机械原理课程设计说明书.docx
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机械原理课程设计说明书
机械原理课程设计说明书
题目:
码头吊车机构的设计及分析
班级:
机械1215
姓名:
杨兵
学号:
20126357
指导教师:
李翠玲
成绩:
2014年12月07日
一.题目说明
图示为某码头吊车机构简图。
它是由曲柄摇杆机构与双摇杆机构串联成的。
已知:
lO1x=2.86m,lO1y=4m,lO4x=5.6m,lO4y=8.1m,l3=4m,l3'=28.525m,a3'=25°,l3´´=8.5m,a3´´=7°,l4=3.625m,l4´=8.35m,a4'=184°,l4´´=1m,a4´´=95°,l5=25.15m,l5'=2.5m,a5'=24°。
图中S3、S4、S5为构件3、4、5的质心,构件质量分别为:
m3=3500kg,m4=3600kg,m5=5500kg,各构件转动惯量均忽略不计,K点向左运动时载重Q为50kN,向右运动时载重为零,曲柄01A的转速n3=1.1r/min.
机构运动简图:
二.对双摇杆机构O3CDO4的运动分析
对双摇杆机构O3CDO4进行运动分析,以O3C为主动件,取步长为1°计算K点位置,根据K点的近似水平运动要求,依据其纵坐标值决定O3C的实际摆动范围。
1.拆分杆组
2.列出形参和实参的表格
⑴.对主动件③进行运动分析(求5)
形式参数
n1
n2
n3
k
r1
r2
gam
t
w
e
p
vp
ap
实值
4
5
0
3
r45
0.0
0.0
t
w
e
p
vp
ap
⑵.对由④⑤构件组成的RRR杆组进行运动分析(求6)
形式参数
m
n1
n2
n3
k1
k2
r1
r2
t
w
e
p
vp
ap
实值
1
5
7
6
4
5
r56
r67
t
w
e
p
vp
ap
⑶.调用bark函数,求10点的竖直运动参数(求主动件摆动范围)
形式参数
n1
n2
n3
k
r1
r2
gam
t
w
e
p
vp
ap
实值
5
0
10
4
0.0
r510
gam1
t
w
e
p
vp
ap
3.编写主程序并运行
(1).主程序
/*Note:
YourchoiceisCIDE*/
#include"stdio.h"
#include"subk.c"
#include"draw.c"
main()
{
staticdoublep[20][2],vp[20][2],ap[20][2],del;
staticdoublet[10],w[10],e[10],pdraw[370],vpdraw[370],apdraw[370];
staticintic;/*定义静态变量*/
doubler45,r56,r67,r510,gam1;
doublepi,dr;
doubler2,vr2,ar2;
inti;/*定义局部变量*/
FILE*fp;/*定义文件指针变量*/
char*m[]={"p","vp","ap"};/*定义字符串*/
r45=28.525,r56=3.625,r67=25.15,r510=8.35,gam1=176.0;
w[3]=20.0;del=1.0;
pi=4.0*atan(1.0);/*求pi*/
dr=pi/180.0;/*求弧度*/
gam1=gam1*dr;/*变角度为弧度*/
p[4][1]=0.0;
p[4][2]=0.0;
p[7][1]=5.6;
p[7][2]=8.1;
printf("\nTheKinematicParametersofPoint5\n");
printf("NoTHETA1S10V10A10\n");
printf("degmm/sm/s/s\n");
if((fp=fopen("file20126357.txt","w"))==NULL)/*建立文件夹*/
{
printf("Can'topenthisfile./n");
exit(0);
}
printf(fp,"\nTheKinematicParametersofPoint10\n");
printf(fp,"NoTHETA1S10V10A10\n");
printf(fp,"degmm/sm/s/s\n");
ic=(int)(360.0/del);
for(i=0;i<=ic;i++)/*建立循环*/
{
t[3]=(i)*del*dr;
bark(4,5,0,3,r45,0.0,0.0,t,w,e,p,vp,ap);
rrrk(1,5,7,6,4,5,r56,r67,t,w,e,p,vp,ap);
bark(5,0,10,4,0.0,r510,gam1,t,w,e,p,vp,ap);
printf("\n%2d%12.3f%12.3f%12.3f%12.3f",i+1,t[3]/dr,p[10][1],p[10][2],vp[10][1],vp[10][2],ap[10][1],ap[10][2]);
