机械原理课程设计大作业平面六杆机构Word下载.docx
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机械原理课程设计大作业平面六杆机构Word下载.docx
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65.0
67.5
87.5
34.4
25.0
600
153.5
41.7
题目要求:
两人一组计算出原动件从0到360时(计算点数361)所要求的各运动变量的
大小,并绘出运动曲线图及轨迹曲线。
二、题目分析
1)建立封闭图形:
L1+L2=L3+L4
L1+L2=L5+L6+AG
2)机构运动分析
a、角位移分析
由图形封闭性得:
b、角速度分析
上式对时间求一阶导数,可得速度方程:
化为矩阵形式为:
c、角加速度分析:
矩阵对时间求一阶导数,可得加速度矩阵为:
d、E点的运动状态
位移:
速度:
加速度:
三、源程序
%Run.m%
thetas;
%角度fine
angularvelocity;
%角速度fine
angularacceleration;
%角加速度fine
Edisplacement;
%E点位移fine
Eangularvelocity;
%E点速度fine
Eangularacceleration;
%E点加速度fine
%solveequations.m%
%-------------------方程组-------------------%
functionF=solveequations(x,thed1)
F=[26.5*cosd(thed1)+105.6*cosd(x
(1))-67.5*cosd(x
(2))-87.5;
26.5*sind(thed1)+105.6*sind(x
(1))-67.5*sind(x
(2));
26.5*cosd(thed1)+105.6*cosd(x
(1))+65*cosd(60)*cosd(x
(1))+65*sind(60)*sind(x
(1))-153.5-25*cosd(x(4))-34.4*cosd(x(3))
26.5*sind(thed1)+105.6*sind(x
(1))+65*cosd(60)*sind(x
(1))-65*sind(60)*cosd(x
(1))-41.7-25*sind(x(4))-34.4*sind(x(3))
];
%functionF=solveequations(x,thed1,l1,l2,l3,l4,l5,l6,a)
%F=[l1*cosd(thed1)+l2*cosd(x
(1))-l3*cosd(x
(2))-l4;
%l1*sind(thed1)+l2*sind(x
(1))-l3*sind(x
(2));
%l1*cosd(thed1)+l2*cosd(x
(1))-l2'
*cosd(60)*cosd(x
(1))+l2'
*sind(60)*sind(x
(1))-153.5-l6*cosd(x(4))-l5*cosd(x(3));
%l1*sind(thed1)+l2*sind(x
(1))-l2'
*cosd(60)*sind(x
(1))+l2'
*sind(60)*cosd(x
(1))-41.7-l6*sind(x(4))-l5*sind(x(3));
];
%thetas.m%
%------------------------赋初值---------------------%
l1=26.5;
l2=105.6;
l3=67.5;
l4=87.5;
l5=34.4;
l6=25.0;
a=60;
thed1=0:
360;
thed2=0:
thed3=0:
thed5=0:
thed6=0:
thed22=0:
m=[36.77905;
69.573132;
-57.53719284;
92.66548461];
fori=1:
1:
361
x=fsolve(@(x)solveequations(x,thed1(i)),[m
(1);
m
(2);
m(3);
m(4)]);
m=x;
thed2(i)=x
(1);
thed3(i)=x
(2);
thed5(i)=x(3);
thed6(i)=x(4);
end
figure
(1);
%画各个角度图像
x=0:
y1=[thed2;
thed3;
thed5;
thed6];
plot(x,y1);
xlabel('
\theta1'
);
ylabel('
\theta2,\theta3,\theta5,\theta6'
gridminor;
legend('
\theta2'
'
\theta3'
\theta5'
\theta6'
%angularvelocity.m%
%-------------------------角速度-------------------------%
w2=0:
w3=0:
w5=0:
w6=0:
fori=1:
V1=[-105.6*sind(thed2(i))67.5*sind(thed3(i))00;
105.6*cosd(thed2(i))-67.5*cosd(thed3(i))00;
-(105.6+65*cosd(60))*sind(thed2(i))+65*sind(60)*cosd(thed2(i))034.4*sind(thed5(i))25*sind(thed6(i));
(105.6+65*cosd(60))*cosd(thed2(i))+65*sind(60)*sind(thed2(i))0-34.4*cosd(thed5(i))-25*cosd(thed6(i))];
