哈工大机械原理大作业二凸轮21.docx

1、哈工大机械原理大作业二凸轮21Harbin Institute of Technology机械原理大作业二课程名称： 机械原理 设计题目： 凸轮结构设计 院 系： 班 级： 设 计 者： 学 号： 指导教师： 设计时间： 哈尔滨工业大学一、设计题目1、凸轮机构运动简图：2、凸轮机构的原始参数序号升程升程运动角升程运动规律升程许用压力角回程运动角回程运动规律回程许用压力角远休止角近休止角211101503-4-5多项式401003-4-5多项式604565二、凸轮推杆升程、回程运动方程及推杆位移,速度,加速度线图1、推杆升程，回程运动方程如下：A.推杆升程方程：设，由3-4-5多项式可知：当时，

2、有： 式中 H=110 , B.推杆回程方程：当13/12 59/36 时，有： 式中 h=110 s =5/92、推杆位移,速度,加速度线图如下（用matlab编程得）：A、推杆位移线图clearclc x1=linspace(0,5*pi/6,300); x2=linspace(5*pi/6,13*pi/12,300); x3=linspace(13*pi/12,59*pi/36,300); x4=linspace(59*pi/36,2*pi,300);t1=x1/(5*pi/6)s1=110*(10*t1.3-15*t1.4+6*t1.5);s2=110;t2=9*x3/(5*pi)-3

3、9/20;s3=110*(1-(10*t2.3-15*t2.4+6*t2.5);s4=0;plot(x1,s1,k,x2,s2,k,x3,s3,k,x4,s4,k) ;xlabel(角度/rad);ylabel(位移s/mm);title(推杆位移线图);grid;B、推杆速度线图clearclc x1=linspace(0,5*pi/6,300); x2=linspace(5*pi/6,13*pi/12,300); x3=linspace(13*pi/12,59*pi/36,300); x4=linspace(59*pi/36,2*pi,300);f1=5*pi/6;t1=x1/f1;f2=

4、5*pi/9;t2=9*x3/(5*pi)-39/20;v1=(t1.2-2*t1.3+t1.4)*3300/f1;v2=0;v3=-30*110*(t2.2-2*t2.3+t2.4)/f2;v4=0;plot(x1,v1,k,x2,v2,k,x3,v3,k,x4,v4,k)xlabel(角度/rad );ylabel(速度v/(mm/s);title(推杆速度线图);grid;C、推杆加速度线图clearclc x1=linspace(0,5*pi/6,300); x2=linspace(5*pi/6,13*pi/12,300); x3=linspace(13*pi/12,59*pi/36,

5、300); x4=linspace(59*pi/36,2*pi,300);f1=5*pi/6;t1=x1/f1;f2=5*pi/9;t2=9*x3/(5*pi)-39/20;a1=60*110*(t1-3*t1.2+2*t1.3)/f12;a2=0;a3=-60*110*(t2-3*t2.2+2*t2.3)/f22;a4=0;plot(x1,a1,k,x2,a2,k,x3,a3,k,x4,a4,k)xlabel(角度/rad);ylabel(加速度a/ );title(推杆加速度线图);grid;三、凸轮机构的ds/d-s线图，并依次确定凸轮的基圆半径和偏距1、凸轮机构的ds/d-s线图：cl

6、earclc x1=linspace(0,5*pi/6,300); x2=linspace(5*pi/6,13*pi/12,300); x3=linspace(13*pi/12,59*pi/36,300);x4=linspace(59*pi/36,2*pi,300);f2=5*pi/9;f1=5*pi/6;t1=x1/(5*pi/6)s1=110*(10*t1.3-15*t1.4+6*t1.5);s2=110;t2=9*x3/(5*pi)-39/20;s3=110*(1-(10*t2.3-15*t2.4+6*t2.5);s4=0;v1=(t1.2-2*t1.3+t1.4)*3300/f1;v2

7、=0;v3=-30*110*(t2.2-2*t2.3+t2.4)/f2;v4=0;plot(v1,s1,r,v2,s2,r,v3,s3,r,v4,s4,r);xlabel(ds/d);ylabel(位移s/mm);title( ds/d s曲线);grid;2、确定凸轮的基圆半径和偏距：clearclc x1=linspace(0,5*pi/6,300); x2=linspace(5*pi/6,13*pi/12,300); x3=linspace(13*pi/12,59*pi/36,300);x4=linspace(59*pi/36,2*pi,300);f2=5*pi/9;f1=5*pi/6;

