哈工大机器人大作业

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哈工大机械设计大作业螺旋传动设计千斤顶.

H a r b i n I n s t i t u t e o f T e c h n o l o g y机械设计大作业说明书大作业名称：螺旋传动设计设计题目：设计螺旋起重器（千斤顶）班级：1215102设计者：张紫薇学号：1121510208指导教师：张锋设计时间：2014年10月6日哈尔滨工业大学目录一、设计任务书 (1)二、各部分尺寸计算及校核1、选择螺杆、螺母的材料 (2)2、耐磨性计算 (2)3、螺杆各部分尺寸计算 (2)4、螺杆强度校核 (2)5、螺母螺纹牙强度计算 (3)6、螺纹副自锁条件校核 (4)7、手柄设计…………………………………………………………………………………………… (4)8、螺杆的稳定性校核 (5)9、螺母外经及凸缘设10、底座设计………………………………………………………………………………………………611、其他零件相关尺寸 (7)三、参考文献 (8)一、设计任务书设计螺旋起重器，简图如下1、螺旋起重器已知数据：起重量F Q=30kN，最大起重高度H o=180mm（题号3.1.1）。

2、设计要求：(1) 绘制装配图一张，画出起重器的全部结构，按照装配图要求标注尺寸、序号及填写明细栏、标题栏，编写技术要求。

(2) 对起重器各部分尺寸进行计算，对螺杆和螺母螺纹牙强度、螺纹副自锁性、螺杆的稳定性进行校核。

二、各部分尺寸计算及校核1、选择螺杆、螺母的材料螺杆采用45号钢，由参考文献[3]查得抗拉强度MPa 600b =σ，MPa 355s =σ。

螺母材料用铝青铜ZCuAl10Fe3（考虑速度低）。

2、耐磨性计算根据螺纹的耐磨性条件 []p hHd FPp s ≤=2π，引进系数2d H =ψ以消去H ，并且对于梯形螺纹，h =0.5p ，因此得[]mm 4.23226.110308.08.032=⨯⨯=≥p F d ψ式中2d ——螺杆螺纹中径，mm ；F ——螺杆所受轴向力，即起重量，kN ；ψ——根据螺母结构选定，对于整体式螺母取ψ=1.2~2.5，此处取ψ=1.6；[]p ——滑动螺旋副材料的许用压强，根据参考文献[2]中表8.11，当螺杆和螺母副材料分别是钢和青铜且低速滑动时，许用压强[]p =18~25，此处取[]p =22 。

哈工大机械原理大作业

H a r b i n I n s t i t u t e o f T e c h n o l o g y大作业设计说明书课程名称：机械原理设计题目：凸轮机构院系：机电学院班级：姓名：学号：指导教师：丁刚设计时间：2014.5.29哈尔滨工业大学1.设计题目第31题：升程/mm 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/。

150 90 等加等减速40 80 余弦加速度70 40 1502.运动方程式及运动线图由题目要求凸轮逆时针旋转（1）确定凸轮机构推杆升程、回程运动方程，并绘制推杆位移、速度、加速度线图。

升程第一段：（0 <φ< pi /4）φ0=pi/2;s1 = 73*φ^2;v1=146*w*φ;a1 = 146*w^2;升程第二段：（pi/4 <φ< pi /2）s2 =90-73*(pi/2-φ)^2;v2=146*w*( pi/2-φ);a2 =-146*w.^2;远休止程：（pi/2 <φ< 10*pi/9)s3 = 90;v3 = 0;a3 = 0;回程：(10*pi/9)< φ< ( 14*pi/9)s4 =45*(1+cos(9/4*(φ-10*pi/9)));v4 =-101.25*w*sin(9/4*(φ-10*pi/9)) ;a4 =-227.8*w^2* cos(9/4*(φ-10*pi/9)); 近休止程：(14*pi/9)< φ < ( 2*pi);s5 =0;v5 =0;a5 =0;1.由上述公式通过编程得到位移、速度、加速度曲线如下：（编程见附录）.基圆半径为r0 = (50^2+100^2)0.5=112mm，偏距e = 50mm。

