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分析
转速n2(r/min)
95
92
90
88
距离xi(mm)
50
40
30
45
距离X2(mm)
140
170
200
135
190
150
180
145
160
距离y(mm)
175
冲头行程H(mm)
210
165
上极限角①i(°
120
下极限角①2()
60
机构动态静力分析
工作阻力Fmax(N)
4300
4600
4100
4500
4200
3800
4400
连杆3质量m3(kg)
64
68
70
72
74
76
80
82
84
连杆3质心转动惯量
Js3(kgm2)
0.21
0.24
0.28
0.30
0.35
0.38
0.40
0.42
0.46
0.33
滑块6质量m6(kg)
34
36
38
32
摇杆4质量m3(kg)
55
65
摇杆4质心转动惯量
Js4(kgm2)
0.2
0.22
0.26
0.3
0.25
0.32
0.23
3.机构运动尺寸设计
已知条件:
如图:
H=170mm,X45mm,y=170mm2X145mm上下极限角分别为60°
、120°
Lc=0.5LBO。
由条件可知:
ZC04G=600,CiC4=C204,所以MQG是等边三角形,所以
Lco4=H=170mm。
LcB=H/3=56.67mmLBQ=2H/3=113.33mmLbia=LB2A2,LA2Q=La1Q。
(L_BiAiLajO2)-;
2二LbiE-;
2Lc2E-;
(LB1A1-LA1O2)丄2=LB?
/-'
”?
■LO2FJ“2
Lbiai+Lao2=v[(LbioCOs60+170)+(LBio4sin60-45)]
=V[(170V3/3-45)2+(170+170/3)2]=232.82mm
22
同理可得:
Lbiai-Lao2=V[(170V3/3-45)+(170-170/3)]=125.18mm所以:
LBA=179mmLAO2=53.82mm
Lcd=(0.25-0.35)Lcq4,所以取LcD=51mm
4.机构的结构分析
主动件
RRR
RRP
5.机构的运动分析
5.1运动分析虚参实参对照表
Bark
n1
n2
n3
k
r1
r2
gam
t
w
e
p
vp
ap
r12
0.0
Rrrk
m
k1
k2
r23
r34
P3
r45
Pt
Rrpk
k3
vr2
ar2
-1
R56
&
「&
「2
r28
4H
「3
r49
5.2运动分析的主程序清单
/*Note:
YourchoiceisCIDE*/
#include"
subk.c"
draw.c"
main()
{
staticdoublep[20][2],vp[20][2],ap[20][2],del;
staticdouble
t[10],w[10],e[10],pdraw[370],vpdraw[370],apdraw[370],wdraw[370],edraw[370];
staticintic;
doubler12,r34,r23,r56,r45;
doublepi,dr;
doubler2,vr2,ar2;
inti;
FILE*fp;
char*m[]={"
p"
"
vp"
ap"
};
r12=0.05382;
r34=0.113;
r23=0.179;
r56=0.051;
r45=0.17;
t[6]=90.0;
w[6]=0.0;
e[6]=0.0;
e[1]=0.0;
w[1]=9.2;
del=10.0;
p[1][1]=0.0;
p[1][2]=0.0;
p[4][1]=0.045;
p[4][2]=0.17;
p[6][1]=-0.1;
p[7][1]=-0.1;
p[7][2]=-0.8;
pi=4.0*atan(1.0);
dr=pi/180.0;
t[6]=90.0*dr;
printf("
\n20133005\n"
);
NoTHETA1S5V5A5w[3]e[3]\n"
printf(”degmm/sm/s/sradian/sradian/s/s\n"
if((fp=fopen("
fil"
w"
))==NULL)
Can'
topenthisfile.\n"
exit(0);
}
fprintf(fp,"
degmm/sm/s/sradian/sradian/s/s"
ic=(int)(360.0/del);
for(i=0;
i<
=ic;
i++)
t[1]=(i)*del*dr;
bark(1,2,0,1,r12,0.0,0.0,t,w,e,p,vp,ap);
rrrk(1,2,4,3,2,3,r23,r34,t,w,e,p,vp,ap);
bark(4,5,0,3,r45,0.0,0.0,t,w,e,p,vp,ap);
rrpk(-1,5,7,6,4,5,6,r56,&
r2,&
vr2,&
ar2,t,w,e,p,vp,ap);
\n%2d%8.3f%8.3f%8.3f%8.3f%8.3f%8.3f"
i+1,t[1]/dr,p[6][2],vp[6][2],ap[6][2],w[3],e[3]);
i+1,t[1]/dr,p[6][2],vp[6][2],ap[6][2],w[3],e[3]);
pdraw[i]=p[6][2];
vpdraw[i]=vp[6][2];
apdraw[i]=ap[6][2];
wdraw[i]=w[3];
edraw[i]=e[3];
if((i%16)==0){getch();
fclose(fp);
getch();
draw1(del,pdraw,vpdraw,apdraw,ic,m);
draw2(del,wdraw,edraw,ic,m);
5.3运动分析的运行结果
No
THETA1
S5
V5A5
w[3]
e[3]
deg
m/s
m/s/s
radian/s
radian/s/s
0.000
0.071
0.652
6.614
-3.614
-32.657
10.000
0.084
0.774
6.151
-4.240
-33.114
20.000
0.10
0.878
4.635
-4.857
-31.394
30.000
0.117
0.943
1.999
-5.406
-25.578
40.000
0.135
0.951
-1.169
-5.788
-13.483
50.000
0.153
0.901
-4.010
-5.869
6.144
60.000
0.169
0.802
-6.341
-5.517
31.586
70.000
0.183
0.661
-8.502
-4.670
56.975
80.000
0.194
0.481
-10.380
-3.405
74.642
90.000
0.201
0.273
