码头吊车机械原理课程设计.docx

1、码头吊车机械原理课程设计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 ：设计1101姓 名 ：肖茹珍学 号 ：*成 绩 ：2013年 11 月 日一题目说明 11.已知条件 12.内容要求与做法 1二估算连架杆O3C的摆动范围2三确定连架杆O3C的摆动范围41.拆分杆组 42.列出形参和实参的表格 43.编写主程序并运行4四设计曲柄摇杆机构O1ABO3 7五对整个机构进行运动分析81.拆分杆组 82.列出形参和实参的表格 83.编写主程序并运行9六对机构进行动态静力分析131.拆分杆组 132.列出形参和实参的表格 133.编写主程序并运行14七主要收获和建议 19八主要参考文

2、献19一题目说明 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,其余构件质量不计。K点向左运动时载重Q为50kN，向右运动时载重为零，曲柄01A

3、的转速n1=1.06r/min.机构运动简图：二连架杆O3C对应的摆动范围。利用下一问的程序，分析O3C的摆动范围。/* Note:Your choice is C IDE */#include stdio.h#include graphics.h#include subk.c#include draw.cmain() static double p202,vp202,ap202,del; static double t10,w10,e10,pdraw370,vpdraw370,apdraw370; static int ic; double r45,r56,r67,r510,gam1; do

4、uble pi ,dr; double r2; int i; FILE*fp; char *m=p,vp,ap; r45=28.525,r56=3.625,r67=25.15,gam1=176.0,r510=8.35;w3=15.0;del=1.0;pi=4.0*atan(1.0);dr=pi/180.0;p41=0.0;p42=0.0;p71=5.6;p72=8.1; gam1=gam1*dr;printf(n The Kinematic Parameters of Point 10n);printf(No THETA1 s10 v10 a10n);printf( deg m m/s m/s

5、/sn);if(fp=fopen(filel20111367.txt,w)=NULL) printf(Cant open this file.n); exit(0); fprintf(fp,n The kinematic parameters of point 11n);fprintf(fp,No THETA1 S10 V10 A10n);fprintf(fp, deg m m/s m/s/s);ic=(int)(360.0/del);for(i=0;i=ic;i+) t3=(i)*del*dr; bark(4,5,0,3,r45,0.0,0.0,t,w,e,p,vp,ap); rrrk(1,

6、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,t3/dr,p102,vp102,ap102); fprintf(fp,n%2d%12.3f%12.3f%12.3f%12.3f,i+1,t3/dr,p102,vp102,ap102); pdrawi=p102; vpdrawi=vp102; apdrawi=ap102; if(i%16)=0)getch(); fclose(fp);getch();dr

7、aw1(del,pdraw,vpdraw,apdraw,ic,m);估算出连架杆O3C对应的摆动范围是93到137。 三分析K点的运动状态 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.对主动件进行运动分析。形式参数n1n2n3kr1r2gamtwepvpap实值4503r450.00.0twepvpap.对由、构件组成的RRR杆组进行运动分析。形式参数mn1n2n3k1k2r1r2twepvpap实值157645r56r67twepvpap.调用bark

8、函数，求10点的竖直运动参数。形式参数n1n2n3kr1r2gamtwepvpap实值501050.0r510gam1twepvpap3.编写主程序并运行主程序：/* Note:Your choice is C IDE */#include stdio.h#include graphics.h#include subk.c#include draw.cmain() static double p202,vp202,ap202,del; static double t10,w10,e10,pdraw370,vpdraw370,apdraw370; static int ic; double r4

9、5,r56,r67,r510,gam1; double pi ,dr; double r2; int i; FILE*fp; char *m=p,vp,ap; r45=28.525,r56=3.625,r67=25.15,gam1=176.0,r510=8.35;w3=15.0;del=1.0;pi=4.0*atan(1.0);dr=pi/180.0;p41=0.0;p42=0.0;p71=5.6;p72=8.1; gam1=gam1*dr;printf(n The Kinematic Parameters of Point 10n);printf(No THETA1 s10 v10 a10n

10、);printf( deg m m/s m/s/sn);if(fp=fopen(filel20111367.txt,w)=NULL) printf(Cant open this file.n); exit(0); fprintf(fp,n The kinematic parameters of point 11n);fprintf(fp,No THETA1 S10 V10 A10n);fprintf(fp, deg m m/s m/s/s);ic=(int)(360.0/del);for(i=0;i=ic;i+) t3=(i)*del*dr; bark(4,5,0,3,r45,0.0,0.0,

11、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,t3/dr,p102,vp102,ap102); fprintf(fp,n%2d%12.3f%12.3f%12.3f%12.3f,i+1,t3/dr,p102,vp102,ap102); pdrawi=p102; vpdrawi=vp102; apdrawi=ap102; if(i%16)=0)getch()

12、; fclose(fp);getch();draw1(del,pdraw,vpdraw,apdraw,ic,m);运行结果：程序运行结果会在屏幕上显示10点铅直方向的位置、速度、加速度数值如下：The kinematic parameters of point 11No THETA1 S10 V10 A10 deg m m/s m/s/s 1 0.000 8.093 545.801 -25747.179 2 15.000 12.357 -225.611 -111082.226 3 30.000 19.237 -268.356 -112630.156 4 45.000 25.145 -336.3

13、53 -113959.393 5 60.000 29.678 -424.969 -114979.352 6 75.000 32.528 -528.164 -115620.526 7 90.000 33.500 -638.907 -115839.218 8 105.000 20.713 20.192 -4912.192 9 120.000 20.478 -33.650 -101.98310 135.000 21.109 344.361 153865.36811 150.000 15.201 276.363 155194.60512 165.000 8.322 233.618 156742.534

14、13 180.000 0.939 219.039 158403.66714 195.000 -6.444 233.618 160064.80015 210.000 -13.324 276.363 161612.73016 225.000 -19.231 344.361 162941.96717 240.000 -23.764 432.977 163961.92718 255.000 -26.614 536.172 164603.10019 270.000 -27.586 646.914 164821.79220 285.000 -26.614 757.656 164603.10021 300.