fprintf(fp,"\n%2d%12.3f%12.3f%12.3f%12.3f",i+1,t[3]/dr,p[10][1],p[10][2],vp[10][1],vp[10][2],ap[10][1],ap[10][2]);
pdraw[i]=p[10][2];
vpdraw[i]=vp[10][2];
apdraw[i]=ap[10][2];
if((i%20)==0){getch();};
}
fclose(fp);
getch();
draw1(del,pdraw,vpdraw,apdraw,ic,m);
}
(2).运行结果
程序运行结果会在屏幕上显示K点铅直方向的位置、速度、加速度数值如下:
Thekinematicparametersofpoint10
NoTHETA1S10V10A10
degmm/sm/s/s
…………
9291.000-8.76929.664-1178.433
RRRcan’tbeassembled
9392.000-9.26729.651-1178.433
9493.000-0.91820.156-2542.126
9594.000-2.59520.127-1578.804
9695.000-3.83720.176-1304.268
9796.000-4.90720.244-1161.057
9897.000-5.87820.315-1069.820
9998.000-6.78220.385-1005.303
10099.000-7.63720.451-956.602
101100.000-8.45420.511-918.133
102101.000-9.24220.565-886.697
103102.000-10.00420.612-860.315
104103.000-10.74420.653-837.687
105104.000-11.46620.686-817.918
106105.000-12.17220.713-800.371
107106.000-12.86420.733-784.577
108107.000-13.54220.747-770.183
109108.000-14.20820.755-756.917
110109.000-14.86320.756-744.563
111110.000-15.50820.752-732.950
112111.000-16.14320.742-721.938
113112.000-16.76820.727-711.412
114113.000-17.38520.708-701.274
115114.000-17.99220.684-691.440
116115.000-18.59120.656-681.837
117116.000-19.18220.625-672.398
118117.000-19.76520.591-663.062
119118.000-20.34020.555-653.773
120119.000-20.90620.517-644.473
121120.000-21.46420.478-635.104
122121.000-22.01520.439-625.603
123122.000-22.55620.401-615.903
124123.000-23.08920.364-605.923
125124.000-23.61420.331-595.569
126125.000-24.12920.302-584.722
127126.000-24.63420.280-573.228
128127.000-25.12920.266-560.882
129128.000-25.61320.263-547.400
130129.000-26.08420.275-532.371
131130.000-26.54120.306-515.176
132131.000-26.98220.361-494.823
133132.000-27.40320.450-469.615
134133.000-27.79920.586-436.349
135134.000-28.16120.791-388.074
136135.000-28.46721.109-305.798
137136.000-28.66421.657-105.874
RRRcan’tbeassembled
3).K点垂直方向位移、速度和加速度图线
对四杆机构O3CDO4进行分析,可得O3C的摆动范围为93°到134°。
三.设计曲柄摇杆机构O1ABO3
由数据分析可知,O3C在93°至134°之间摆动时为K点近似水平运动,所以O3B的摆角范围是68°至109°。
按O3B的摆动范围设计曲柄摇杆机构O1ABO3,使摇杆O3B的两个极限位置对应于选定是K点轨迹范围。
如图:
