平面連桿機(jī)構(gòu)運(yùn)動(dòng)分析

1、大作業(yè)（一）平面連桿機(jī)構(gòu)的運(yùn)動(dòng)分析精品班級：姓名：姓名：姓名：指導(dǎo)教師：完成日期：感謝下載載精品一、題目及原始數(shù)據(jù)1.1 、平面連桿機(jī)構(gòu)的運(yùn)動(dòng)分析題目：如圖 1.1 所示，為一平面六桿機(jī)構(gòu)。 設(shè)已知各構(gòu)件的尺寸如表1.1 所示，又知原動(dòng)件 1 以等角速度1= 1rad/s沿逆時(shí)針方向回轉(zhuǎn)，試求各從動(dòng)件的角位移、角速度及角加速度以及位移E 點(diǎn)的位移、速度及加速度的變化情況。表 1.1 平面六桿機(jī)構(gòu)的尺寸參數(shù)l 2' =65mm, xG =153.5mm,yG =41.7mm題號 l1l2l 3l4l5l6ABC105.l1 =26.l1 =29.1-A67.587.534.42560 &

2、#176;l1 =24655要求每組（每三人為一組，每人一題）至少打印一份源程序，每個(gè)同學(xué)計(jì)算出原動(dòng)件從0o 到 360 o 時(shí)（計(jì)算點(diǎn)數(shù)N=36 ）所要求各運(yùn)動(dòng)變量的大小，并繪出各組應(yīng)的運(yùn)動(dòng)線圖以及E 點(diǎn)的軌跡曲線。感謝下載載精品圖 1.1二、平面連桿機(jī)構(gòu)運(yùn)動(dòng)分析方程2.1 、位移方程：l4cos4cos 3l1cos 1h20l4sin4s3sin 3l1sin 1h10l4cosl4sin44l3cosl3 sin33s c0h0v343vc2.2 、速度方程：cossinV10033l4sin l4cos l4sin l4cos4s3sin304s3cos 304l3sin314l3c

3、os 30V2l1sin 1l1cos 100感謝下載載精品V3v343vcV3V22.3 、加速度方程：3sin 3144cos 4v3sin3s33cos 30A1113144sin4? v3cos 3 s33sin 300144cos 4133cos 300144sin4133sin30A 112 = v343v cA 11A 111A 112A 12l1cos 1l1sin 10 0A1A11A 12A 3 a343acA 3A 2A 1三、計(jì)算程序框圖迭代次數(shù) IT=0IT=IT+1調(diào)用位置方程（ 1）子程序代入的初值 i ，并計(jì)算 f i感謝下載載精品四、計(jì)算源程序4.1 主程序%

4、 輸入已知數(shù)據(jù)clearl1=0.0240;l2=0.1056;l3=0.0675;l4=0.0875;l5=0.0344;l6=0.025;l22=0.065;xg=0.1535;yg=0.0417;omega1=1;alph1=0;hd=pi/180;du=180/pi;t1=1:10:361;theta2=1:10:361;theta3=1:10:361;theta5=1:10:361;theta6=1:10:361;omega2=1:10:361;omega3=1:10:361;omega5=1:10:361;omega6=1:10:361;alph2=1:10:361;alph3=1

5、:10:361;alph5=1:10:361;alph6=1:10:361;xe=1:10:361;ye=1:10:361;V=1:10:361;a=1:10:361;theta1=0;options=gaoptimset('PopulationSize',100,'Generations',10000,'StallGenLimit',500,'TolFun',1e-100);theta0=ga(thet) weiyi_0(thet,theta1),4,options);if theta0(1)<0感謝下載載精品theta0

6、(1)=theta0(1)+2*pi;endif theta0(1)>2*pitheta0(1)=theta0(1)-2*pi;endif theta0(2)<0theta0(2)=theta0(2)+2*pi;endif theta0(2)>2*pitheta0(2)=theta0(2)-2*pi;endif theta0(3)<0theta0(3)=theta0(3)+2*pi;endif theta0(3)>2*pitheta0(3)=theta0(3)-2*pi;endif theta0(4)<0theta0(4)=theta0(4)+2*pi;en

