哈工大威海机械原理大作业连杆14题.docx
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哈工大威海机械原理大作业连杆14题
机械原理
大作业设计说明书
课程名称:
机械原理
设计题目:
连杆运动分析(14)
院系:
汽车工程学院
班级:
1301703
设计者:
高伟
学号:
130170306
哈尔滨工业大学(威海)
平面连杆机构运动分析
1.题目及原始数据
4.用matlab编程(程序)
4.1构件5的角位移
xa=0;
ya=0;
xd=300;
yd=-500;
xg=-430;
yg=210;
fe=265;
ab=100;
gf=670;
be=460;
bc=460;
cd=250;
a7=pi/6;
ec=2*bc*sin(a7/2);
a1=0:
0.001:
2*pi;
t=a1./10;
xb=ab.*cos(a1);
yb=ab.*sin(a1);
a2=atan((yd-yb)./(xd-xb))+pi;
bd=sqrt(((yb-yd).*(yb-yd))+((xb-xd).*(xb-xd)));
a3=acos((bd.*bd+cd.*cd-bc.*bc)./(2*bd.*cd));
xc=xd-cd.*sin(a2+a3-pi/2);
yc=yd+cd.*cos(a2+a3-pi/2);
fori=1:
length(a1)
ifatan((yc(i)-yb(i))./(xc(i)-xb(i)))>0
a4(i)=atan((yc(i)-yb(i))./(xc(i)-xb(i)));
else
a4(i)=atan((yc(i)-yb(i))./(xc(i)-xb(i)))+pi;
end
end
fori=1:
length(a1)
ifa4(i)+5*pi/12ye(i)=yc(i)+ec.*cos(a4(i)-1/12*pi);
xe(i)=xc(i)-ec.*sin(a4(i)-1/12*pi);
else
ye(i)=yc(i)-ec.*sin(a4(i)-7*pi/12);
xe(i)=xc(i)-ec.*cos(a4(i)-7*pi/12);
end
end
fori=1:
length(a1)
ifatan((ye(i)-yg)./(xe(i)-xg))>0
a5(i)=atan((ye(i)-yg)./(xe(i)-xg));
else
a5(i)=atan((ye(i)-yg)./(xe(i)-xg))+pi;
end
end
ge=sqrt((ye-yg).*(ye-yg)+(xe-xg).*(xe-xg));
a6=acos((ge.*ge+fe.*fe-gf.*gf)./(2*ge.*fe));
xf=xe-fe.*cos(a5+a6-pi);
yf=ye-fe.*sin(a5+a6-pi);
a10=acos((ge.*ge+gf*gf-fe*fe)./(2*gf.*ge));
plot(t,a5-a10);
>>title('构件5的角位移');
xlabel('t/s');
ylabel('角度rad');
gridon;
4.2构件5的角速度
xa=0;
ya=0;
xd=300;
yd=-500;
xg=-430;
yg=210;
fe=265;
ab=100;
gf=670;
be=460;
bc=460;
cd=250;
a7=pi/6;
ec=2*bc*sin(a7/2);
a1=0:
0.001:
2*pi;
t=a1./10;
xb=ab.*cos(a1);
yb=ab.*sin(a1);
a2=atan((yd-yb)./(xd-xb))+pi;
bd=sqrt(((yb-yd).*(yb-yd))+((xb-xd).*(xb-xd)));
a3=acos((bd.*bd+cd.*cd-bc.*bc)./(2*bd.*cd));
xc=xd-cd.*sin(a2+a3-pi/2);
yc=yd+cd.*cos(a2+a3-pi/2);
fori=1:
length(a1)
ifatan((yc(i)-yb(i))./(xc(i)-xb(i)))>0
a4(i)=atan((yc(i)-yb(i))./(xc(i)-xb(i)));
else
a4(i)=atan((yc(i)-yb(i))./(xc(i)-xb(i)))+pi;
end
end
fori=1:
length(a1)
ifa4(i)+5*pi/12ye(i)=yc(i)+ec.*cos(a4(i)-1/12*pi);