1.计算主动件和连杆的长度
#include
#include
main()
{
staticdoublelo1x,lo1y;
staticdoublel3,lo1o3,l1,l2,max,min;
staticdoublepi,dr,gam1,gam2,gam3;
pi=4.0*atan(1.0);dr=pi/180.0;
lo1x=2.86;lo1y=4.0;l3=4.0;
gam1=95.0;gam2=135.0;
gam3=atan(lo1y/lo1x)+25.0*dr;
lo1o3=sqrt(lo1x*lo1x+lo1y*lo1y);
max=sqrt(l3*l3+lo1o3*lo1o3-2*l3*lo1o3*cos(gam2*dr-gam3*dr));
min=sqrt(l3*l3+lo1o3*lo1o3-2*l3*lo1o3*cos(gam1*dr-gam3*dr));
l1=(max-min)/2;l2=(max+min)/2;
printf(“l1=%5.2f,l2=%5.2f\n”l1,l2);
}
运算结果
l1=1.36,l2=2.87
四.对整个机构进行运动分析
1.拆分杆组
2.列出形参和实参的表格
(1).对主动件①进行运动分析
形式参数
n1
n2
n3
k
r1
r2
gam
t
w
e
p
vp
ap
实值
1
0
2
1
0.0
r12
0.0
t
w
e
p
vp
ap
(2).对②③组成的RRR杆组进行运动分析
形式参数
m
n1
n2
n3
k1
k2
r1
r2
t
w
e
p
vp
ap
实值
1
4
2
3
3
2
r34
r23
t
w
e
p
vp
ap
(3).调用bark函数,求5点运动参数
形式参数
n1
n2
n3
k
r1
r2
gam
t
w
e
p
vp
ap
实值
4
0
5
3
0.0
r45
25.0*dr
t
w
e
p
vp
ap
(4).对④⑤组成的RRR杆组进行运动分析
形式参数
m
n1
n2
n3
k1
k2
r1
r2
t
w
e
p
vp
ap
实值
1
5
7
6
4
5
r56
r67
t
w
e
p
vp
ap
(5).调用bark函数,对8,9,10,11点进行运动分析
形式参数
n1
n2
n3
k
r1
r2
gam
t
w
e
p
vp
ap
实值
7
0
8
5
0.0
r78
24.0*dr
t
w
e
p
vp
ap
实值
5
0
9
4
0.0
r59
95.0*dr
t
w
e
p
vp
ap
实值
5
0
10
4
0.0
r510
176.0*dr
t
w
e
p
vp
ap
实值
4
0
11
3
0.0
r411
18.0*dr
t
w
e
p
vp
ap
3.编写主程序并运行
(1).主程序
/*Note:
YourchoiceisCIDE*/
#include"stdio.h"
#include"subk.c"
#include"draw.c"
main()
{
staticdoublep[20][2],vp[20][2],ap[20][2],del;
staticdoublet[10],w[10],e[10],pdraw[370],vpdraw[370],apdraw[370];
staticintic;
doubler56,r67,r510,gam1,gam2,r12,r34,r45,r23,r59,r411,r78;
doublepi,dr;
doubler2,vr2,ar2;
inti;
FILE*fp;
char*m[]={"p","vp","ap"};
r56=3.625,r67=25.15,gam1=176.0,r510=8.35,gam2=25.0,r12=1.36,r34=4.0,r23=2.87,r45=28.525;
w[1]=0.1;del=1.0;pi=4.0*atan(1.0);dr=pi/180.0;e[1]=0.0,r411=8.5,r59=1.0,r78=2.5;
p[1][1]=2.86;
p[1][2]=4.0;
p[4][1]=0.0;
p[4][2]=0.0;
p[7][1]=5.6;
p[7][2]=8.1;
gam1=gam1*dr;
gam2=gam2*dr;
printf("\nTheKinematicParametersofPoint10\n");
printf("NoTHETA1s10v10a10\n");
printf("degmm/sm/s/s\n");
if((fp=fopen("20126357.txt","w"))==NULL)
{
printf("Can'topenthisfile.\n");
exit(0);
}
fprintf(fp,"\nThekinematicparametersofpoint10\n");
fprintf(fp,"NoTHETA1S10V10A10\n");