3.凸轮实际轮廓，理论轮廓，基圆，偏距圆绘制4.整体图像附录1.求位移、速度、加速度的程序（matlab）w = input('请输入W=');x = 0:(pi/1000):(pi/4);s1 = 73*x.^2;v1=146*w*x;a1 = 146*w.^2;y = (pi/4):(pi/1000):(pi/2);s2 =90-73*(pi/2-y).^2;v2=146*w*( pi/2-y);a2 =-146*w.^2;z = (pi/2 ):(pi/1000):(10*pi/9);s3 = 90;v3 = 0;a3 = 0;c = (10*pi/9):(pi/1000):( 14*pi/9);s4 =45*(1+cos(9/4*(c-10*pi/9)));v4 =-101.25*w*sin(9/4*( c-10*pi/9)) ;a4 =-227.8*w.^2* cos(9/4*(c-10*pi/9));d=(14*pi/9):(pi/1000):( 2*pi);s5 =0; v5 =0; a5 =0;subplot (2,2,1)plot(x,s1,'b',y,s2,'b',z,s3,'b',c,s4,'b', d,s5,'b');xlabel('转角/rad')ylabel('位移/(mm/s)')title('位移与转角曲线')grid onsubplot (2,2,2)plot(x,v1,'g',y,v2,'g',z,v3,'g ',c,v4,'g', d,v5,'g')ds4 =45*9/4*sin(9/4*(c-10*pi/9));d=(14*pi/9):(pi/1000):( 2*pi);s5 =0;ds5 =0;plot(ds1,s1,'b',ds2,s2,'b',ds3,s3,'b',ds4,s4,'b',ds5,s5,'b'); xlabel('ds/dp');ylabel('(位移s/mm)')title('ds/dp 与位移s曲线')grid onhold onx3=-150:0.001:0;y3 = 0.577*x3;plot (x3,y3,'r');hold onx1=-150:0.001:150;for i=1:1:250;k1=(s1(i+1)-s1(i))/ (ds1(i+1)-ds1(i));if(k1>=-1.733 && k1<=-1.731)y1=k1*(x1-ds1(i))+s1(i);plot (x1,y1,'r');end3.确定滚子半径（1）先求凸轮理论轮廓曲线，程序如下：Clc；clear;w = input('请输入w=');s0 = 100;s = 90;e = 50; x = 0:(pi/100):(pi/4);x1 = (s + s0)*cos(x)-e*sin(x);y1 = (s0 + s)*sin(x) - e*cos(x);y = (pi/4):(pi/100):(pi/2);x2 = (s + s0)*cos(y)-e*sin(y);y2 = (s0 + s)*sin(y) - e*cos(y);z = (pi/2 ):(pi/100):(10*pi/9);x3 = (s + s0)*cos(z)-e*sin(z);y3 = (s0 + s)*sin(z) - e*cos(z);c = (10*pi/9):(pi/1000):( 14*pi/9);x4 = (s + s0)*cos(c)-e*sin(c);y4 = (s0 + s)*sin(c) - e*cos(c);d=(14*pi/9):(pi/1000):( 2*pi);x5 = (s + s0)*cos(d)-e*sin(d);y5 = (s0 + s)*sin(d) - e*cos(d);plot(x1,y1,'b',x2,y2,'b',x3,y3,'b',x4,y4,'b',x5,y5,'b');xlabel('x/mm')ylabel('y/mm')title('理论轮廓曲线')grid on（2）理论轮廓线最小曲率半径编程代码：由下程序结果可知pmin =81.6667这里滚子半径为 r r < pmin-ΔΔ=3~5mm；取r r=10mm;clear;clc;v=[];syms x1 x2 x3 x4 x5s0 = 100;e = 50;s1 = 73*x1.^2;t1 = (s1 + s0)*cos(x1)-e*sin(x1);y1 = (s0 + s1)*sin(x1) - e*cos(x1);tx1=diff(t1,x1);txx1=diff(t1,x1,2);yx1=diff(y1,x1);yxx1=diff(y1,x1,2);for xx1= 0:(pi/100):(pi/4);k1=subs(abs((tx1*yxx1-txx1*yx1)/(tx1^2+yx1^2)^1.5),{x1},{xx1}); v=[v,1/k1];ends2 =90-73*(pi/2-x2).^2;t2 = (s2 + s0)*cos(x2)-e*sin(x2);y2 = (s0 + s2)*sin(x2) - e*cos(x2);tx2=diff(t2,x2);txx2=diff(t2,x2,2);yx2=diff(y2,x2);yxx2=diff(y2,x2,2);for xx2=(pi/4):(pi/100):(pi/2);k2=subs(abs((tx2*yxx2-txx2*yx2)/(tx2^2+yx2^2)^1.5),{x2},{xx2});k4=subs(abs((tx4*yxx4-txx4*yx4)/(tx4^2+yx4^2)^1.5),{x4},{xx4}); v=[v,1/k4];ends5 =0;t5 = (s5 + s0)*cos(x5)-e*sin(x5);y5 = (s0 + s5)*sin(x5) - e*cos(x5);tx5=diff(t5,x5);txx5=diff(t5,x5,2);yx5=diff(y5,x5);yxx5=diff(y5,x5,2);for xx5=(10*pi/9):(pi/100):( 4*pi/3);k5=subs(abs((tx5*yxx5-txx5*yx5)/(tx5^2+yx5^2)^1.5),{x5},{xx5}); v=[v,1/k5];endpmin=min(v)4.绘制凸轮轮廓曲线clear ;clc;syms x y z c dw= input('请输入w=');n3 = diff(x3);m3 = diff(y3);xt3= subs(x3 + (r*m3)./sqrt(m3.^2+n3.^2),z,zz);yt3 = subs(y3 - (r*n3)./sqrt(m3.^2+n3.^2),z,zz);cc= (10*pi/9):(pi/1000):( 14*pi/9);s4 =45*(1+cos(9/4*(c-10*pi/9)));x4 = (s4 + s0).*cos(c)-e*sin(c);y4 = (s0 +s4).*sin(c) - e*cos(c);n4 = diff(x4);m4 = diff(y4);xt4= subs(x4 + (r*m4)./sqrt(m4.^2+n4.^2),c,cc);yt4 =subs( y4 - (r*n4)./sqrt(m4.^2+n4.^2),c,cc);dd=(14*pi/9):(pi/1000):( 2*pi);s5 =0;x5 = (s5 + s0).*cos(d)-e*sin(d);y5 = (s0 +s5).*sin(d) - e*cos(d);n5 = diff(x5);m5 = diff(y5);xt5= subs(x5 + (r*m5)./sqrt(m5.^2+n5.^2),d,dd);yt5 =subs( y5 - (r*n5)./sqrt(m5.^2+n5.^2),d,dd);plot(xt1,yt1,'b',xt2,yt2,'b',xt3,yt3,'b',xt4,yt4,'b',xt5,yt5,'b')for i=1:3601if yy(1,i)<=y0/2s(1,i)=2*h*(yy(i)./y0).^2;v(1,i)=4*h*w*yy(i)./(y0.^2);a(1,i)=4*h*w.^2./(y0.^2);elseif yy(1,i)>y0/2 && yy(1,i)<y0s(1,i)=h-2*h./y0.^2.*(y0-yy(i)).^2;v(1,i)=4*h*w*(y0-yy(i))./(y0.^2);a(1,i)=-4*h*w.^2./(y0.^2);elseif yy(1,i)>=y0 && yy(1,i)<y0+yss(1,i)=h;v(1,i)=0;a(1,i)=0;elseif yy(1,i)>=y0+ys && yy(1,i)<y0+ys+y01s(1,i)=h/2*(1+cos(pi/y01*(yy(1,i)-y0-ys)));v(1,i)=-pi*h*w/2/y01*sin(pi/y01*(yy(1,i)-y0-ys));a(1,i)=-pi^2*h*w^2/2/y01^2*cos(pi/y01*(yy(1,i)-y0-ys)); elseif yy(1,i)>=y0+ys+y01 && yy(1,i)<=360s(1,i)=0;v(1,i)=0;a(1,i)=0;subplot(2,3,5) ;plot(x,y,'r',xt,yt,eex,eey,'g',r0x,r0y,'k')%画图title('实际理论轮廓线')axis equal%使坐标轴比例相等grid on%画网格线。

机器人技术基础大作业格式

《机器人技术基础》大作业题目：班级：姓名：成绩：一、机器人功能描述（200字）具有供人观赏，娱乐为目的，具有机器人的外部特征，也可以像人，像某种动物等。

同时具有机器人的功能，可以行走或完成动作，有语言能力，会唱歌，有一定的感知能力，可以自主的连续表演事先编好的多套动作。

二、机器人系统的功能构成（框图+文字说明）驱动：电动传动机械结构系统：感受系统：智能传感器基本思路：通过对人类动作的深入了解，分析人类的动作特性，并且与控制对象跳舞机器人的工作原理、动作过程进行比较，从而确定机器人的基本构成并选择合适的机械构件，组装完成机器人的造型。

分析机器人动作的局限性与优势，设定机器人的舞蹈动作，按动作编写程序，完成作品设计。

跳舞机器人的结构完全模仿真人，并实现了双腿分立走路，双臂有很强的自由度，可以完成多种高难度动作。

机器人的双脚为轮式结构，这样不仅可以实现转身和滑步，更突出的优点是在走路时减少了重心的调整，从而减少了机器人的倾斜度，实现了类似真人的走路及跳舞模式。

舞蹈机器人的控制方式是将uC/OS-Ⅱ操作系统嵌入Atmega128处理器中,采用PID算法,对电机、舵机进行实时可靠的控制，进而对机器人主动轮的速度、方向进行有效的控制，使机器人的动作定位更加准确，动作过程更加优美协调。

