机械原理课程设计说明书.docx

1、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

2、、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.对主动件进行运动分析（求5）形式参数n1n2n3kr1r2gamtwep vpap实值4503r450.0 0.0twepvpap.对

3、由构件组成的RRR杆组进行运动分析（求6）形式参数mn1n2n3k1k2r1r2twep vpap实值157645r56r67twepvpap.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n1n2n3kr1r2gamtwep vpap实值501040.0r510gam1twepvpap3.编写主程序并运行(1).主程序 /* Note:Your choice is C IDE */#include stdio.h#include subk.c#include draw.cmain()static double p202,vp202,ap202,del;static do

4、uble t10,w10,e10,pdraw370,vpdraw370,apdraw370;static int ic; /*定义静态变量*/double r45,r56,r67,r510,gam1;double pi,dr;double r2,vr2,ar2;int i; /*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;w3=20.0;del=1.0;pi=4.0*atan(1.0); /*求pi*/dr=pi/180.0

5、; /*求弧度*/gam1=gam1*dr; /*变角度为弧度*/p41=0.0;p42=0.0;p71=5.6;p72=8.1; printf(n The Kinematic Parameters of Point5n); printf( No THETA1 S10 V10 A10n); printf(deg m m/s m/s/sn); if(fp=fopen(file20126357.txt,w)=NULL) /*建立文件夹*/ printf(Cant open this file./n); exit(0); printf(fp,n The Kinematic Parameters of

6、 Point10n); printf(fp,No THETA1 S10 V10 A10n); printf(fp, deg m m/s m/s/sn); ic=(int)(360.0/del); for(i=0;i=ic;i+) /*建立循环*/ t3=(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 %1

7、2.3f,i+1,t3/dr,p101,p102,vp101,vp102,ap101,ap102); fprintf(fp,n%2d%12.3f%12.3f%12.3f%12.3f,i+1,t3/dr,p101,p102,vp101,vp102,ap101,ap102); pdrawi=p102; vpdrawi=vp102; apdrawi=ap102; 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：

8、The kinematic parameters of point 10No THETA1 S10 V10 A10 deg m m/s m/s/s92 91.000 -8.769 29.664 -1178.433 RRR cant be assembled93 92.000 -9.267 29.651 -1178.43394 93.000 -0.918 20.156 -2542.12695 94.000 -2.595 20.127 -1578.80496 95.000 -3.837 20.176 -1304.26897 96.000 -4.907 20.244 -1161.05798 97.0

9、00 -5.878 20.315 -1069.82099 98.000 -6.782 20.385 -1005.303100 99.000 -7.637 20.451 -956.602101 100.000 -8.454 20.511 -918.133102 101.000 -9.242 20.565 -886.697103 102.000 -10.004 20.612 -860.315104 103.000 -10.744 20.653 -837.687105 104.000 -11.466 20.686 -817.918106 105.000 -12.172 20.713 -800.371

10、107 106.000 -12.864 20.733 -784.577108 107.000 -13.542 20.747 -770.183109 108.000 -14.208 20.755 -756.917110 109.000 -14.863 20.756 -744.563111 110.000 -15.508 20.752 -732.950112 111.000 -16.143 20.742 -721.938113 112.000 -16.768 20.727 -711.412114 113.000 -17.385 20.708 -701.274115 114.000 -17.992

11、20.684 -691.440116 115.000 -18.591 20.656 -681.837117 116.000 -19.182 20.625 -672.398118 117.000 -19.765 20.591 -663.062119 118.000 -20.340 20.555 -653.773120 119.000 -20.906 20.517 -644.473121 120.000 -21.464 20.478 -635.104122 121.000 -22.015 20.439 -625.603123 122.000 -22.556 20.401 -615.903124 1

12、23.000 -23.089 20.364 -605.923125 124.000 -23.614 20.331 -595.569126 125.000 -24.129 20.302 -584.722127 126.000 -24.634 20.280 -573.228128 127.000 -25.129 20.266 -560.882129 128.000 -25.613 20.263 -547.400130 129.000 -26.084 20.275 -532.371131 130.000 -26.541 20.306 -515.176132 131.000 -26.982 20.36

13、1 -494.823133 132.000 -27.403 20.450 -469.615134 133.000 -27.799 20.586 -436.349135 134.000 -28.161 20.791 -388.074136 135.000 -28.467 21.109 -305.798137 136.000 -28.664 21.657 -105.874RRR cant be assembled3).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

