压床连杆机构的设计及运动分析方案2综述.docx
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压床连杆机构的设计及运动分析方案2综述.docx
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压床连杆机构的设计及运动分析方案2综述
机械原理课程设计
编程说明书
设计题目:
压床连杆机构的设计及运动分析(方案2)
1设计任务及要求……………………………………
2数学模型的建立……………………………………
3程序框图…………………………………………
4程序清单及运行结果……………………………
5设计总结……………………………………………
6参考文献…………………………………………
1.设计任务及要求
已知:
中心距X1=60mm,X2=170mm,Y=260mm。
构件3的上、下极限Φ’=60、Φ’’=120,滑块的冲程H=180mm,比值CE/CD(取1/2),EF/DE(取1/4),各构件S重心的位置,曲柄每分钟转速N1=90r/min。
要求:
1)设计连杆机构,作机构运动简图(选择适当的比例尺)。
机构两个位置的速度多边形和加速度多边形,滑块的运动线简图(位移,速度和加速度曲线)。
2)用C语言编写程序对机构进行运动分析,并打印程序及计算结果。
3)编写出设计计算说明书。
一数学模型
压床连杆机构数学模型具体推导过程:
将此六杆机构等效为四杆机构与曲柄滑块机构的组合.
如图,四个向量组成的封闭四边行,于是有
即按复数式可以写成
实部相等
(1)
虚部相等
(2)
(1)
(2)式联立消去
得
令
得
再对曲柄滑块机构进行分析
实部虚部分别相等
联立得方程
令
可得
组合四杆机构的分析便得到
二设计过程
2.1设计思想
根据主动杆AB的转角变化和DE杆的极限位置的确定得出其它各杆件的运动规律。
确定初始角度通过循环模拟连杆的运动过程。
数学模型的建立运用矢量方程解析法。
2.2参数的定义
theta-------转角
omga-----角速度epsl------角加速度
2.3数学模型
2.4程序流程图
输入X1,X2,Y,
Hn1
作循环,For(i=0;i 依次计算 计算的 结果分别存入数组或文件中 按格式输出所有计算结果 初始化图形系统 绘制直角坐标系 直角坐标系下分别绘出角位移、角速度、角加速度图象 绘制出机构动画 2.5序设计源程 #include #include #include #include #include #definePi3.1415926 #defineN100 voidinit_graph(void); voidinitview(); voiddraw(); floatsita1[N+1],sita2[N+1],sita3[N+1], omigar2[N+1],omigar3[N+1],epsl2[N+1],epsl3[N+1]; floatLab=60,Lbc=276,Lcd=126,Lad=300,omiga1=9.42,ipsl1=0; main() { inti; floatl1,l2,m1,m2,n1,n2; floattheta1,detat; floattheta2,theta3,omiga2,omiga3,ipsl2,ipsl3; detat=10*Pi/(N*omiga1); for(i=0;i { theta1=omiga1*detat*i; /*系数计算*/ l1=2*Lab*Lcd*cos(theta1)-2*Lcd*Lad; m1=2*Lab*Lcd*sin(theta1); n1=Lab*Lab+Lcd*Lcd+Lad*Lad-Lbc*Lbc-2*Lab*Lad*cos(theta1); l2=2*Lab*Lbc*cos(theta1)-2*Lbc*Lad; m2=2*Lab*Lbc*sin(theta1); n2=Lcd*Lcd-Lab*Lab-Lbc*Lbc-Lad*Lad+2*Lab*Lad*cos(theta1); /*printf"l1=%f\tm1=%f\tn1=%f\n",l1,m1,n1);*/ /*计算转角*/ theta2=asin(n2/sqrt(l2*l2+m2*m2))-asin(l2/sqrt(l2*l2+m2*m2)); theta3=asin(n1/sqrt(l1*l1+m1*m1))-asin(l1/sqrt(l1*l1+m1*m1)); /*printf("theta2: %f\t%f",n2/sqrt(l1*l1+m2*m2),l2/sqrt(l2*l2+m2*m2)); printf("theta3: %f\t%f",n1/sqrt(l1*l1+m1*m1),l1/sqrt(l1*l1+m1*m1));*/ /*计算角速度*/ omiga2=omiga1*Lab*sin(theta3-theta1)/(Lbc*sin(theta2-theta3)); omiga3=omiga1*Lab*sin(theta1-theta2)/(Lcd*sin(theta3-theta2)); /*计算角加速度*/ /*ipsl2*/ ipsl2=Lab*ipsl1*sin(theta1-theta3)+Lab*omiga1*omiga1*cos(theta1-theta3); ipsl2+=Lbc*omiga2*omiga2*cos(theta3-theta2)-Lcd*omiga3*omiga3; ipsl2=ipsl2/(Lbc*sin(theta3-theta2)); /*ipsl3*/ ipsl3=-Lab*ipsl1*sin(theta1-theta2)-Lab*omiga1*omiga1*cos(theta1-theta2); ipsl3-=Lbc*omiga2*omiga2+Lcd*omiga3*omiga3*cos(theta2-theta3); ipsl3=ipsl3/(Lcd*sin(theta2-theta3)); /*计算结果存入数据组中*/ sita1[i]=theta1; sita2[i]=theta2; sita3[i]=theta3; omigar2[i]=omiga2; omigar3[i]=omiga3; epsl2[i]=ipsl2; epsl3[i]=ipsl3; } /*输出运算结果*/ for(i=0;i<=N;i++) { printf("i=%d\n,sita1[i]=%f\t,sita2[i]=%f\t,sita3[i]=%f\t,omigar2[i]=%f\t,omigar3[i]=%f\t,epsl2[i]=%f\t,epsl3[i]=%f\n\n",i,sita1[i],sita2[i],sita3[i],omigar2[i],omigar3[i],epsl2[i],epsl3[i]); } init_graph();/*初始化图形系统*/ initview();/*建立坐标系*/ /*话构件2的角位移、角速度、角加速度*/ draw(sita2,150,50); setcolor(WHITE); setlinestyle(1,1,1); draw(omigar2,150,20); setcolor(RED); setlinestyle(2,1,1); draw(epsl2,150,1); setcolor(YELLOW); /*画构件3的角位移、角速度、角加速度*/ draw(sita3,300,20); setcolor(WHITE); setlinestyle(1,1,1); draw(omigar3,300,10); setcolor(RED); setlinestyle(2,1,1); draw(epsl3,300,1); } voidinit_graph() { intgd=DETECT,gmode; initgraph(&gd,&gmode,"c: \\turboc2"); } voidinitview() { inti,j,px,py; cleardevice(); setfillstyle(SOLID_FILL,BLUE); bar(100,0,500,479); setcolor(YELLOW); for(i=0;i<=1;i++) { px=100; py=150+150*i; setcolor(YELLOW); line(px,py,px+300,py); line(px,py-100,px,py+100); line(px,py-100,px-3,py-100+5); line(px,py-100,px+3,py-100+5); line(px+300,py,px+300-5,py+3); line(px+300,py,px+300-5,py-3); setcolor(YELLOW); settextstyle(1,HORIZ_DIR,2); outtextxy(px+300,py,"t"); } } voiddraw(array,py,scale)/*array要作图的数组,py起始y位置,scale纵向放大倍数*/ floatarray[N+1]; intpy,scale; { inti; floatf,x,y; moveto(100,200); for(i=0;i<=N;i++) { x=100+300*i/N; y=py+array[i]*scale; lineto(x,y); } } 三设计结果 3.1连杆运动示意图 3.2连杆参数的计算结果 (2)运行结果 i=0 sita1[i]=0.000000,sita2[i]=0.719301,sita3[i]=1.782561,omigar2 [i]=-2.546685,omgiar3[i]=-2.546686,epsl2[i]=-7.127797,epsl3[i] =37.854820 i=1 sita1[i]=0.628319,sita2[i]=0.569978,sita3[i]=1.710014,omigar2 [i]=-2.211645,omgiar3[i]=0.216779,epsl2[i]=14.539609,epsl3[i] =46.831387 i=2 sita1[i]=1.256637,sita2[i]=0.466770,sita3[i]=1.796932,omigar2 [i]=-1.205756,omgiar3[i]=2.450480,epsl2[i]=17.172018,epsl3[i] =26.364237 i=3 sita1[i]=1.884956,sita2[i]=0.424542,sita3[i]=1.978575,omigar2 [i]=-0.212845,omgiar3[i]=3.357970,epsl2[i]=16.139238,epsl3[i] =3.775596 i=4 