V2=[(l1)*sind(thed1(i));
-(l1)*cosd(thed1(i));
(l1)*sind(thed1(i));
V3=V1\V2;
w2(i)=V3
(1);
w3(i)=V3
(2);
w5(i)=V3(3);
w6(i)=V3(4);
figure(3);
y2=[w2;
w3;
w5;
w6];
plot(x,y2);
\omega2,\omega3,\omega5,\omega6'
\omega2'
\omega3'
\omega5'
\omega6'
%angularacceleration.m%
%-------------------------角加速度--------------------------%
a2=0:
a3=0:
a5=0:
a6=0:
%w2w3w5w6
A111=[105.6*cosd(thed2(i))*w2(i)-67.5*cosd(thed3(i))*w3(i)00;
105.6*sind(thed2(i))*w2(i)-67.5*sind(thed3(i))*w3(i)00;
((105.6+65*cosd(60))*cosd(thed2(i))+65*sind(60)*sind(thed2(i)))*w2(i)0-34.4*cosd(thed5(i))*w5(i)-25*cosd(thed6(i))*w6(i);
((105.6+65*cosd(60))*sind(thed2(i))-65*sind(60)*cosd(thed2(i)))*w2(i)0-34.4*sind(thed5(i))*w5(i)-25*sind(thed6(i))*w6(i);
A112=[w2(i);
w3(i);
w5(i);
w6(i)];
A11=A111*A112;
A12=[l1*cosd(thed1(i));
l1*sind(thed1(i));
l1*cosd(thed1(i));
A1=A11+A12;
A2=[-l2*sind(thed2(i))l3*sind(thed3(i))00;
l2*cosd(thed2(i))-l3*cosd(thed3(i))00;
(105.6+65*cosd(60))*cosd(thed2(i))+65*sind(60)*sind(thed2(i))0-34.4*cosd(thed5(i))-25*cosd(thed6(i));
A3=A2\A1;
a2(i)=A3
(1);
a3(i)=A3
(2);
a5(i)=A3(3);
a6(i)=A3(4);
figure(5);
y3=[a2;
a3;
a5;
a6];
plot(x,y3);
\alpha1'
\alpha2,\alpha3,\alpha5,\alpha6'
\alpha2'
\alpha3'
\alpha5'
\alpha6'
%Edisplacement.m%
%-----------------------E点位移图像-------------------------%
ex=0:
ey=0:
e=0:
ex(i)=153.5+25*cosd(thed6(i))+34.4*cosd(thed5(i));
ey(i)=41.7+25*sind(thed6(i))+34.4*sind(thed5(i));
e(i)=(ex(i)^2+ey(i)^2)^0.5;
figure
(2);
y1=[ex;
ey;
e];
ex,ey,e'
ex'
ey'
e'
%Eangularvelocity.m%
%--------------------E点速度图像--------------------%
evx=0:
evy=0:
ev=0:
evx(i)=-l6*w6(i)*sind(thed6(i))-l5*w5(i)*sind(thed5(i));
evy(i)=l6*w6(i)*cosd(thed6(i))+l5*w5(i)*cosd(thed5(i));
ev(i)=(evx(i)^2+evy(i)^2)^0.5;
figure(4);
y1=[evx;
evy;
ev];
Evx,Evy,Ev'
Evx'
Evy'
Ev'
%Eangularacceleration.m%
%-------------------------E点加速度图像-------------------%
eax=0:
eay=0:
ea=0:
eax(i)=-l6*a6(i)*sind(thed6(i))-l6*w6(i)^2*cosd(thed6(i))-l5*a5(i)*sind(thed5(i))-l5*w5(i)^2*cosd(thed5(i));
eay(i)=l6*a6(i)*cosd(thed6(i))-l6*w6(i)^2*sind(thed6(i))+l5*a5(i)*cosd(thed5(i))-l5*w5(i)^2*sind(thed5(i));
ea(i)=(eax(i)^2+eay(i)^2)^0.5;
figure(6);
y1=[eax;
eay;
ea];
Eax,Eay,Ea'
Eax'
Eay'
Ea'
四、曲线图:
E点的位移:
E点的速度图:
E点的加速度图:
五、Adams结果验证
------------------------------------------------------------
点击观看:
仿真动画(若超链接无效,打开文件夹内“仿真动画.gif”)
从动件角位移:
从动件角速度:
从动件角加速度:
E点位移:
E点速度:
E点加速度:
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