机器人的双脚为轮式结构，此结构可以很完美地实现转身和滑步。

更突出的优点是在走路时减少了重心的调整，同时也克服了塑料构件机械强度不够高的局限性。

跳舞机器人完全实现了智能化运行，可以用相应软件通过编程实现对舵机的控制，做出各种不同的动作，带给人们另类娱乐。

它可以走进各种不同的场合，如：在学校用于科技教育学习；在家庭用于提供丰富的生活享受；用于社会可以增加更多的新型娱乐项目等。

随着社会对服务业的需求不断扩大，可以代替人的机器人将会有更广阔的前景从近几年世界范围内推出的机器人产品来看，机器人技术正在向智能化、模块化和系统化的方向发展。

其发展趋势主要为：结构的模块化和可重构化；控制技术的的开放化；PC化和网络化；伺服驱动技术的数字化和分散化。

哈工大实验报告

哈工大实验报告近年来，哈尔滨工业大学（简称哈工大）作为中国著名的工科院校，一直致力于高水平的教学和科学研究。

作为一名哈工大的学生，我有幸参与了一项有关智能机器人的实验，并撰写本篇实验报告，以分享我的经验和感悟。

实验内容本次实验的目标是设计一个智能机器人，它能够在指定场地内进行自主导航。

我们小组采取了模块化的设计思路，将机器人分为感知模块、决策模块和执行模块。

感知模块通过摄像头和多种传感器，获取环境信息，并将其转化为数据输入。

决策模块采用人工智能算法，对感知模块的数据进行处理分析，并制定相应的行为策略。

执行模块则负责机器人的运动控制和实际行为。

实验过程我们小组的实验过程分为几个步骤。

首先，我们进行了大量文献调研和相关技术的学习。

了解了当今智能机器人领域的前沿技术和发展方向。

接着，我们进行了感知模块的设计与搭建。

通过对感知器件的选型和硬件的调试，成功地将环境信息转化为数据输入。

接下来，我们开始着手研究决策模块。

利用神经网络算法对感知数据进行训练和优化，使机器人能够根据环境变化做出正确决策。

最后，我们进行了执行模块的实现。

通过编程控制机器人的执行行为，使机器人能够准确地导航和移动。

实验结果经过数个月的努力，我们小组取得了令人满意的实验结果。

我们的智能机器人在实验场地内能够自主导航，避开障碍物，并正确地执行任务。

感知模块具有较高的准确性和鲁棒性，能够获取到准确的环境信息。

决策模块经过训练后，能够对各种情况做出相应的反应，且具有较高的智能性。

执行模块的行为控制也相当精确，机器人能够按照预定路径运动，并在需要时改变方向。

实验感悟通过参与这个实验，我深刻地体会到了科学研究的艰辛和乐趣。

在实验过程中，我们不断遇到各种问题和困难，但通过团队的努力和合作，我们一一克服了这些困难，完成了实验目标。

同时，实验中所学到的知识和技能也使我受益匪浅，拓宽了我的专业视野，提升了我的动手实践能力。

此外，我还意识到科研的重要性在于其对社会的贡献。

哈工大机械设计大作业V带传动电算报告19页word

H a r b i n I n s t i t u t e o f T e c h n o l o g y哈尔滨工业大学机械设计作业设计计算说明书设计题目：V带传动设计院系：英才学院班级：设计者：学号：设计时间：2019.11.25哈尔滨工业大学一、程序框图二、V带设计程序function varargout = V_caculate(varargin)%本程序用于计算V带的各项数据%部分中文注释复制出来之后为乱码% V_CACULATE M-file for V_caculate.fig% V_CACULATE, by itself, creates a new V_CACULATE or raises the existing% singleton*.% H = V_CACULATE returns the handle to a new V_CACULATE or the handle to % the existing singleton*.% V_CACULATE('CALLBACK',hObject,eventData,handles,...) calls the local% function named CALLBACK in V_CACULATE.M with the given input arguments. % V_CACULATE('Property','Value',...) creates a new V_CACULATE or raises the% existing singleton*. Starting from the left, property value pairs are% applied to the GUI before V_caculate_OpeningFcn gets called. An% unrecognized property name or invalid value makes property application% stop. All inputs are passed to V_caculate_OpeningFcn via varargin.% *See GUI Options on GUIDE's Tools menu. Choose "GUI allows only one% instance to run (singleton)".% See also: GUIDE, GUIDATA, GUIHANDLES% Edit the above text to modify the response to help V_caculate% Last Modified by GUIDE v2.5 06-Dec-2019 15:27:18% Begin initialization code - DO NOT EDITgui_Singleton = 1;gui_State = struct('gui_Name', mfilename, ...'gui_Singleton', gui_Singleton, ...'gui_OpeningFcn', @V_caculate_OpeningFcn, ...'gui_OutputFcn', @V_caculate_OutputFcn, ...'gui_LayoutFcn', [] , ...'gui_Callback', []);if nargin && ischar(varargin{1})gui_State.gui_Callback = str2func(varargin{1});endif nargout[varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:});elsegui_mainfcn(gui_State, varargin{:});end% End initialization code - DO NOT EDIT% --- Executes just before V_caculate is made visible.function V_caculate_OpeningFcn(hObject, eventdata, handles, varargin)% This function has no output args, see OutputFcn.% hObject handle to figure% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)% varargin command line arguments to V_caculate (see VARARGIN)global Pd yilei erlei chuandongbi zhuansu TYPE Dd1array Dd1 MINMAX P0array Narray Vmax Ldarray Dd1pos Kaarray Klarray Dd2array DSPcellarray CELLDSP TABLEPOS HEADMES;Vmax=25;%ZABCÐÍ´øµÄ×î´ó´øËÙ%ÒÔÏÂÊÇÆÕÍ¨V´ø»ù±¾¶î¶¨¹¦ÂÊP0µÄ±í¸ñÊý¾ÝP0array=[0.00 0.04,0.06,0.09,0.10,0.12,0.14,0.16,0.17,0.20,0.22,0.26,0.28,0.30,0.32,0.33,0.34,0.33,0.31;0.00 0.05,0.08,0.13,0.15,0.18,0.22,0.25,0.27,0.32,0.37,0.41,0.45,0.47,0.49,0.50,0.50,0.49,0.48;0.00 0.06,0.09,0.17,0.20,0.23,0.27,0.30,0.33,0.39,0.46,0.50,0.54,0.58,0.61,0.62,0.62,0.61,0.58;0.00 0.10,0.14,0.20,0.22,0.26,0.30,0.35,0.39,0.44,0.50,0.56,0.61,0.64,0.67,0.67,0.66,0.64,0.00;0.00 0.15,0.26,0.40,0.45,0.51,0.60,0.68,0.73,0.84,0.92,1.00,1.04,1.08,1.09,1.07,1.02,0.96,0.80;0.00 0.22,0.39,0.61,0.68,0.77,0.93,1.07,1.05,1.34,1.50,1.64,1.73,1.83,1.87,1.88,1.82,0.00,0.00;0.00 0.26,0.47,0.74,0.83,0.95,1.14,1.32,1.42,1.66,1.87,2.05,2.19,2.28,2.34,2.33,0.00,0.00,0.00;0.00 0.37,0.67,1.07,1.19 1.37 1.66 1.92 2.07 2.44 2.74 2.98 3.16 3.26 0.00 0.00 0.00 0.00 0.00;0.00 0.48 0.84 1.30 1.44 1.64 1.93 2.19 2.33 2.64 2.85 2.96 2.94 2.80 0.00 0.00 0.00 0.00 0.00;0.00 0.59 1.05 1.64 1.82 2.08 2.47 2.82 3.00 3.42 3.70 3.85 3.83 0.00 0.00 0.00 0.00 0.00 0.00;0.00 0.74 1.32 2.09 2.32 2.66 3.17 3.62 3.86 4.40 4.75 4.89 0.00 0.00 0.00 0.00 0.00 0.00 0.00;0.00 0.88 1.59 2.53 2.81 3.22 3.85 4.39 4.68 5.30 5.67 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00;0.00 1.39 2.41 3.69 4.07 4.58 5.29 5.84 6.07 6.34 6.02 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00;0.00 2.03 3.62 5.64 6.23 7.04 8.21 9.04 9.38 9.62 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00;0.00 2.84 5.14 8.09 8.92 10.05 11.53 12.46 12.72 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00;0.00 3.91 7.06 11.02 12.10 13.48 15.04 0.0 0.000 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00;3.01 5.31 9.24 13.70 14.83 16.15 17.25 16.77 15.63 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00;3.66 6.52 11.45 17.07 18.46 20.06 21.20 0.00 0.000 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00;4.37 7.90 13.85 20.63 22.25 24.01 24.84 0.00 0.000 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00;5.08 9.21 16.20 23.99 25.76 27.50 0.000 0.00 0.000 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00;6.21 10.86 18.55 26.21 27.57 28.32 0.00 0.00 0.000 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00;7.32 13.09 22.49 31.59 33.03 33.40 0.00 0.00 0.000 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00;8.75 15.65 26.95 37.26 38.62 0.000 0.00 0.00 0.000 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00;10.31 18.52 31.83 42.87 43.52 0.00 0.00 0.00 0.000 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00; MINMAX=[950,6000;800,6000;700,6000;700,6000;200,600;200,6000;200,6000;200,5500;200,6000;200,5000;200,4500;200,3600;200,3600;200,3200;200,2800;200,2400;200,2400;200,2000;200,1600;200,1200;100,1600;100,1200;100,1200;100,950;100,950;100,950;100,800;100,800;];Narray=[100,200,400,700,800,950,1200,1450,1600,2000,2400,2800,3200,3600,4000,4500,5000,5500,6000];%ÒÔÏÂÊÇ´øµÄ»ù×¼³¤¶ÈLdÏµÁÐLdarray=[200,224,250,280,315,355,400,450,500,560,630,710,800,900,1000,1120,1250,1400,1600,1800,2000,224 0,2500,2800,3150,3550,4000,4500,5000];Dd2array=[20,28,31.5,35.5,40,45,50,56,63,71,80,90,100,112,125,140,150,160,180,200,224,250,280,315,355,400, 425,450,500,560,600,630,710,800];%ÒÔÏÂÊÇ¹¤×÷»·¾³µÄKa²é±íyilei=[1:0.1:1.2;1.1:0.1:1.3;1.2:0.1:1.4;1.3:0.1:1.5];erlei=[1.1:0.1:1.3;1.2:0.1:1.4;1.4:0.1:1.6;1.5,1.6,1.8];%°ü½ÇÐÞÕýÏµÊý±íKaarray=[220,210,200,190,180,170,160,150,140,130,120,110,100,90;1.20,1.15,1.10,1.05,1.00,0.98,0.95,0.92,0.89,0.86,0.82,0.78,0.73,0.68];%´ø³¤ÐÞÕýÏµÊý±íKlarray=[200 zeros(1,6);224 zeros(1,6);250 zeros(1,6);280 zeros(1,6);315 zeros(1,6);355 zeros(1,6);400 0.87 zeros(1,5);450 0.89 zeros(1,5);500 0.91 zeros(1,5);560 0.94 zeros(1,5);630 0.96 0.81 zeros(1,4);710 0.99 0.83 zeros(1,4);800 1.00 0.85 0.82 zeros(1,3);900 1.03 0.87 0.84 0.83 zeros(1,2);1000 1.06 0.89 0.86 0.86 0.83 0;1120 1.08 0.91 0.88 0.88 0.86 0;1250 1.10 0.93 0.90 0.91 0.89 0;1400 1.14 0.96 0.92 0.93 0.91 0;1600 1.16 0.99 0.95 0.95 0.93 0;1800 1.18 1.01 0.98 0.97 0.96 0;2000 0 1.03 1.00 0.99 0.98 0;2240 0 1.06 1.03 1.02 1.00 0;2500 0 1.09 1.05 1.04 1.03 0;2800 0 1.11 1.07 1.07 1.06 0;3150 0 1.13 1.09 1.09 1.08 0;3550 0 1.17 1.13 1.12 1.11 0;4000 0 1.19 1.15 1.15 1.14 0;4500 0 0 1.18 1.18 1.17 0;5000 0 0 0 1.21 1.20 0];%Ð¡ÂÖÖ±¾¶ÏµÁÐÊý×éDd1array=[50 63 71 80 75 90 100 125 125 140 160 180 200 250 315 400 355 400 450 500 500 560 630 710]; %½çÃæ³õÊ¼»¯TYPE=get(handles.popupmenu11,'value');switch(TYPE)case 1set(handles.popup,'string','50|63|71|80');case 2set(handles.popup,'string','75|90|100|125');case 3set(handles.popup,'string','125|140|160|180');case 4set(handles.popup,'string','200|250|315|400');case 