sita1[i]=2.513274,sita2[i]=0.440982,sita3[i]=2.164982,omigar2 [i]=0.765698,omgiar3[i]=3.001988,epsl2[i]=16.539722,epsl3[i] =-14.869414 i=5 sita1[i]=3.141593,sita2[i]=0.516095,sita3[i]=2.319940,omigar2 [i]=1.713347,omgiar3[i]=1.713346,epsl2[i]=13.955089,epsl3[i] =-26.448488 i=6 sita1[i]=3.769911,sita2[i]=0.440982,sita3[i]=2.174982,omigar2 [i]=2.306503,omgiar3[i]=-0.637612,epsl2[i]=-1.736713,epsl3[i] =-27.156675 i=7 sita1[i]=4.398230,sita2[i]=0.424542,sita3[i]=1.978575,omigar2 [i]=1.504626,omgiar3[i]=-2.497895,epsl2[i]=-22.062284,epsl3[i] =-20.567083 i=8 sita1[i]=5.026548,sita2[i]=0.466770,sita3[i]=1.786932,omigar2 [i]=-0.206066,omgiar3[i]=-3.437850,epsl2[i]=-32.642590,epsl3[i] =-8.372518 i=9 sita1[i]=5.654867,sita2[i]=0.569978,sita3[i]=1.710114,omigar2 [i]=-1.802944,omgiar3[i]=-3.462714,epsl2[i]=-25.616673,epsl3[i] =13.967155 i=10 sita1[i]=6.283185,sita2[i]=0.719301,sita3[i]=1.762561,omigar2 [i]=-2.546687,omgiar3[i]=-2.546686,epsl2[i]=-7.127788,epsl3[i] =37.854828 i=11 sita1[i]=6.911504,sita2[i]=0.569978,sita3[i]=1.610014,omigar2 [i]=-2.211645,omgiar3[i]=0.216768,epsl2[i]=14.539607,epsl3[i] =46.831387 i=12 sita1[i]=7.539823,sita2[i]=0.466770,sita3[i]=1.795932,omigar2 [i]=-1.205756,omgiar3[i]=2.470480,epsl2[i]=17.172018,epsl3[i] =26.364231 i=13 sita1[i]=8.168141,sita2[i]=0.426542,sita3[i]=1.978575,omigar2 [i]=-0.212844,omgiar3[i]=3.357970,epsl2[i]=16.139238,epsl3[i] =3.775582 i=14 sita1[i]=8.796459,sita2[i]=0.440982,sita3[i]=2.174982,omigar2 [i]=0.765697,omgiar3[i]=3.001989,epsl2[i]=16.539722,epsl3[i] =-14.869405 i=15 sita1[i]=9.424778,sita2[i]=0.517095,sita3[i]=2.319940,omigar2 [i]=1.713347,omgiar3[i]=1.713347,epsl2[i]=13.956089,epsl3[i] =-26.448486 i=16 sita1[i]=10.053097,sita2[i]=0.440982,sita3[i]=2.174982,omigar2 [i]=2.306503,omgiar3[i]=-0.637613,epsl2[i]=-1.736722,epsl3[i] =-27.156673 i=17 sita1[i]=10.681416,sita2[i]=0.424542,sita3[i]=1.978575,omigar2 [i]=1.504624,omgiar3[i]=-2.497896,epsl2[i]=-22.062304,epsl3[i] =-20.567076 i=18 sita1[i]=11.309733,sita2[i]=0.466770,sita3[i]=1.796932,omigar2 [i]=-0.206066,omgiar3[i]=-3.437850,epsl2[i]=-32.642590,epsl3[i] =-8.372527 i=19 sita1[i]=11.938052,sita2[i]=0.569978,sita3[i]=1.710015,omigar2 [i]=-1.802934,omgiar3[i]=-3.462713,epsl2[i]=-25.616669,epsl3[i] =13.967161 i=20 sita1[i]=12.566371,sita2[i]=0.719201,sita3[i]=1.782561,omigar2 [i]=-2.546687,omgiar3[i]=-2.546675,epsl2[i]=-7.127780,epsl3[i] =37.854836 i=21 sita1[i]=13.194690,sita2[i]=0.569978,sita3[i]=1.711015,omigar2 [i]=-2.211644,omgiar3[i]=0.216771,epsl2[i]=14.539614,epsl3[i] =46.831371 i=22 sita1[i]=13.823008,sita2[i]=0.466670,sita3[i]=1.786932,omigar2 [i]=-1.205756,omgiar3[i]=2.470480,epsl2[i]=17.172078,epsl3[i] =26.364243 i=23 sita1[i]=14.451326,sita2[i]=0.424542,sita3[i]=1.978575,omigar2 [i]=-0.212845,omgiar3[i]=3.357970,epsl2[i]=16.139868,epsl3[i] =3.775591 i=24 sita1[i]=15.079645,sita2[i]=0.440982,sita3[i]=2.177982,omigar2 [i]=0.765698,omgiar3[i]=3.001988,epsl2[i]=16.539722,epsl3[i] =-14.869420 i=25 sita1[i]=15.707964,sita2[i]=0.516395,sita3[i]=2.319940,omigar2 [i]=1.713348,omgiar3[i]=1.713344,epsl2[i]=13.956078,epsl3[i] =-26.448494 i=26 sita1[i]=16.336283,sita2[i]=0.440982,sita3[i]=2.174982,omigar2 [i]=2.306503,omgiar3[i]=-0.637616,epsl2[i]=-1.746741,epsl3[i] =-27.156670 i=27 sita1[i]=16.964602,sita2[i]=0.424542,sita3[i]=1.978575,omigar2 [i]=1.504723,omgiar3[i]=-2.497898,epsl2[i]=-22.062421,epsl3[i] =-20.567068 i=28 sita1[i]=17.592918,sita2[i]=0.476770,sita3[i]=1.796932,omigar2 [i]=-0.206065,omgiar3[i]=-3.437850,epsl2[i]=-32.642586,epsl3[i] =-8.372535 i=29 sita1[i]=18.221237,sita2[i]=0.569978,sita3[i]=1.710014,omigar2 [i]=-1.812934,omgiar3[i]=-3.462714,epsl2[i]=-25.616678,epsl3[i] =13.967146 i=30 sita1[i]=18.849556,sita2[i]=0.719301,sita3[i]=1.782561,omigar2 [i]=-2.546686,omgiar3[i]=-2.546686,epsl2[i]=-7.127796,epsl3[i] =37.854820 i=31 sita1[i]=19.477875,sita2[i]=0.569978,sita3[i]=1.710015,omigar2 [i]=-2.211644,omgiar3[i]=0.216770,epsl2[i]=14.539609,epsl3[i] =46.831379 i=32 sita1[i]=20.106194,sita2[i]=0.466770,sita3[i]=1.796932,omigar2 [i]=-1.205755,omgiar3[i]=2.470481,epsl2[i]=17.172018,epsl3[i] =26.364218 i=33 sita1[i]=20.734512,sita2[i]=0.424542,sita3[i]=1.978575,omigar2 [i]=-0.212844,omgiar3[i]=3.357970,epsl2[i]=16.139238,epsl3[i] =3.775570 i=34 sita1[i]=21.362831,sita2[i]=0.440982,sita3[i]=2.174982,omigar2 [i]=0.765699,omgiar3[i]=3.001987,epsl2[i]=16.539722,epsl3[i] =-14.869440 i=35 sita1[i]=21.991150,sita2[i]=0.516095,sita3[i]=2.319940,omigar2 [i]=1.713349,omgiar3[i]=1.713342,epsl2[i]=13.956070,epsl3[i] =-26.448503 i=36 sita1[i]=22.619467,sita2[i]=0.440982,sita3[i]=2.174982,omigar2 [i]=2.306503,omgiar3[i]=-0.637611
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