-11.291
-1.916
80.202
11
100.000
0.204
0.062
-10.765
-0.430
75.031
12
110.000
-0.128
-9.106
0.892
63.792
13
120.000
0.200
-0.282
-7.094
1.980
50.821
14
130.000
0.193
-0.399
-5.361
2.826
38.616
15
140.000
0.185
-0.488
-4.152
3.456
28.097
16
150.000
0.175
-0.560
-3.430
3.903
19.317
17
160.000
0.164
-0.620
-3.006
4.198
11.982
18
170.000
0.151
-0.674
-2.623
4.364
5.728
19
180.000
0.138
-0.718
-2.010
4.420
0.227
20
190.000
0.124
-0.748
-0.986
4.376
-4.771
21
200.000
0.110
-0.753
0.422
4.241
-9.423
22
210.000
0.096
-0.730
1.990
4.020
-13.791
23
220.000
0.082
-0.679
3.427
3.720
-17.841
24
230.000
0.070
-0.603
4.510
3.346
-21.457
25
240.000
0.060
-0.510
5.140
2.910
-24.472
26
250.000
0.051
-0.410
5.337
2.423
-26.732
27
260.000
0.044
-0.310
5.205
1.901
-28.156
28
270.000
0.039
-0.214
4.895
1.359
-28.794
29
280.000
0.036
-0.125
4.559
0.812
-28.821
290.000
0.034
-0.040
4.324
0.268
-28.501
31
300.000
0.041
4.267
-0.269
-28.119
310.000
0.123
4.418
-0.800
-27.929
33
320.000
0.210
4.771
-1.331
-28.116
330.000
0.305
5.285
-1.870
-28.778
35
340.000
0.411
5.877
-2.426
-29.904
350.000
0.059
0.527
6.402
-3.007
-31.330
37
360.000
6.机构的动态静力分析
6.1动态静力分析虚参实参对照表
Rrpf
ns1
ns2
nn1
nn2
nexf
P
fr
Rrrf
Barf
tb
6.2动态静力分析的主程序清单
#include"
subf.c"
double
staticdoublet[10],w[10],e[10],tbdraw[370],tb1draw[370];
static
Sita1[370],fr1draw[370],sita2[370],fr2draw[370],sita3[370],fr3draw[370],fr3
bt3;
staticdoublefr[20][2],fe[20][2],tb,tb1,fr1,bt1,fr4,bt4,we1,we2,we3,we4;
doubler12,r34,r23,r56,r45,r49,r28,WEmax=0,we,TBmax,TBmin;
tb"
tb1"
fr1"
fr2"
sm[2]=82.0;
sm[3]=65.0;
sm[5]=50.0;
sj[2]=0.46;
sj[3]=0.28;
r49=0.085;
r28=0.0895;
t[6]=90.0;
del=15.0;
NoHETA1fr1sita1fr4sita4tbtb1
we4\n"
printf(”degNradianNradianN.m
N.mW"
filel"
exit(O);
NoHETA1fr1sita1fr4sita4tbtb1We\n
"
degNradianNradianN.m
N.mW"
rrrk(1,2,4,3,2,3,r23,r34,t,w,e,p,vp,ap);
bark(2,0,8,2,0.0,r28,0.0,t,w,e,p,vp,ap);
bark(4,0,9,3,0.0,r49,0.0,t,w,e,p,vp,ap);
rrpf(5,10,6,0,6,0,6,6,4,5,p,vp,ap,t,w,e,fr);
rrrf(4,2,3,9,8,5,0,0,3,2,p,vp,ap,t,w,e,fr);
barf(1,1,2,1,p,ap,e,fr,&
tb);
fr仁sqrt(fr[1][1]*fr[1][1]+fr[1][2]*fr[1][2]);
bt仁atan2(fr[1][2],fr[1][1]);
fr4=sqrt(fr[4][1]*fr[4][1]+fr[4][2]*fr[4][2]);
bt4=atan2(fr[4][2],fr[4][1]);
we1=-(ap[8][1]*vp[8][1]+(ap[8][2]+9.81)*vp[8][2])*sm[2]-e[2]*w[2]*sj[2];
we2=-(ap[9][1]*vp[9][1]+(ap[9][2]+9.81)*vp[9][2])*sm[3]-e[3]*w[3]*sj[3];
extf(p,vp,ap,t,w,e,6,fe);
we3=-(ap[6][2]+9.81)*vp[6][2]*sm[5]+fe[6][2]*vp[6][2];
we4=fabs(tb*w[1]);
tb1=-(we1+we2+we3)/w[1];
if(WEmax<
we4)
WEmax=we4;
if(TBmaxvtb)
TBmax=tb;
if(TBmin>
tb)
TBmin=tb;
if(fabs(TBmin)>
TBmax)
TBmax=TBmin;
\n%2d%8.3f%8.3f%8.3f%8.3f%8.3f%8.3f%8.3f%8.3f"
i+1,t[1]/dr,fr1,bt1/dr,fr4,bt4/dr,tb,tb1,we4);
i+1,t[1]/dr,fr1,bt1/dr,fr4,bt4/dr,tb,tb1,we4);
tbdraw[i]=tb;
tb1draw[i]=tb1;
fr1draw[i]=fr1;
sita1[i]=bt1;
fr2draw[i]=fr4;
sita2[i]=bt4;
fr3draw[i]=fr4;
sita3[i]=bt4;
\nWEmax=%10.3fWTBmax=%10.3fN.m"
WEmax,TBmax);
fprintf(fp,"
\nWEmax=%10.3fWTBmax=%10.3fN.m