15、000 -23.764 860.852 163961.92722 315.000 -19.231 949.467 162941.96723 330.000 -13.324 1017.465 161612.73024 345.000 -4.646 882.164 -15160.22625 360.000 8.093 545.801 -25747.179K点纵坐标位置图线四设计曲柄摇杆机构O1ABO3 根据K点的近似水平运动要求，依据其纵坐标值确定O3C的实际摆动范围。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O3C的摆角范围是93至134，所以O3B的摆角范围为68至

16、109. 按O3C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：由已知条件， , ; , ; ; ; ; , 五求K点水平方向的位移、速度和加速度线图1.拆分杆组2.列出形参和实参的表格对主动件进行运动分析。形式参数n1n2n3kr1r2gamtwepvpap实值1201r120.00.0twepvpap对组成的RRR杆组进行运动分析。形式参数mn1n2n3k1k2r1r2twepvpap实值142332r34r23twepvpap调用bark函数，求5点运动参数。形式参数n1n2n3kr1r2gamtwepvpap实值40530.0r452

17、5.0*drtwepvpap对组成的RRR杆组进行运动分析。形式参数mn1n2n3kr1r2gamtwepvpap实值157645r56r67twepvpap调用bark函数，求8，9,10,11。形式参数n1n2n3kr1r2gamtwepvpap实值501040.0r510176.0*drtwepvpap实值401130.0r41118.0*drtwepvpap实值50940.0r5995.0*drtwepvpap实值70850.0r78-156.0*drtwepvpap3.编写主程序并运行主程序：/* Note:Your choice is C IDE */#include stdio.

18、h#include graphics.h#include subk.c#include draw.cmain() static double p202,vp202,ap202,del; static double t8,w8,e8,pdraw370,vpdraw370,apdraw370; static int ic; double r12,r23,r34,r45,r56,r67,r510,r411,r59,r78; double pi ,dr; double r2; int i; FILE*fp; char *m=p,vp,ap;r56=3.625,r67=25.15,r510=8.35,

19、r12=1.36,r34=4.0,r23=2.78,r45=28.525;w1=0.1;del=15.0;pi=4.0*atan(1.0);dr=pi/180.0;e1=0.0,r411=8.5,r59=1.0,r78=2.5;p11=2.86;p12=4.0;p41=0.0;p42=0.0;p71=5.6;p72=8.1;printf(n The Kinematic Parameters of Point 10n);printf(No THETA1 s10 v10 a10n);printf( deg m m/s m/s/sn);if(fp=fopen(20111367.txt,w)=NULL

20、) printf(Cant open this file.n); exit(0); fprintf(fp,n The kinematic parameters of point 10n);fprintf(fp,No THETA1 S10 V10 A10n);fprintf(fp, deg m m/s m/s/sn);ic=(int)(360.0/del);for(i=0;i=ic;i+) t1=i*del*dr; bark(1,2,0,1,r12,0.0,0.0,t,w,e,p,vp,ap); rrrk(1,4,2,3,3,2,r34,r23,t,w,e,p,vp,ap); bark(4,0,

21、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(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); bark(5,0,9,4,0.0,r59,95.0*dr,t,w,e,p,vp,ap); bark(7,0,8,5,0.0,r78,-156.0*dr,t,w,e,p,vp,ap);printf(n%2d %12.3f %12.3f %12.3f %12.

22、3f,i+1,t1/dr,p101,vp101,ap101);fprintf(fp,n%2d%12.3f%12.3f%12.3f%12.3f,i+1,t1/dr,p101,vp101,ap101); pdrawi=p101; vpdrawi=vp101; apdrawi=ap101; if(i%16)=0)getch(); fclose(fp);getch();draw1(del,pdraw,vpdraw,apdraw,ic,m);运行结果：The kinematic parameters of point 10No THETA1 S10 V10 A10 deg m m/s m/s/s 1 0

23、.000 -2.152 0.325 -0.128 2 15.000 -1.849 -0.127 -0.201 3 30.000 -2.832 -0.600 -0.152 4 45.000 -4.869 -0.939 -0.111 5 60.000 -7.670 -1.187 -0.077 6 75.000 -10.996 -1.336 -0.036 7 90.000 -14.566 -1.373 0.007 8 105.000 -18.093 -1.306 0.043 9 120.000 -21.329 -1.154 0.07210 135.000 -24.075 -0.933 0.09611

24、 150.000 -26.166 -0.656 0.11412 165.000 -27.483 -0.348 0.11813 180.000 -28.002 -0.054 0.10714 195.000 -27.760 0.252 0.13415 210.000 -26.603 0.641 0.15516 225.000 -24.420 1.011 0.12017 240.000 -21.436 1.238 0.05118 255.000 -18.096 1.285 -0.01219 270.000 -14.818 1.204 -0.04620 285.000 -11.838 1.069 -0.05421 300.000 -9.222 0.931 -0.05122 315.000 -6.951 0.806 -0.04523 330.000 -4.991 0.692 -0.04424 345.000 -3.345 0.558 -0.06225 360.000 -2.152 0.325 -0.128K点水平方向的位移、速度和加速度线图六对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对主动件进行运动分析。形式参数n1n2n3kr1r2gamtwepvpap实值1201r120.00.0twepvpap对组成的RRR杆组进行运动分析。形式参数mn1n2n3k1k2r1r2t