5set(handles.popup,'string','355|400|450|500');Vmax=30;case 6set(handles.popup,'string','500|560|630|710');Vmax=30;endDd1pos=get(handles.popup,'value'); %È·¶¨popupÖÐDd1Ñ¡ÔñµÄÎ»ÖÃDd1=Dd1array((TYPE-1)*4+Dd1pos);TABLEPOS=1;changetabledsp(handles.uitable1,'deleteall',TABLEPOS,TYPE);set(handles.edit9,'string','');% Choose default command line output for V_caculatehandles.output = hObject;% Update handles structureguidata(hObject, handles);% UIWAIT makes V_caculate wait for user response (see UIRESUME)% uiwait(handles.figure1);% --- Outputs from this function are returned to the command line.function varargout = V_caculate_OutputFcn(hObject, eventdata, handles)% varargout cell array for returning output args (see VARARGOUT);% hObject handle to figure% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)% Get default command line output from handles structurevarargout{1} = handles.output;% --- Executes on selection change in popupmenu3.function popupmenu3_Callback(hObject, eventdata, handles)% hObject handle to popupmenu3 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)% Hints: contents = cellstr(get(hObject,'String')) returns popupmenu3 contents as cell array% contents{get(hObject,'Value')} returns selected item from popupmenu3% --- Executes during object creation, after setting all properties.function popupmenu3_CreateFcn(hObject, eventdata, handles)% hObject handle to popupmenu3 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles empty - handles not created until after all CreateFcns called% Hint: popupmenu controls usually have a white background on Windows.% See ISPC and COMPUTER.if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) set(hObject,'BackgroundColor','white');endfunction edit1_Callback(hObject, eventdata, handles)% hObject handle to edit1 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)% Hints: get(hObject,'String') returns contents of edit1 as text% str2double(get(hObject,'String')) returns contents of edit1 as a double% --- Executes during object creation, after setting all properties.function edit1_CreateFcn(hObject, eventdata, handles)% hObject handle to edit1 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles empty - handles not created until after all CreateFcns called% Hint: edit controls usually have a white background on Windows.% See ISPC and COMPUTER.if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) set(hObject,'BackgroundColor','white');endfunction edit2_Callback(hObject, eventdata, handles)% hObject handle to edit2 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)% Hints: get(hObject,'String') returns contents of edit2 as text% str2double(get(hObject,'String')) returns contents of edit2 as a double% --- Executes during object creation, after setting all properties.function edit2_CreateFcn(hObject, eventdata, handles)% hObject handle to edit2 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles empty - handles not created until after all CreateFcns called% Hint: edit controls usually have a white background on Windows.% See ISPC and COMPUTER.if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) set(hObject,'BackgroundColor','white');endfunction edit3_Callback(hObject, eventdata, handles)% hObject handle to edit3 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)% Hints: get(hObject,'String') returns contents of edit3 as text% str2double(get(hObject,'String')) returns contents of edit3 as a double% --- Executes during object creation, after setting all properties.function edit3_CreateFcn(hObject, eventdata, handles)% hObject handle to edit3 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles empty - handles not created until after all CreateFcns called% Hint: edit controls usually have a white background on Windows.% See ISPC and COMPUTER.if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) set(hObject,'BackgroundColor','white');end% --- Executes on selection change in popupmenu9.function popupmenu9_Callback(hObject, eventdata, handles)% hObject handle to popupmenu9 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)% Hints: contents = cellstr(get(hObject,'String')) returns popupmenu9 contents as cell array% contents{get(hObject,'Value')} returns selected item from popupmenu9% --- Executes during object creation, after setting all properties.function popupmenu9_CreateFcn(hObject, eventdata, handles)% hObject handle to popupmenu9 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles empty - handles not created until after all CreateFcns called% Hint: popupmenu controls usually have a white background on Windows.% See ISPC and COMPUTER.if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) set(hObject,'BackgroundColor','white');end% --- Executes on selection change in popupmenu5.function popupmenu5_Callback(hObject, eventdata, handles)% hObject handle to popupmenu5 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)% Hints: contents = cellstr(get(hObject,'String')) returns popupmenu5 contents as cell array% contents{get(hObject,'Value')} returns selected item from popupmenu5% --- Executes during object creation, after setting all properties.function popupmenu5_CreateFcn(hObject, eventdata, handles)% hObject handle to popupmenu5 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles empty - handles not created until after all CreateFcns called% Hint: popupmenu controls usually have a white background on Windows.% See ISPC and COMPUTER.if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) set(hObject,'BackgroundColor','white');end% --- Executes on selection change in popupmenu4.function popupmenu4_Callback(hObject, eventdata, handles)% hObject handle to popupmenu4 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)% Hints: contents = cellstr(get(hObject,'String')) returns popupmenu4 contents as cell array% contents{get(hObject,'Value')} returns selected item from popupmenu4% --- Executes during object creation, after setting all properties.function popupmenu4_CreateFcn(hObject, eventdata, handles)% hObject handle to popupmenu4 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles empty - handles not created until after all CreateFcns called% Hint: popupmenu controls usually have a white background on Windows.% See ISPC and COMPUTER.if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) set(hObject,'BackgroundColor','white');end% --- Executes on selection change in popupmenu6.function popupmenu6_Callback(hObject, eventdata, handles)% hObject handle to popupmenu6 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)% Hints: contents = cellstr(get(hObject,'String')) returns popupmenu6 contents as cell array% contents{get(hObject,'Value')} returns selected item from popupmenu6% --- Executes during object creation, after setting all properties.function popupmenu6_CreateFcn(hObject, eventdata, handles)% hObject handle to popupmenu6 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles empty - handles not created until after all CreateFcns called% Hint: popupmenu controls usually have a white background on Windows.% See ISPC and COMPUTER.if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) set(hObject,'BackgroundColor','white');end% --- Executes on selection change in popupmenu8.function popupmenu8_Callback(hObject, eventdata, handles)% hObject handle to popupmenu8 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)% Hints: contents = cellstr(get(hObject,'String')) returns popupmenu8 contents as cell array% contents{get(hObject,'Value')} returns selected item from popupmenu8% --- Executes during object creation, after setting all properties.function popupmenu8_CreateFcn(hObject, eventdata, handles)% hObject handle to popupmenu8 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles empty - handles not created until after all CreateFcns called% Hint: popupmenu controls usually have a white background on Windows.