xe(i)=xc(i)-ec.*sin(a4(i)-1/12*pi);
else
ye(i)=yc(i)-ec.*sin(a4(i)-7*pi/12);
xe(i)=xc(i)-ec.*cos(a4(i)-7*pi/12);
end
end
fori=1:
length(a1)
ifatan((ye(i)-yg)./(xe(i)-xg))>0
a5(i)=atan((ye(i)-yg)./(xe(i)-xg));
else
a5(i)=atan((ye(i)-yg)./(xe(i)-xg))+pi;
end
end
ge=sqrt((ye-yg).*(ye-yg)+(xe-xg).*(xe-xg));
a6=acos((ge.*ge+fe.*fe-gf.*gf)./(2*ge.*fe));
xf=xe-fe.*cos(a5+a6-pi);
yf=ye-fe.*sin(a5+a6-pi);
a10=acos((ge.*ge+gf*gf-fe*fe)./(2*gf.*ge));
plot(t(1:
6283),diff(a5-a10)./diff(t));
title('构件5的角速度');
xlabel('t/s');
ylabel('角速度rad/s');
gridon;
4.3构件5的角加速度
xa=0;
ya=0;
xd=300;
yd=-500;
xg=-430;
yg=210;
fe=265;
ab=100;
gf=670;
be=460;
bc=460;
cd=250;
a7=pi/6;
ec=2*bc*sin(a7/2);
a1=0:
0.001:
2*pi;
t=a1./10;
xb=ab.*cos(a1);
yb=ab.*sin(a1);
a2=atan((yd-yb)./(xd-xb))+pi;
bd=sqrt(((yb-yd).*(yb-yd))+((xb-xd).*(xb-xd)));
a3=acos((bd.*bd+cd.*cd-bc.*bc)./(2*bd.*cd));
xc=xd-cd.*sin(a2+a3-pi/2);
yc=yd+cd.*cos(a2+a3-pi/2);
fori=1:
length(a1)
ifatan((yc(i)-yb(i))./(xc(i)-xb(i)))>0
a4(i)=atan((yc(i)-yb(i))./(xc(i)-xb(i)));
else
a4(i)=atan((yc(i)-yb(i))./(xc(i)-xb(i)))+pi;
end
end
fori=1:
length(a1)
ifa4(i)+5*pi/12ye(i)=yc(i)+ec.*cos(a4(i)-1/12*pi);
xe(i)=xc(i)-ec.*sin(a4(i)-1/12*pi);
else
ye(i)=yc(i)-ec.*sin(a4(i)-7*pi/12);
xe(i)=xc(i)-ec.*cos(a4(i)-7*pi/12);
end
end
fori=1:
length(a1)
ifatan((ye(i)-yg)./(xe(i)-xg))>0
a5(i)=atan((ye(i)-yg)./(xe(i)-xg));
else
a5(i)=atan((ye(i)-yg)./(xe(i)-xg))+pi;
end
end
ge=sqrt((ye-yg).*(ye-yg)+(xe-xg).*(xe-xg));
a6=acos((ge.*ge+fe.*fe-gf.*gf)./(2*ge.*fe));
xf=xe-fe.*cos(a5+a6-pi);
yf=ye-fe.*sin(a5+a6-pi);
a10=acos((ge.*ge+gf*gf-fe*fe)./(2*gf.*ge));
yv=diff(a5-a10)./diff(t);
plot(t(1:
length(diff(yv)./diff(t(1:
6283)))),diff(yv)./diff(t(1:
6283)));
title('构件5的角加速度');
xlabel('t/s');
ylabel('角加速度rad/s*s');
gridon;
5.程序运行结果
6.结果分析
通过对该机构划分基本杆组,使用Matlab数学软件,实现了对各个构件的运动分析。
计算结果分析如下:
随着构件1转动,杆5在一定角度内来回摆动,实现循环工作;当杆5由角度最大转动到角度最小的过程中,加速度逐渐增大至最大,可以实现破碎矿石的过程,破碎后,随着杆1的继续转动,杆5向返回的方向摆动至角度最大,循环往复工作。