14、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#includemain() static double lo1x,lo1y; static double l3,lo1o3,l1,l2,max,min; static double pi,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=

15、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

16、).对主动件进行运动分析形式参数n1n2n3kr1r2gamtwep vpap实值10210.0r120.0twepvpap (2).对组成的RRR杆组进行运动分析形式参数mn1n2n3k1k2r1r2twep vpap实值142332r34r23twepvpap (3).调用bark函数，求5点运动参数形式参数n1n2n3kr1r2gamtwep vpap实值40530.0r4525.0*drtwepvpap (4).对组成的RRR杆组进行运动分析形式参数mn1n2n3k1k2r1r2twep vpap实值157645r56r67twepvpap (5).调用bark函数，对8，9,10,1

17、1点进行运动分析形式参数n1n2n3kr1r2gamtwep vpap实值70850.0r7824.0*drtwepvpap实值50940.0r5995.0*drtwepvpap实值501040.0r510176.0*drtwepvpap实值401130.0r41118.0*drtwepvpap3.编写主程序并运行(1).主程序/* Note:Your choice is C IDE */#include stdio.h#include subk.c#include draw.cmain() static double p202,vp202,ap202,del; static double t

18、10,w10,e10,pdraw370,vpdraw370,apdraw370; static int ic; double r56,r67,r510,gam1,gam2,r12,r34,r45,r23, r59, r411,r78; double pi ,dr; double r2,vr2,ar2; int i; 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; w1=0.1;del=1.0;pi=4.0*atan

19、(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; gam1=gam1*dr; gam2=gam2*dr; 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(20126357.txt,w)=NULL) printf(Cant open this fi

20、le.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(1,0,2,1,0.0,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,

21、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,t1/dr,p102,vp102

22、,ap102); fprintf(fp,n%2d%12.3f%12.3f%12.3f%12.3f,i+1,t1/dr,p102,vp102,ap102); pdrawi=p101; vpdrawi=vp101; apdrawi=ap101; if(i%16)=0) getch(); fclose(fp); getch(); draw1(del,pdraw,vpdraw,apdraw,ic,m); (2).运行结果 The kinematic parameters of point 10No THETA1 S10 V10 A10 deg m m/s m/s/s 1 0.000 20.184 -0

23、.011 0.007 2 1.000 20.182 -0.010 0.007 3 2.000 20.181 -0.009 0.007 4 3.000 20.179 -0.008 0.007 5 4.000 20.178 -0.006 0.007 6 5.000 20.177 -0.005 0.007 7 6.000 20.176 -0.004 0.007 8 7.000 20.176 -0.003 0.007 9 8.000 20.175 -0.002 0.00710 9.000 20.175 -0.000 0.00711 10.000 20.175 0.001 0.00712 11.000

24、20.175 0.002 0.00713 12.000 20.176 0.004 0.00814 13.000 20.177 0.005 0.00815 14.000 20.178 0.006 0.00816 15.000 20.179 0.008 0.00817 16.000 20.180 0.009 0.00818 17.000 20.182 0.011 0.00919 18.000 20.184 0.012 0.00920 19.000 20.186 0.014 0.00921 20.000 20.189 0.015 0.0122 21.000 20.192 0.017 0.0123 2

25、2.000 20.195 0.019 0.01024 23.000 20.198 0.021 0.01125 24.000 20.202 0.023 0.011(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).对主动件进行运动分析形式参数n1n2n3kr1r2gamtwep vpap实值10210.0r120.0twepvpap (2).对组成的RRR杆组进行运动分析形式参数mn1n2n3k1k2r1r2twep vpap实值142332r34r23twepvpap (3).调用bark函数，求5点运动参数形式参数n1n2n3kr1r2gamtwep vpap实值40530.0r4525.0*drtwepvpap (4).对组成的RRR杆组进行运动分析形式参数mn1n2n3k1k2r1r2twep vpap实值157645r56r67twepvpap (5).调用bark函数，对8，9,10,11点进行运动分析形式参数n1n2n3kr1r2gamtwep vpap实值70850.0r7824.0*dr8wepvpap实值50940.0r5995.0*drtwepvpap实值501040.0r510176.0*drtwepvpap实值