% See ISPC and COMPUTER.if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))set(hObject,'BackgroundColor','white');end% --- Executes on button press in checkbox1.function checkbox1_Callback(hObject, eventdata, handles)% hObject handle to checkbox1 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)% Hint: get(hObject,'Value') returns toggle state of checkbox1% --- Executes on button press in checkbox2.function checkbox2_Callback(hObject, eventdata, handles)% hObject handle to checkbox2 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)% Hint: get(hObject,'Value') returns toggle state of checkbox2% --- Executes on button press in checkbox3.function checkbox3_Callback(hObject, eventdata, handles)% hObject handle to checkbox3 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)% Hint: get(hObject,'Value') returns toggle state of checkbox3% --- Executes during object creation, after setting all properties.function pushbutton1_Callback(hObject, eventdata, handles)% hObject handle to pushbutton1 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)global Pd yilei erlei chuandongbi zhuansu TYPE Dd2array Dd1 Dd2 TABLEPOS HEADMES; for i=1:1p=get(handles.edit1,'string');n1=get(handles.edit2,'string');cd=get(handles.edit3,'string');gonglv=eval(p);%ÃûÒå¹¦ÂÊzhuansu=eval(n1);chuandongbi=eval(cd);%´«¶¯±ÈGZJ=get(handles.popupmenu3,'value');YDJ=get(handles.popupmenu5,'value');SJ=get(handles.popupmenu9,'value');if(YDJ==1||YDJ==3||YDJ==4||YDJ==6)leibie=1;elseleibie=2;endif(leibie==1)Ka=yilei(GZJ,SJ);elseend;check1=get(handles.checkbox1,'value');check2=get(handles.checkbox2,'value');check3=get(handles.checkbox3,'value');gongzuochanghe=check1|check2|check3;if(gongzuochanghe==1)Ka=Ka*1.1;endPd=Ka*gonglv;xianshi=sprintf('%0.3f %s',Pd,'KW');set(handles.text23,'string',xianshi);Dd22=chuandongbi*Dd1;Dd2=nearest(Dd22,Dd2array);a01=0.7*(Dd1+Dd2);a02=2*(Dd1+Dd2);pa1=num2str(a01);pa2=num2str(a02);set(handles.edit6,'string',pa1);set(handles.edit8,'string',pa2);end% --- Executes on selection change in popupmenu11.function popupmenu11_Callback(hObject, eventdata, handles)% hObject handle to popupmenu11 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)% Hints: contents = cellstr(get(hObject,'String')) returns popupmenu11 contents as cell array % contents{get(hObject,'Value')} returns selected item from popupmenu11 global TYPE Dd1pos Dd1array Dd1 Dd2 Dd2array chuandongbi;TYPE=get(handles.popupmenu11,'value');switch(TYPE)case 1set(handles.popup,'string','50|63|71|80');case 2set(handles.popup,'string','75|90|100|125');case 3set(handles.popup,'string','125|140|160|180');case 4set(handles.popup,'string','200|250|315|400');case 5set(handles.popup,'string','355|400|450|500');Vmax=30;case 6set(handles.popup,'string','500|560|630|710');endDd1pos=get(handles.popup,'value'); %È·¶¨popupÖÐDd1Ñ¡ÔñµÄÎ»ÖÃDd1=Dd1array((TYPE-1)*4+Dd1pos);Dd22=chuandongbi*Dd1;Dd2=nearest(Dd22,Dd2array);a01=0.7*(Dd1+Dd2);a02=2*(Dd1+Dd2);pa1=num2str(a01);pa2=num2str(a02);set(handles.edit6,'string',pa1);set(handles.edit8,'string',pa2);% --- Executes during object creation, after setting all properties.function popupmenu11_CreateFcn(hObject, eventdata, handles)% hObject handle to popupmenu11 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles empty - handles not created until after all CreateFcns called% Hint: popupmenu controls usually have a white background on Windows.% See ISPC and COMPUTER.if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) set(hObject,'BackgroundColor','white');end% --- Executes on button press in pushbutton2.function pushbutton2_Callback(hObject, eventdata, handles)% hObject handle to pushbutton2 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)% --- Executes on button press in pushbutton5.function pushbutton5_Callback(hObject, eventdata, handles)% hObject handle to pushbutton5 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)global Pd yilei erlei chuandongbi zhuansu TYPE Dd1 Dd2 MINMAX P0array Narray Vmax Ldarray Dd1pos Kaarray Dd2array Klarray TABLEPOS data datafront;clc;for i=1:1Dd22=chuandongbi*Dd1;Dd2=nearest(Dd22,Dd2array);V=pi*Dd1*zhuansu/(60*1000);%´øËÙa0=str2double(get(handles.edit9,'string'));%³õÑ¡ÖÐÐÄ¾àLdpie=2*a0+1.57*(Dd1+Dd2)+(Dd2-Dd1)^2/(4*a0);%³õÑ¡»ù×¼³¤¶ÈLd=nearest(Ldpie,Ldarray);%»ù×¼³¤¶Èa=round(a0+(Ld-Ldpie)/2); %ÖÐÐÄ¾àalf1=180-(Dd2-Dd1)/a*57.3; %Ð¡ÂÖ°ü½Ç£¬µ¥Î»£º¶ÈP0=P0func(zhuansu,MINMAX,P0array,Narray,TYPE,Dd1pos);%²é±í£¬ÕÒµ½¾Í·µ»Ø¶î¶¨¹¦ÂÊKa=baojiao(alf1,Kaarray);%²éÕÒ°ü½ÇÐÞÕýÏµÊýKl=daichangxiuzheng(Ld,TYPE,Klarray);%²éÕÒ´ø³¤ÐÞÕýÏµÊýKb=wanquyingxiang(TYPE);%ÍäÇúÓ°ÏìÏµÊýKi=chuandongbixishu(chuandongbi);%´«¶¯±ÈÏµÊýdietaP0=Kb*zhuansu*(1-1/Ki);Zfront=Pd/(P0+dietaP0)/Ka/Kl;%Æ¤´ø¸ùÊýZ=ceil(Zfront);m=mass(TYPE);%¼ÆËã´øµÄÖÊÁ¿if(Z<1)Z=1;endF0=500*Pd/(V*Z)*((2.5-Ka)/Ka)+m*V^2;%È·¶¨³õÀ-Á¦´óÐ¡Fq=2*F0*Z*sin(alf1/360*pi);%¼ÆËã×÷ÓÃÔÚÖáÉÏµÄÑ¹Á¦%ÏÔÊ¾Êý¾Ýdata={Z,Ld,a,alf1,V,Dd2,F0,Fq};changetabledsp(handles.uitable1,'write',TABLEPOS,TYPE,data);TABLEPOS=TABLEPOS+1;endfunction popup_Callback(hObject, eventdata, handles)% hObject handle to popup (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)% Hints: get(hObject,'String') returns contents of popup as text% str2double(get(hObject,'String')) returns contents of popup as a doubleglobal Dd1 TYPE Dd1array Dd1pos Dd2 Dd2array chuandongbi;Dd1pos=get(handles.popup,'value'); %È·¶¨popupÖÐDd1Ñ¡ÔñµÄÎ»ÖÃDd1=Dd1array((TYPE-1)*4+Dd1pos);Dd22=chuandongbi*Dd1;Dd2=nearest(Dd22,Dd2array);a01=0.7*(Dd1+Dd2);a02=2*(Dd1+Dd2);pa1=num2str(a01);pa2=num2str(a02);set(handles.edit6,'string',pa1);set(handles.edit8,'string',pa2);% --- Executes during object creation, after setting all properties.function popup_CreateFcn(hObject, eventdata, handles)% hObject handle to popup (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles empty - handles not created until after all CreateFcns called% Hint: edit controls usually have a white background on Windows.% See ISPC and COMPUTER.if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))set(hObject,'BackgroundColor','white');end% --- Executes when entered data in editable cell(s) in uitable1.function uitable1_CellEditCallback(hObject, eventdata, handles)% hObject handle to uitable1 (see GCBO)% eventdata structure with the following fields (see UITABLE)% Indices: row and column indices of the cell(s) edited% PreviousData: previous data for the cell(s) edited% EditData: string(s) entered by the user% NewData: EditData or its converted form set on the Data property. Empty if Data was not changed % Error: error string when failed to convert EditData to appropriate value for Data% handles structure with handles and user data (see GUIDATA)% --- Executes during object creation, after setting all properties.function edit6_CreateFcn(hObject, eventdata, handles)% hObject handle to edit6 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles empty - handles not created until after all CreateFcns called% --- Executes during object creation, after setting all properties.function edit8_CreateFcn(hObject, eventdata, handles)% hObject handle to edit8 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles empty - handles not created until after all CreateFcns calledfunction edit7_Callback(hObject, eventdata, handles)% hObject handle to edit7 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)% Hints: get(hObject,'String') returns contents of edit7 as text% str2double(get(hObject,'String')) returns contents of edit7 as a double% --- Executes during object creation, after setting all properties.function edit7_CreateFcn(hObject, eventdata, handles)% hObject handle to edit7 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles empty - handles not created until after all CreateFcns called% Hint: edit controls usually have a white background on Windows.% See ISPC and COMPUTER.if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor')) set(hObject,'BackgroundColor','white');endfunction edit9_Callback(hObject, eventdata, handles)% hObject handle to edit9 (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)% Hints: get(hObject,'String') returns contents of edit9 as text% str2double(get(hObject,'String')) returns contents of edit9 as a double。

