机械原理课程设计Word文档下载推荐.docx
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机械原理课程设计Word文档下载推荐.docx
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s4(n1)=tt
(1);
tt4(n1)=tt
(2);
tt5(n1)=tt(3);
sE(n1)=tt(4);
v34(n1)=omg
(1);
omg4(n1)=omg
(2);
omg5(n1)=omg(3);
vE(n1)=omg(4);
a3(n1)=af
(1);
af4(n1)=af
(2);
af5(n1)=af(3);
aE(n1)=af(4);
end
%3.位移,角速度,角加速度
figure
(1);
n1=1:
t=(n1-1)*pi/180;
subplot(2,2,1);
%绘角位移及位移线图
plot(t,tt4*du,'
r-.'
);
gridon;
holdon;
axisauto;
[haxes,hline1,hine2]=plotyy(t,tt5*du,t,sE);
xlabel('
时间/份'
axes(haxes
(1));
ylabel('
角位移/\circ'
axes(haxes
(2));
位移/m'
text(1.15,-0.65,'
tt_4'
text(3.4,0.27,'
tt_5'
text(2.25,-0.15,'
s_E'
subplot(2,2,2);
%绘角速度及速度线图
plot(t,omg4,'
[haxes,hline1,hline2]=plotyy(t,omg5,t,vE);
)
角速度/rad\cdots^{-1}'
速度/m\cdots^{-1}'
text(3.1,0.35,'
\omg_4'
text(2.1,0.1,'
\omg_5'
text(5.5,0.45,'
v_E'
subplot(2,2,3);
%绘角加速度和加速度图
plot(t,af4,'
[haxes,hline1,hline2]=plotyy(t,af5,t,aE);
角加速度/rad\cdots^{-2}'
加速度/m\cdots^{-2}'
text(1.5,0.3,'
\af_4'
text(3.5,0.51,'
\af_5'
text(1.5,-0.11,'
a_E'
wjr_abc.m
function[tt,omg,af]=abc(tt2,omg2,af2,ll)
l2=ll
(1);
l4=ll
(2);
l5=ll(3);
l1=ll(4);
l1p=ll(5);
%1.计算角位移和线位移
s4=sqrt((l2*cos(tt2))*(l2*cos(tt2))+(l1+l2*sin(tt2))*(l1+l2*sin(tt2)));
tt4=acos((l2*cos(tt2))/s4);
tt5=asin((l1p-l4*sin(tt4))/l5);
sE=l4*cos(tt4)+l5*cos(tt5);
tt
(1)=s4;
tt
(2)=tt4;
tt(3)=tt5;
tt(4)=sE;
%2.计算角速度和线速度
A=[cos(tt4),-s4*sin(tt4),0,0;
%速度分析矩阵之从动件位置参数矩阵
sin(tt4),s4*cos(tt4),0,0;
0,-l4*sin(tt4),-l5*sin(tt5),-1;
0,l4*cos(tt4),l5*cos(tt5),0];
B=[-l2*sin(tt2);
%原动件位置参数矩阵
l2*cos(tt2);
0;
0];
omg=A\(omg2*B);
v34=omg
(1);
omg4=omg
(2);
omg5=omg(3);
vE=omg(4);
%计算角加速度和加速度
%速度分析矩阵之从动件位置参数
At=[-omg4*sin(tt4),-v34*sin(tt4)-s4*omg4*cos(tt4),0,0;
omg4*cos(tt4),v34*cos(tt4)-s4*omg4*sin(tt4),0,0;
0,-l4*omg4*cos(tt4),-l5*omg5*cos(tt5),0;
0,-l4*omg4*sin(tt4),-l5*omg5*sin(tt5),0];
Bt=[-l2*omg2*cos(tt2);
-l2*omg2*sin(tt2);
af=A\(-At*omg+omg2*Bt);
a34=af
(1);
af4=af
(2);
af5=af(3);
aE=af(4);
wjr_force.m
%单位rad/s
H=0.6;
%行程单位m
sEmax=0.5046;
sEmin=0.0954;
%单位m
Js4=0.9;
Js5=0.015;
%单位kgm^2
g=9.8;
%单位m/s^2
m4=22;
m5=3;
m6=52;
%kg
G4=196;
G5=29.4;
G6=509.6;
%单位N
Fc=1400;
%2.机构运动分析
%位移及角位移
s4(n1)=sqrt((l2*cos(tt2(n1)))*(l2*cos(tt2(n1)))+(l1+l2*sin(tt2(n1)))*(l1+l2*sin(tt2(n1))));
tt4(n1)=acos((l2*cos(tt2(n1)))/s4(n1));
tt5(n1)=asin((l1p-l4*sin(tt4(n1)))/l5);
sE(n1)=l4*cos(tt4(n1))+l5*cos(tt5(n1));
A=[cos(tt4(n1)),-s4(n1)*sin(tt4(n1)),0,0;
sin(tt4(n1)),s4(n1)*cos(tt4(n1)),0,0;
0,-l4*sin(tt4(n1)),-l5*sin(tt5(n1)),-1;
0,l4*cos(tt4(n1)),l5*cos(tt5(n1)),0];
B=[-l2*sin(tt2(n1));
l2*cos(tt2(n1));
v34(n1)=omg
(1);
omg4(n1)=omg
(2);
omg5(n1)=omg(3);
vE(n1)=omg(4);
A=[cos(tt4(n1)),-s4(n1)*sin(tt4(n1)),0,0;