8、t1=x1/(5*pi/6)s1=110*(10*t1.3-15*t1.4+6*t1.5);s2=110;t2=9*x3/(5*pi)-39/20;s3=110*(1-(10*t2.3-15*t2.4+6*t2.5);s4=0;v1=(t1.2-2*t1.3+t1.4)*3300/f1;v2=0;v3=-30*110*(t2.2-2*t2.3+t2.4)/f2;v4=0;k1=tan(pi/2-40*pi/180);k2=-tan(pi/6); f=sym(-k1*(2*k/f13-6*k2/f14+4*k3/f15)+k2/f13-2*k3/f14+k4/f15=0);k=solve(f);

9、t01=k/f1;s01=110*(10*t01.3-15*t01.4+6*t01.5);v01=(t01.2-2*t01.3+t01.4)*3300/f1;c=80.5056;d=41.7790;%求出推程切点坐标x=-200:1:200;y5=k1*(x-c)+d;f2=5*pi/9;k2=-tan(pi/6);f=sym(-k2*(-2*(k*9/(5*pi)-39/20)*9/(5*pi)+6*(k*9/(5*pi)-39/20)2*9/(5*pi)-4*(k*9/(5*pi)-39/20)3*9/(5*pi)-(k*9/(5*pi)-39/20)2+2*(k*9/(5*pi)-39/

10、20)3-(k*9/(5*pi)-39/20)4=0);k=solve(f);t02=k*9/(5*pi)-39/20;s02=110*(1-(10*t02.3-15*t02.4+6*t02.5);v02=-30*110*(t02.2-2*t02.3+t02.4)/f2;o=32.1715;p= -112.4712;%求出回程切点坐标y6=k2*(x-p)+o; y7=x*-k1; plot(v1,s1,v2,s2,v3,s3,v4,s4,x,y5,x,y6,x,y7);xlabel(ds/d);ylabel(位移s/mm);title( ds/d s曲线);grid;所以，由图就可以确定回转

11、中心所在的区域，所以，可取偏距 e=20mm， mm，所以mm。四、滚子半径的确定及凸轮理论轮廓和实际轮廓的绘制.1、确定滚子半径clearclc s0=80; e=20;r0=sqrt(s02+e2); for x1=0:0.01:5*pi/6; t1=x1/(5*pi/6);s1=110*(10*t1.3-15*t1.4+6*t1.5);xx1=(s0+s1)*cos(x1)-e*sin(x1);y1=(s0+s1)*sin(x1)+e*cos(x1);dxx1=-(s0+s1)*sin(x1)-e*cos(x1);dy1=(s0+s1)*cos(x1)-e*sin(x1);d2xx1=-

12、(s0+s1)*cos(x1)+e*sin(x1);d2y1=-(s0+s1)*sin(x1)-e*cos(x1);p1=(dxx12+dy12)1.5/(dxx1*d2y1-d2xx1*dy1);plot(x1,p1);hold on;end for x2=5*pi/6:0.01:13*pi/12;s2=110;xx2=(s0+s2)*cos(x2)-e*sin(x2);y2=(s0+s2)*sin(x2)+e*cos(x2);dxx2=-(s0+s2)*sin(x2)-e*cos(x2);dy2=(s0+s2)*cos(x2)-e*sin(x2);d2xx2=-(s0+s2)*cos(x2

13、)+e*sin(x2);d2y2=-(s0+s2)*sin(x2)-e*cos(x2);p2=(dxx22+dy22)1.5/(dxx2*d2y2-d2xx2*dy2);plot(x2,p2);hold on;end for x3=13*pi/12:0.01:59*pi/36;t2=9*x3/(5*pi)-39/20;s3=110*(1-(10*t2.3-15*t2.4+6*t2.5);xx3=(s0+s3)*cos(x3)-e*sin(x3);y3=(s0+s3)*sin(x3)+e*cos(x3);dxx3=-(s0+s3)*sin(x3)-e*cos(x3);dy3=(s0+s3)*co