哈工大机械原理大作业连杆机构运动分析完美满分版哈尔滨工业大学

连杆机构运动分析说明书院（系）机电工程学院专业机械设计制造及其自动化姓名李乾学号1130810904班号1308109指导教师唐德威、赵永强日期2015年6月20日哈尔滨工业大学机电工程学院2015年6月一、题目如图1所示机构，已知机构各构件的尺寸为l AB=200mm，l BD=700mm，l AC=400mm，l AE=800mm，构件1的角速度为ω1=10rad/s，试求构件2上点D的轨迹及构件5的角位移、角速度和角加速度，并对计算结果进行分析。

（题中构件尺寸满足l BD-l AB<l AE<l BD+l AB)。

图 1 机构运动简图二、建立数学模型分析1.建立坐标系建立以点A为原点的平面直角坐标系A-x，y，如图2所示图 2 建立坐标系2.对机构进行结构分析该机构由Ⅰ级机构AB、两个RPRⅡ级基本杆组BCD、ED组成。

杆组拆分结果如图3、图4、图5所示。

图 3 Ⅰ级杆组AB图 4 RPRⅡ级基本杆组BCD图 5 RPRⅡ级基本组DE3.确定已知参数和求解流程（1）原动件AB（I级杆组）已知原动件1的转角φ=0~360°运动副A的运动参数x A=0y A=0原动件AB的长度l AB = 200mm代入I级杆组子程序，得到运动副B的位置坐标（x B，y B）根据《机械原理》第三版书中第36页的公式推导可知：A，B两点坐标在x轴，y轴上投影，得方程x B = x A+l AB*cosφy B = y A+l AB*sinφ（2）BCD（RPR II级杆组）已知运动副B的位置坐标（x B，y B）运动副C的坐标位置：x C=l AC=400mmy C=0代入RPR II级杆组子程序，求出构件2上D点的位置坐标（x D，y D）根据《机械原理》第三版书中第339页的公式推导可知：当杆件处于图所示位置,即x B>x D并且y B≥y D时,l j杆角位移：φj=arctan B0s+A0C0 A0s−B0C0式中：A0=x B-x DB0=y B-y DC0=l i+l ks=√A02+B02−C02而当x B<x D并且y B≥y D时，φj=arctan B0s+A0C0A0s−B0C0+180o 当x B<x D并且y B<y D时，φj=arctan B0s+A0C0A0s−B0C0+180o 当x B>x D并且y B<y D时，φj=arctan B0s+A0C0A0s−B0C0+360o图 6 RPR II级杆组分析内移动副C的位置：x C=x B-l i sinφjy C=y B-l i cosφj导杆上E点的位置：x E=x C+(l j-s)cosφjy E=y C+(l j-s)sinφj（3）DE（RPR II级杆组）已知运动副D的位置坐标（x D，y D），运动副E的坐标：x E=l AE=800mmy E=0代入RPR II级杆组子程序，求出构件5的转角φ5。