At=[-omg4(n1)*sin(tt4(n1)),-v34(n1)*sin(tt4(n1))-s4(n1)*omg4(n1)*cos(tt4(n1)),0,0;
omg4(n1)*cos(tt4(n1)),v34(n1)*cos(tt4(n1))-s4(n1)*omg4(n1)*sin(tt4(n1)),0,0;
0,-l4*omg4(n1)*cos(tt4(n1)),-l5*omg5(n1)*cos(tt5(n1)),0;
0,-l4*omg4(n1)*sin(tt4(n1)),-l5*omg5(n1)*sin(tt5(n1)),0];
Bt=[-l2*omg2*cos(tt2(n1));
-l2*omg2*sin(tt2(n1));
a34(n1)=af
(1);
af4(n1)=af
(2);
af5(n1)=af(3);
aE(n1)=af(4);
%3.机构的力平衡计算
%计算各铰链点坐标
xa=0;
ya=l1;
xb(n1)=l2*cos(tt2(n1));
yb(n1)=l1+l2*sin(tt2(n1));
xc=0;
yc=0;
xd(n1)=l4*cos(tt4(n1));
yd(n1)=l4*sin(tt4(n1));
xe(n1)=sE(n1);
ye=l1p;
%计算各质心坐标
xs4(n1)=(xc+xd(n1))/2;
ys4(n1)=(yc+yd(n1))/2;
xs5(n1)=(xd(n1)+xe(n1))/2;
ys5(n1)=(yd(n1)+ye)/2;
xs6=0.15;
%各质心点加速度
as4x(n1)=-l4*(af4(n1)*sin(tt4(n1))+omg4(n1)^2*cos(tt4(n1)))/2;
as4y(n1)=l4*(af4(n1)*cos(tt4(n1))-omg4(n1)^2*sin(tt4(n1)))/2;
adx=-l4*(af4(n1)*sin(tt4(n1))+omg4(n1)^2*cos(tt4(n1)));
ady=l4*(af4(n1)*cos(tt4(n1))-omg4(n1)^2*sin(tt4(n1)));
as5x(n1)=adx+l5*(af5(n1)*sin(tt5(n1))+omg5(n1)^2*cos(tt5(n1)))/2;
as5y(n1)=ady+l5*(af5(n1)*cos(tt5(n1))-omg5(n1)^2*sin(tt5(n1)))/2;
as6(n1)=aE(n1);
%惯性力及惯性力矩
F4x(n1)=-m4*as4x(n1);
F4y(n1)=-m4*as4y(n1);
F5x(n1)=-m5*as5x(n1);
F5y(n1)=-m5*as5y(n1);
F6(n1)=-m6*as6(n1);
M4(n1)=-Js4*af4(n1);
M5(n1)=-Js5*af5(n1);
%未知力系数矩阵
xya=zeros(15);
xya(1,2)=-1;
xya(1,4)=-1;
xya(2,3)=-1;
xya(2,5)=-1;
xya(3,1)=1;
xya(3,4)=yb(n1)-ya;
xya(3,5)=xa-xb(n1);
xya(4,4)=1;
xya(4,6)=-1;
xya(5,5)=1;
xya(5,7)=-1;
xya(6,6)=cos(tt4(n1));
xya(6,7)=sin(tt4(n1));
xya(7,6)=1;
xya(7,8)=-1;
xya(7,10)=-1;
xya(8,7)=1;
xya(8,9)=-1;
xya(8,11)=-1;
xya(9,6)=ys4(n1)-yb(n1);
xya(9,7)=xb(n1)-xs4(n1);
xya(9,8)=yc-ys4(n1);
xya(9,9)=xs4(n1)-xc;
xya(9,10)=yd(n1)-ys4(n1);
xya(9,11)=xs4(n1)-xd(n1);
xya(10,10)=1;
xya(10,12)=-1;
xya(11,11)=1;
xya(11,13)=-1;
xya(12,10)=ys5(n1)-yd(n1);
xya(12,11)=xd(n1)-xs5(n1);
xya(12,12)=ye-ys4(n1);
xya(12,13)=xs5(n1)-xe(n1);
xya(13,12)=1;
xya(14,13)=1;
xya(14,14)=-1;
xya(15,13)=xs6;
xya(15,15)=1;
%已知力矩阵
ifvE(n1)<
0&
sE(n1)>
=(sEmin+0.05*H)&
sE(n1)<
=(sEmax-0.05*H)
D=[0;
0;
-F4x(n1);
-F4y(n1)+G4;
-M4(n1);
-F5x(n1);
-F4y(n1)+G5;
-M5(n1);
-Fc-F6(n1);
G6;
];
else
-F6(n1);
end
%未知力矩阵
FR=inv(xya)*D;
M2(n1)=FR
(1);
FR12x(n1)=FR
(2);
FR12y(n1)=FR(3);
FR45x(n1)=FR(10);
FR45y(n1)=FR(11);
FR16(n1)=FR(14);
M6(n1)=FR(15);
%4.输出力的分析图
figure
(2);
t=(n1-1)*2*pi/360;
%绘平衡力矩图
plot(t,M2);
title('
平衡力矩M_2'
力矩/N\cdotm'
text(3.8,880,'
M_2'
%绘A处x方向约束反力即FR12x
plot(t,FR12x,'
-'
转动副A处约束反力'
力/N'
text(1.1,5000,'
F_R_1_2_x'
plot(t,FR12y,'
%绘A处y方向约束反力即FR12y
text(1.1,-3000,'
F_R_1_2_y'
%绘移动副FR16
plot(t,-FR16);
移动副6约束反力F_R_1_6'
text(1.5,3100,'
F_R_1_6'
subplot(2,2,4);
%绘转动副D处约束反力
plot(t,FR45x,'
转动副D处约束反力'
text(1.1,-900,'
F_R_4_5_x'
plot(t,FR45y,'
text(1.1,-3700,'
F_R_4_5_y'
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