哈尔滨工业大学机械原理大作业_连杆26题

1.运动分析题目

如图所示机构，已知机构各构件的尺寸为AB=108mm，EF=320mm，BC=CE=CD=200mm，FG=162mm，AD=258mm，AG=514mm，DG=384mm，β=80º，构件1的角速度为ω1=10rad/s，试求构件2上点E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。

2.机构的结构分析，组成机构的基本杆组划分

3.各基本杆组的运动分析数学模型

（1）RR基本杆组：

delt=0

xB = xA + AB * Cos(f + delt)

yB = yA + AB* Sin(f + delt)

vxB = vxA - w * AB * Sin(f + delt)

vyB = vyA + w * AB* Cos(f + delt)

axB = axA - w ^ 2 * AB * Cos(f + delt):

ayB = ayA - w ^ 2 * AB* Sin(f + delt)

(2)RRR基本杆组

Ci = lbc * Cos(fbc)

Si = lbc * Sin(fbc)

Cj = lcd * Cos(fcd)

Sj = lcd * Sin(fcd)

G1 = Ci * Sj - Cj * Si

wbc = (Cj * (vxD - vxB) + Sj * (vyD - vyB)) / G1

wcd = (Ci * (vxD - vxB) + Si * (vyD - vyB)) / G1

vxC = vxB - wbc * lbc * Sin(fbc)

vyC = vyB + wbc * lbc * Cos(fbc)

G2 = axD - axB + wbc ^ 2 * Ci - wcd ^ 2 * Cj

G3 = ayD - ayB + wbc ^ 2 * Si - wcd ^ 2 * Sj

ebc = (G2 * Cj + G3 * Sj) / G1

ecd = (G2 * Ci + G3 * Si) / G1

axC = axB - ebc * lbc * Sin(fbc) - wbc ^ 2 * lbc * Cos(fbc)

ayC = ayB + ebc * lbc * Cos(fbc) - wbc ^ 2 * lbc * Sin(fbc)

EB = 2 * BC * Cos(febc)

xE = xB + EB* Cos(fbc + febc)

yE = yB + EB * Sin(fbc + febc)

vxE = vxB – wbc * EB* Sin(fbc + febc)

vyE = vyB + wbc * EB* Cos(fbc + febc)

axE = axB - wbc ^ 2 * EB * Cos(fbc + delt) - ebc * EB * Sin(fbc + febc)

ayE = ayB - wbc ^ 2 * leb * Sin(fbc + delt) + ebc * leb * Sin(fbc + febc) Ci = lef * Cos(fef)

Si = lef * Sin(fef)

Cj = lfg * Cos(ffg)

Sj = lfg * Sin(ffg)

G1 = Ci * Sj - Cj * Si

wef = (Cj * (vxG - vxE) + Sj * (vyG - vyE)) / G1

wfg = (Ci * (vxG - vxE) + Si * (vyG - vyE)) / G1

vxF = vxE - wef * lef * Sin(fef)

vyF = vyE + wef * lef * Cos(fef)

G2 = axG - axE + wef ^ 2 * Ci - wfg ^ 2 * Cj

G3 = ayG - ayE + wef ^ 2 * Si - wfg ^ 2 * Sj

eef = (G2 * Cj + G3 * Sj) / G1

efg = (G2 * Ci + G3 * Si) / G1

axF = axE - eef * lef * Sin(fef) - wef ^ 2 * lef * Cos(fef)

ayF = ayE + eef * lef * Cos(fef) - wef ^ 2 * lef * Sin(fef)

4.计算编程

Dim xA As Double

Dim yA As Double

Dim vxA As Double

Dim vyA As Double

Dim axA As Double 'A '点加速度x轴分量

Dim ayA As Double 'A '点加速度y轴分量

Dim xB As Double 'B'点'x轴坐标

Dim yB As Double 'B点y轴坐标

Dim vxB As Double 'B点速度x轴分量

Dim vyB As Double 'B点速度y轴分量

Dim axB As Double 'B点加速度x轴分量

Dim ayB As Double 'B点加速度y轴分量

Dim xC As Double 'C点x轴坐标

Dim yC As Double C'点y轴坐标

Dim vxC As Double 'C点速度x轴分量

Dim vyC As Double 'C点速度y轴分量

Dim axC As Double 'C点加速度x轴分量

Dim ayC As Double 'C点加速度y轴分量

Dim xD As Double 'D点x轴坐标

Dim yD As Double 'D点y轴坐标

Dim vxD As Double 'D点速度x轴分量

Dim vyD As Double 'D点速度y轴分量

Dim axD As Double 'D点加速度x轴分量

Dim ayD As Double 'D点加速度y轴分量

Dim xE As Double 'E点x轴坐标