哈工大机械设计大作业轴系设计5.1.2

Harbin Institute of Technology大作业设计说明书课程名称：机械设计设计题目：轴系部件设计设计时间：2017.12哈尔滨工业大学设计任务原始数据如下：有冲击，室内工作，机器成批生产一．选择轴的材料、热处理方式因传递功率不大，并对质量及结构尺寸无特殊要求，故选用45号钢，调制处理。

二.按扭转强度估算轴径由大作业四P=3.84KW ，n =480r/min ，对于转轴，扭转强度初算轴径，查参考文献[1]表10.2得C =106~118，考虑轴端弯矩比转矩小，故取 C =106，则mm n P c d 2.2148084.310633min =⨯== 其中P ——轴的传递功率 n ——轴的转速C ——由许用扭转剪应力确定的系数由于考虑到轴的最小直径处要安装大带轮或小齿轮有键槽存在，故将其扩大为1.05倍，得mm d 26.222.2105.11=⨯≥，按标准GB2822-81的R10圆整后取d=25mm 。

三．设计轴的结构3.1确定机体和轴的结构形式箱体内无传动件，不需经常拆卸，箱体采用整体式。

由轴的功能可知，该轴应具有带轮、齿轮的安装段，两个轴承的安装段以及两个轴承对外的密封段，共7段尺寸。

由于没有轴向力的存在，且载荷、转速较低，故选用深沟球轴承。

由于传递功率小，转速不高，发热小，故轴承采用两端固定式。

由于轴转速较低，且两轴承间无传动件，所以采用脂润滑、毛毡圈密封。

确定轴的草图如图1所示：图1 确定轴的草图3.1．阶梯轴各部分直径的确定1) 轴段1和7轴段1和轴段7分别安放大带轮和小齿轮，所以其长度由带轮和齿轮轮毂长度确定，而直径由初算的最小直径得到。

所以，mm d d 2571==。

2) 轴段2和6轴段2和轴段6的确定应考虑齿轮、带轮的轴向固定和密封圈的尺寸。

由参考文献[3]图10.9计算得到轴肩高度mm h d d d )30~5.28(21162=⨯+==由参考文献[3]表14.4取毡圈油封直径mm d 29=，取轴径mm d d 3062==。

陈峰、沈阳哈工大特种机器人有限公司劳动争议二审民事判决书

陈峰、沈阳哈工大特种机器人有限公司劳动争议二审民事判决书【案由】民事劳动争议、人事争议其他劳动争议、人事争议【审理法院】辽宁省沈阳市中级人民法院【审理法院】辽宁省沈阳市中级人民法院【审结日期】2020.07.07【案件字号】(2020)辽01民终2820号【审理程序】二审【审理法官】石瑷丹李晓颖郝梦思【审理法官】石瑷丹李晓颖郝梦思【文书类型】判决书【当事人】陈峰;沈阳哈工大特种机器人有限公司【当事人】陈峰沈阳哈工大特种机器人有限公司【当事人-个人】陈峰【当事人-公司】沈阳哈工大特种机器人有限公司【代理律师/律所】洪广复辽宁永迪律师事务所【代理律师/律所】洪广复辽宁永迪律师事务所【代理律师】洪广复【代理律所】辽宁永迪律师事务所【法院级别】中级人民法院【字号名称】民终字【原告】陈峰【被告】沈阳哈工大特种机器人有限公司【本院观点】关于上诉人主张被上诉人克扣工资导致劳动合同解除的问题。

【权责关键词】实际履行合同约定新证据诉讼请求维持原判执行【指导案例标记】0【指导案例排序】0【本院查明】二审中，当事人未提交新证据。

本院对一审查明的事实予以确认。

【本院认为】本院认为，关于上诉人主张被上诉人克扣工资导致劳动合同解除的问题。

本案中，从2018年12月份，被上诉人每月实际向上诉人支付8100元，低于双方劳动合同约定的工资数额，但直至2019年4月23日上诉人提交离职申请，注明因个人原因提出离职，上诉人未对工资发放提出异议。

而对于工资数额的减少，被上诉人主张系公司召开绩效考核方式讨论会，对工资构成进行了变更，同时提交了《会议纪要》及签到表，证明上诉人参与了会议并知晓工资构成变化。

尽管上诉人否认签到表中的签名为本人书写，但在一审法院规定的时间内，未申请对该签名进行司法鉴定，应视为其放弃了申请鉴定的权利。

结合以上证据情况，上诉人主张公司克扣工资导致其解除劳动合同的上诉主张缺乏充分证据证明，本院不予支持。

进而其要求支付拖欠工资及解除劳动合同经济补偿金的上诉主张缺乏法律依据，本院亦不予支持。

哈工大机械设计大作业螺旋传动设计(千斤顶)

H a r b i n I n s t i t u t e o f T e c h n o l o g y机械设计大作业说明书大作业名称：机械设计大作业设计题目：螺旋传动设计班级：设计者：学号：指导教师：宋宝玉设计时间：2014·10·03哈尔滨工业大学目录1设计题目-------------------------------------------------------------------------------------------------------3 2螺母、螺杆选材----------------------------------------------------------------------------------------------3 3耐磨性计算-----------------------------------------------------------------------------------------------------3 4螺杆强度校核-------------------------------------------------------------------------------------------------3 5螺纹牙强度校核----------------------------------------------------------------------------------------------4 6螺纹副自锁条件校核---------------------------------------------------------------------------------------5 7螺杆稳定性校核----------------------------------------------------------------------------------------------5 8螺母外径及凸缘设计---------------------------------------------------------------------------------------6 9手柄设计--------------------------------------------------------------------------------------------------------6 10底座设计-------------------------------------------------------------------------------------------------------7 11各部分尺寸及参数-----------------------------------------------------------------------------------712参考资料-------------------------------------------------------------------------------------------------------81、设计题目螺旋起重器〔千斤顶〕已知条件：3.1.2起重量Q F =40KN ，最大起重高度H=200mm 。

(完整word版)哈工大机械原理大作业凸轮DOC

H a r b i n I n s t i t u t e o f T e c h n o l o g y机械原理大作业二课程名称：机械原理设计题目: 凸轮机构设计院系：班级：设计者：学号：指导教师：哈尔滨工业大学一、设计题目如右图所示直动从动件盘形凸轮机构,选择一组凸轮机构的原始参数,据此设计该凸轮机构。

凸轮机构原始参数序号升程（mm）升程运动角升程运动规律升程许用压力角27130150正弦加速度30°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100°余弦加速度60°30°80°二. 凸轮推杆升程、回程运动方程及推杆位移、速度、加速度线图凸轮推杆升程运动方程:)]512sin(2156[130s ϕππϕ-= )512sin(4.374)]512cos(1[156v 211ϕπϕπωω=-=a％ t 表示转角,s 表示位移t=0：0.01:5*pi/6;%升程阶段s= [(6＊t)/(5*pi ）- 1/（2＊pi ）*sin(12＊t/5）］＊130; hold on plot(t ，s ）; t= 5＊pi/6:0。

