角度與弧度轉換的系數Dim i As Double '循環變量Private Sub Form_Load() '附值lab = 280lbc = 350lcd = 320lad = 160lbe = 175lef = 220wab = 10eab = 0delt = 0xA = 0yA = 0vxA = 0vyA = 0axA = 0ayA = 0xD = 0yD = 160vxD = 0vyD = 0axD = 0ayD = 0xG = -25y

11、G = 80vxG = 0vyG = 0axG = 0ayG = 0pi = 3.1415926pa = pi / 180fj1 = 0End SubPrivate Sub Command1_Click() '點F的軌跡Picture1.Scale (-200, 250)-(100, -50)Picture1.Line (-200, 0)-(100, 0) 'XPicture1.Line (0, 250)-(0, -50) 'Y For i = -180 To 120 Step 30 'X軸坐標 Picture1.DrawStyle = 2 Picture1.L

12、ine (i, 250)-(i, -50) Picture1.CurrentX = i - 10: Picture1.CurrentY = 0 Picture1.Print i Next i For i = -60 To 240 Step 30 'Y軸坐標 Picture1.DrawStyle = 2 Picture1.Line (-200, i)-(100, i) Picture1.CurrentX = -10: Picture1.CurrentY = i Picture1.Print i Next iFor fj1 = 0 To 360 Step 0.01 fab = fj1 *

13、pa Call RR1 Call RRR Call RR2 Picture1.PSet (xF, yF) Next fj1End SubPrivate Sub Command2_Click() '桿5的角位移Picture2.Scale (-10, 8)-(380, -2)Picture2.Line (-10, 0)-(380, 0) 'XPicture2.Line (0, 8)-(0, -2) 'Y For i = -30 To 390 Step 30 'X軸坐標 Picture2.DrawStyle = 2 Picture2.Line (i, 8)-(i,

14、-2) Picture2.CurrentX = i - 10: Picture2.CurrentY = 0 Picture2.Print i Next i For i = -2 To 8 Step 1 'Y軸坐標 Picture2.DrawStyle = 2 Picture2.Line (-10, i)-(380, i) Picture2.CurrentX = -10: Picture2.CurrentY = i Picture2.Print i Next i For fj1 = 0 To 360 Step 0.01 fab = fj1 * paCall RR1Call RRRCall

15、 RR2Call RPRPicture2.PSet (fj1, ffg) Next fj1End SubPrivate Sub Command3_Click() '桿5的角速度Picture3.Scale (-20, 90)-(380, -10)Picture3.Line (-20, 0)-(380, 0) 'XPicture3.Line (0, 90)-(0, -10) 'YFor i = 0 To 360 Step 30 'X軸坐標Picture3.DrawStyle = 2Picture3.Line (i, 90)-(i, -10)Picture3.Cur

16、rentX = i - 10: Picture3.CurrentY = 0Picture3.Print iNext iFor i = -10 To 90 Step 5 'Y軸坐標 Picture3.Line (0, i)-(380, i) Picture3.CurrentX = -20: Picture3.CurrentY = i Picture3.Print i Next i For fj1 = 0 To 360 Step 0.01 fab = fj1 * paCall RR1Call RRRCall RR2Call RPRPicture3.PSet (fj1, wfg) Next

17、fj1End SubPrivate Sub Command4_Click() '桿5的角加速度Picture4.Scale (-20, 800)-(380, -800)Picture4.Line (-20, 0)-(380, 0) 'XPicture4.Line (0, 800)-(0, -800) 'YFor i = 0 To 360 Step 30 'X軸坐標 Picture4.DrawStyle = 2 Picture4.Line (i, 800)-(i, -800) Picture4.CurrentX = i - 10: Picture4.Current

18、Y = 0 Picture4.Print i Next i For i = -800 To 800 Step 80 'Y軸坐標 Picture4.Line (0, i)-(380, i) Picture4.CurrentX = -25: Picture4.CurrentY = i + 5 Picture4.Print i Next i For fj1 = 0 To 360 Step 0.01 fab = fj1 * pa Call RR1 Call RRR Call RR2 Call RPR Picture4.PSet (fj1, efg) Next fj1End SubPrivate