fprintf(fp,"degmm/sm/s/s\n");
ic=(int)(360.0/del);
for(i=0;i<=ic;i++)
{
t[1]=i*del*dr;
bark(1,0,2,1,0.0,r12,0.0,t,w,e,p,vp,ap);
rrrk(1,4,2,3,3,2,r34,r23,t,w,e,p,vp,ap);
bark(4,0,5,3,0.0,r45,25.0*dr,t,w,e,p,vp,ap);
rrrk(1,5,7,6,4,5,r56,r67,t,w,e,p,vp,ap);
bark(7,0,8,5,0.0,r78,24.0*dr,t,w,e,p,vp,ap);
bark(5,0,9,4,0.0,r59,95.0*dr,t,w,e,p,vp,ap);
bark(5,0,10,4,0.0,r510,176.0*dr,t,w,e,p,vp,ap);
bark(4,0,11,3,0.0,r411,18.0*dr,t,w,e,p,vp,ap);
printf("\n%2d%12.3f%12.3f%12.3f%12.3f",i+1,t[1]/dr,p[10][2],vp[10][2],ap[10][2]);
fprintf(fp,"\n%2d%12.3f%12.3f%12.3f%12.3f",i+1,t[1]/dr,p[10][2],vp[10][2],ap[10][2]);
pdraw[i]=p[10][1];
vpdraw[i]=vp[10][1];
apdraw[i]=ap[10][1];
if((i%16)==0)
getch();
}
fclose(fp);
getch();
draw1(del,pdraw,vpdraw,apdraw,ic,m);
}
(2).运行结果
Thekinematicparametersofpoint10
NoTHETA1S10V10A10
degmm/sm/s/s
10.00020.184-0.0110.007
21.00020.182-0.0100.007
32.00020.181-0.0090.007
43.00020.179-0.0080.007
54.00020.178-0.0060.007
65.00020.177-0.0050.007
76.00020.176-0.0040.007
87.00020.176-0.0030.007
98.00020.175-0.0020.007
109.00020.175-0.0000.007
1110.00020.1750.0010.007
1211.00020.1750.0020.007
1312.00020.1760.0040.008
1413.00020.1770.0050.008
1514.00020.1780.0060.008
1615.00020.1790.0080.008
1716.00020.1800.0090.008
1817.00020.1820.0110.009
1918.00020.1840.0120.009
2019.00020.1860.0140.009
2120.00020.1890.0150.01
2221.00020.1920.0170.01
2322.00020.1950.0190.010
2423.00020.1980.0210.011
2524.00020.2020.0230.011
(3).K点水平方向的位移、速度和加速度
五.对整个机构进行动态静力分析
1.拆分杆组
2.列出形参和实参的表格
(1).对主动件①进行运动分析
形式参数
n1
n2
n3
k
r1
r2
gam
t
w
e
p
vp
ap
实值
1
0
2
1
0.0
r12
0.0
t
w
e
p
vp
ap
(2).对②③组成的RRR杆组进行运动分析
形式参数
m
n1
n2
n3
k1
k2
r1
r2
t
w
e
p
vp
ap
实值
1
4
2
3
3
2
r34
r23
t
w
e
p
vp
ap
(3).调用bark函数,求5点运动参数
形式参数
n1
n2
n3
k
r1
r2
gam
t
w
e
p
vp
ap
实值
4
0
5
3
0.0
r45
25.0*dr
t
w
e
p
vp
ap
(4).对④⑤组成的RRR杆组进行运动分析
形式参数
m
n1
n2
n3
k1
k2
r1
r2
t
w
e
p
vp
ap
实值
1
5
7
6
4
5
r56
r67
t
w
e
p
vp
ap
(5).调用bark函数,对8,9,10,11点进行运动分析
形式参数
n1
n2
n3
k
r1
r2
gam
t
w
e
p
vp
ap
实值
7
0
8
5
0.0
r78
24.0*dr
8
w
e
p
vp
ap
实值
5
0
9
4
0.0
r59
95.0*dr
t
w
e
p
vp
ap
实值
5
0
10
4
0.0
r510
176.0*dr
t
w
e
p
vp
ap
实值