01:pi; ％远休止阶段s=130； hold on plot(t,s ）;t=pi ：0.01:14*pi/9；%回程阶段s=65*［1+cos(9*（t-pi ）/5)]； hold on plot(t ，s ）;t=14*pi/9：0.01:2＊pi ；s=0；hold onplot（t,s）；grid onhold off％t表示转角,令ω1=1t=0：0。

01:5*pi/6;%升程阶段v=156*1*［1-cos（12＊t/5）]/pi hold onplot(t，v)；t= 5＊pi/6：0。

01:pi;v=0hold onplot(t，v)；t=pi:0.01:14＊pi/9;％回程阶段v=—117*1*sin（9＊(t—pi)/5) hold onplot（t，v)；t=14＊pi/9:0。

哈工大-机械制造装备设计大作业-卧式升降台铣床

Harbin Institute of Technology课程大作业说明书课程名称：机械制造装备设计设计题目：卧式升降台铣床院系：班级：设计者：学号：指导教师：设计时间：哈尔滨工业大学目录一、设计任务 (3)机械制造装备设计大作业的目的 (3)机械制造装备设计大作业的内容 (3)设计任务书 (3)二、运动设计 (3)确定转速系列 (3)绘制转速图 (4)确定定比传动副带轮直径 (7)三、动力设计 (8)传动轴直径初定 (9)主轴轴颈直径的确定 (9)齿轮模数的初步计算 (9)对各种限制的讨论 (10)选择带轮传动带型及根数 (12)离合器与制动器 (12)参考文献 (12)一、设计任务机械制造装备设计大作业的目的机械制造装备设计大作业,是机械制造装备设计课程进行过程中的一个重要教学环节。

其目的在于通过机床主传动系统设计，使学生进一步理解设计理论，得到设计构思、方案分析、零件计算、查阅技术资料等方面的综合训练，树立正确的设计思想，掌握基本的设计方法，培养学生具有初步机械系统设计和计算能力。

机械制造装备设计大作业的内容1、运动设计根据给定的机床用途、规格、极限速度、转速数列公比（或转速级数），分析比较拟定传动结构方案（包括结构式和结构网，转速图）和传动系统图，确定传动副的传动比及齿轮的齿数，并计算主轴的实际转速与标准转速的相对误差。

2、动力设计根据给定的电动机功率和传动件的计算转速，初步计算传动轴直径、齿轮模数；确定皮带类型及根数、摩擦片式离合器的尺寸和摩擦片数及制动器尺寸、选择机床主轴结构尺寸。

设计任务书设计题目：卧式升降台铣床主传动系统设计二、运动设计1确定转速系列已知设计参数为：电机额定功率4w P K =额，铣床最低转速m in /5.37min r N =，级数Z=11，公比=1.41ϕ。

由铣床的最低转速m in /5.37min r N =、公比=1.41ϕ、级数Z=11，可知转速调整范围110n = 1.4132Z R ϕ-==，主轴的极限转速m in /12005.3732min max r N R N n =⨯=⋅=，查文献[1]表3-6可知主轴实际最大转速1180max =N /min r ，且主轴的转速数列为、53、75、106、150、212、300、425、600、850、1180因两轴间变速组的传动副数多采用2或3，在设计简单变速系统时，变速级数应选择m n z=32的形式， m n 、均为正整数，即选用三联齿轮和两联齿轮进行变速。

哈工大机械原理大作业1

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-7.408008
448.711622
19
17.496096
11.511568
389.280068
199
-27.066134
-7.329197
454.399338
20
19.511173
11.576658
356.588380
200
-28.338399
-6.837081
484.309157
26
31.792111
11.837106
133.586249
206
-35.672384
-6.752179
488.602299
27
33.860111
11.856813
92.240035
207
-36.843419
-6.666544
492.701606
28
35.930920
（4）利用导数的定义与其物理意义
利用上述公式，选取适当的步长h，利用F点位移就可以得出速度与加速度
5、用VC编程
#include <stdio.h>
#include <math.h>
#define pi 3.14159265358979323846
//定义全局变量
double Lab,Lbc,Lcd,Xf,Xd,Yd;//定义已知位置量
11.079883
-670.906136
223
-53.471235
-5.223053
533.839546
44
68.312705
10.958430

哈工大-精密超精密大作业 LIGA

《精密和超精密加工技术》课程大作业院（系）英才学院专业机械设计制造及其自动化姓名吴英丹学号6120200615班号1236105完成日期2015.7.8哈尔滨工业大学机电工程学院2015年精密和超精密加工技术（大作业）目录1前言 (1)2LIGA工艺[2] (2)3UV-LIGA工艺[3] (3)4LIGA技术的应用[5] (4)5结论[6] (5)参考文献 (5)LIGA技术及其应用摘要：微电子机械系统（MEMS）技术的兴起及其在现代信息社会中的广泛应用，推动了能实现高深宽比三维微细加工的LIGA及准LIGA技术的迅速发展。

本文介绍了LIGA相关技术的发展状况并举例说明了它们在射频、光学等方面上的一些应用。

关键词：三维微细加工；LIGA技术；UV-LIGA技术The Development and Application of LIGA Abstract:LIGA and quasi-LIGA technologies used for high aspect ratio 3-D micromachining were accelerated by the rise and wide applications in information society of MEMS (micro-electro-mechanical systems) technology. LIGA and related technologies are presented, and the applications of these technologies are illustrated for examples.Keywords: 3-D micromachining；LIGA technology；UV-LIGA technology1 前言随着MEMS技术的发展和人们在微机械制造方面所取得的成就，对各种微执行器、微传感器等微结构的制造方法的研究成为MEMS 技术研究的一个热点，同时微机械制造技术也是MEMS技术向更高层次发展的推动力。

哈工大机械原理大作业(连杆机构)

三、建立数学模型
建立坐标系：以C为原点，水平方向为X轴，CA所在直线为Y轴建立直角坐标系（如图4）。
取曲柄1水平且位于A点右侧为初始时刻，设曲柄1角速度为w，由题意知w= =8.5π rad/s………………（1）
设曲柄1转角为θ，则B点坐标：
xB=ιABcosθ=ιABcoswt
yB=H1+ιABsinθ=H1+ιABsinwt………………（2）
form=1:length(t)-1
ddxF(m)=(dxF(m+1)-dxF(m))/0.0001;
end
ddxF(length(t))=ddxF(length(t)-1);
figure
plot(t,ddxF)
title('¼ÓËÙ¶ÈÍ¼Ïñ');
xlabel('t /s'),ylabel('v /(m/s^2)');
输出图像：
xE(m)=yE(m)/k(m);
xF(m)=xE(m)-(-H^2+lEF^2-yE(m)^2+2*yE(m)*H)^(1/2)+0.1142;
end
form=1:length(t)-1
dxF(m)=(xF(m+1)-xF(m))/0.0001;
end
dxF(length(t))=dxF(length(t)-1);
∵ιEF+ιCE>H且ιCE<H
∴E点始终在F点的右下方
∴xF<xE,所以x2舍去，只取xF=x1……………（8）
∴点F坐标为（xF，H）
当t=0时，可得F点初始位置坐标，不妨设为（xo,H）。
则F点位移（通过计算，t=0时，得xo=-0.1142）