14、s(x3)-e*sin(x3);d2xx3=-(s0+s3)*cos(x3)+e*sin(x3);d2y3=-(s0+s3)*sin(x3)-e*cos(x3);p3=(dxx32+dy32)1.5/(dxx3*d2y3-d2xx3*dy3);plot(x3,p3);hold on;endfor x4=59*pi/36:0.01:2*pi; s4=0;xx4=(s0+s4)*cos(x4)-e*sin(x4);y4=(s0+s4)*sin(x4)+e*cos(x4);dxx4=-(s0+s4)*sin(x4)-e*cos(x4);dy4=(s0+s4)*cos(x4)-e*sin(x4);d2

15、xx4=-(s0+s4)*cos(x4)+e*sin(x4);d2y4=-(s0+s4)*sin(x4)-e*cos(x4);p4=(dxx42+dy42)1.5/(dxx4*d2y4-d2xx4*dy4);plot(x4,p4);hold on;end title(曲率半径)grid ;所以，可知最小曲率半径为所以，小滚子取小滚子曲率半径mm 2、确定凸轮理论廓线，基元及实际廓线。clearclc s0=80; e=20;r0=sqrt(s02+e2);for x1=0:0.001:5*pi/6; t1=x1/(5*pi/6);s1=110*(10*t1.3-15*t1.4+6*t1.5);

16、xx1=(s0+s1)*cos(x1)-e*sin(x1);y1=(s0+s1)*sin(x1)+e*cos(x1);plot(xx1,y1);hold on;endfor x2=5*pi/6:0.001:13*pi/12;s2=110;xx2=(s0+s2)*cos(x2)-e*sin(x2);y2=(s0+s2)*sin(x2)+e*cos(x2);plot(xx2,y2);hold on;endfor x3=13*pi/12:0.001:59*pi/36;t2=9*x3/(5*pi)-39/20;s3=110*(1-(10*t2.3-15*t2.4+6*t2.5);xx3=(s0+s3)

17、*cos(x3)-e*sin(x3);y3=(s0+s3)*sin(x3)+e*cos(x3);plot(xx3,y3);hold on;endfor x4=59*pi/36:0.001:2*pi; s4=0;xx4=(s0+s4)*cos(x4)-e*sin(x4);y4=(s0+s4)*sin(x4)+e*cos(x4);plot(xx4,y4);hold on;endgrid ; s0=80; e=20;r0=sqrt(s02+e2);for fai=0:0.01:2*pi; a=r0*cos(fai); b=r0*sin(fai); plot(a,b); hold on;endfor

18、x1=0:0.05:5*pi/6; t1=x1/(5*pi/6);s1=110*(10*t1.3-15*t1.4+6*t1.5);xx1=(s0+s1)*cos(x1)-e*sin(x1);y1=(s0+s1)*sin(x1)+e*cos(x1);plot(xx1,y1);hold on;for fai=0:0.1:2*pi; a=xx1+15*cos(fai); b=y1+15*sin(fai); plot(a,b); hold on;endendfor x2=5*pi/6:0.05:13*pi/12;s2=110;xx2=(s0+s2)*cos(x2)-e*sin(x2);y2=(s0+s

19、2)*sin(x2)+e*cos(x2);plot(xx2,y2);hold on;for fai=0:0.1:2*pi; a=xx2+15*cos(fai); b=y2+15*sin(fai); plot(a,b); hold on;endendfor x3=13*pi/12:0.05:59*pi/36;t2=9*x3/(5*pi)-39/20;s3=110*(1-(10*t2.3-15*t2.4+6*t2.5);xx3=(s0+s3)*cos(x3)-e*sin(x3);y3=(s0+s3)*sin(x3)+e*cos(x3);plot(xx3,y3);hold on;for fai=0:0.1:2*pi; a=xx3+15*cos(fai); b=y3+15*sin(fai); plot(a,b); hold on;endendfor x4=59*pi/36:0.05:2*pi; s4=0;xx4=(s0+s4)*cos(x4)-e*sin(x4);y4=(s0+s4)*sin(x4)+e*cos(x4);plot(xx4,y4);hold on;for fai=0:0.1:2*pi; a=xx4+15*cos(fai); b=y4+15*sin(fai); plot(a,b); hold on;endendgrid on;