19、 Sub RR1() '級桿組RR1（原動件1）xB = xA + lab * Cos(fab + delt)yB = yA + lab * Sin(fab + delt)vxB = vxA - wab * lab * Sin(fab + delt)vyB = vyA + wab * lab * Cos(fab + delt)axB = axA - wab 2 * lab * Cos(fab + delt) - eab * lab * Sin(fab + delt)ayB = ayA - wab 2 * lab * Sin(fab + delt) + eab * lab * Sin(f

20、ab + delt)End SubPrivate Sub RR2() '構件2上點F的運動分析lbf = Sqr(lbe 2 + lef 2)febf = Atn(lef / lbe)xF = xB + lbf * Cos(fbc + febf)yF = yB + lbf* Sin(fbc + febf)vxF = vxB - wbc * lbf * Sin(fbc + febf)vyF = vyB + wbc * lbf* Cos(fbc + febf)axF = axB - wbc 2 * lbf * Cos(fbc + febf) - ebc * lbf * Sin(fbc +

21、febf)ayF = ayB - wbc 2 * lbf * Sin(fbc + febf) + ebc * lbf* Sin(fbc + febf)End SubPrivate Sub RRR() 級桿組RRR（桿2、桿3）xB = xA + lab * Cos(fab + delt)yB = yA + lab * Sin(fab + delt)LBD = Sqr(xD - xB) 2 + (yD - yB) 2)val = (lbc 2 + LBD 2 - lcd 2) / (2 * lbc * LBD)JCBD = Atn(-val / Sqr(-val * val + 1) + 2 *

22、 Atn(1)If xD > xB And yD > yB Then '第一象限fbd = Atn(yD - yB) / (xD - xB)fbc = fbd - JCBDElseEnd IfIf xD < xB And yD >= yB Then '第二象限fbd = Atn(yD - yB) / (xD - xB) + pifbc = fbd - JCBDElseEnd IfIf xD < xB And yD < yB Then '第三象限fbd = Atn(yD - yB) / (xD - xB) + pifbc = fbd -

23、 JCBDElseEnd IfIf xD > xB And yD <= yB Then '第四象限fbd = Atn(yD - yB) / (xD - xB) + pi * 2fbc = fbd - JCBDElseEnd IfIf xB = xD And yD > yB Then 'y軸正向fcd = 0.5 * piElseEnd IfIf xB = xD And yD < yB Then 'y軸負向fcd = 1.5 * piElseEnd IfxC = xB + lbc * Cos(fbc)yC = yB + lbc * Sin(fbc)

24、If xC > xD And yC >= yD Then '第一象限fcd = Atn(yC - yD) / (xC - xD)ElseEnd IfIf xC < xD And yC >= yD Then '第二象限fcd = Atn(yC - yD) / (xC - xD) + piElseEnd IfIf xC < xD And yC < yD Then '第三象限fcd = Atn(yC - yD) / (xC - xD) + piElseEnd IfIf xC > xD And yC <= yD Then '

25、;第四象限fcd = 2 * pi + Atn(yC - yD) / (xC - xD)ElseEnd IfIf xC = xD And yC > yD Then 'y軸正向fcd = 0.5 * piElseEnd IfIf xC = xD And yC < yD Then 'y軸負向fcd = 1.5 * piElseEnd IfCi = lbc * Cos(fbc)Si = lbc * Sin(fbc)Cj = lcd * Cos(fcd)Sj = lcd * Sin(fcd)G1 = Ci * Sj - Cj * Siwbc = (Cj * (vxD - v

26、xB) + 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)End SubPrivate Sub RPR() '級桿組RPR（滑塊4、桿5）LGF = Sqr(xG - xF) 2 + (yG - yF) 2)If xF > xG And yF > yD Then '第一象限ffg = Atn(yF - yG) / (xF - xG)ElseEnd IfIf xF < xG And yF >= y