7、dif theta0(4)>2*pitheta0(4)=theta0(4)-2*pi;end% 調(diào)用子函數(shù)Fun_jixie計(jì)算該六桿機(jī)構(gòu)的各桿角位移、角速度、角加速度以及E 點(diǎn)的角位移、角速度、角加速度for n1=1:10:361theta1=(n1-1)*hd;t1(n1)=theta1*du;theta=fsolve(thet) weiyi(thet,theta1),theta0);if theta(1)<0theta(1)=theta(1)+2*pi;endif theta(1)>2*pitheta(1)=theta(1)-2*pi;endif theta(2)&l

8、t;0theta(2)=theta(2)+2*pi;endif theta(2)>2*pitheta(2)=theta(2)-2*pi;endif theta(3)<0theta(3)=theta(3)+2*pi;endif theta(3)>2*pitheta(3)=theta(3)-2*pi;endif theta(4)<0theta(4)=theta(4)+2*pi;endif theta(4)>2*pitheta(4)=theta(4)-2*pi;endxe(n1),ye(n1)=weiyi_E(theta1,theta,l1,l2,l22);omega,

9、alph = Fun_jixie(theta1,omega1,l1,l2,l3,l5,l6,l22,theta);V(n1),a(n1)=sudu_jasudu_E(omega(1),alph(1),theta,theta1,omega1,l1,l2,l22,alph1);theta2(n1)=theta(1);theta3(n1)=theta(2);theta5(n1)=theta(3);theta6(n1)=theta(4);omega2(n1)=omega(1);omega3(n1)=omega(2);omega5(n1)=omega(3);omega6(n1)=omega(4);感謝下

10、載載精品alph2(n1)=alph(1);alph3(n1)=alph(2);alph5(n1)=alph(3);alph6(n1)=alph(4);theta0=theta;end% 繪制各桿件的角位移、角速度、角加速度n2=1:10:361;n1=1:10:361;figure(1);%subplot(2,2,1)%繪制位移線圖plot(n1-1),theta2(n2)*du,'r-',(n1-1),theta3(n2)*du,'g-',(n1-1),theta5(n2)*du,'y-',(n1-1),theta6(n2)*du,'

11、k-','LineWidth',1.5);title(' 各桿角位移線圖');xlabel(' 原動(dòng)件 1theta_1/circ');ylabel(' 角位移 /circ');grid on;hold on;text(200,60,'2');text(200,150,'3');text(200,350,'5');text(200,260,'6');%subplot(2,2,2)%繪制角速度線圖plot(n1-1),omega2(n2),'r-'

12、;,(n1-1),omega3(n2),'g-',(n1-1),omega5(n2),'y-',(n1-1),omega6(n2),'k-','LineWidth',1.5);title(' 各桿角速度線圖');xlabel(' 原動(dòng)件 1theta_1/circ');ylabel(' 角速度 /radcdots-1');grid on;hold on;%subplot(2,2,3)%繪制角加速度線圖plot(n1-1),alph2(n2),'r-',(n1-1),a

13、lph3(n2),'g-',(n1-1),alph5(n2),'y-',(n1-1),alph6(n2),'k-','LineWidth',1.5);title(' 各桿角加速度線圖');xlabel(' 原動(dòng)件 1theta_1/circ');ylabel(' 角加速度 /radcdots-2');grid on;hold on;% 求 E 點(diǎn)的位移figure(2)subplot(2,2,1)plot(xe(n1),ye(n1),'r-','LineWid

14、th',1.5);title('E的位移線圖 ');xlabel('E在 x 方向位移 ');ylabel('E在 y 方向位移 ');grid on;hold on;% 求 E 點(diǎn)角速度與角加速度感謝下載載精品subplot(2,2,2)% 繪制 E 點(diǎn)角速度plot(n1-1),V(n1),'r-','LineWidth',1.5);title('E 點(diǎn)角速度 ');xlabel(' 原動(dòng)件 1theta_1/circ');ylabel('E 點(diǎn)角速度 /radc

15、dots-1');grid on;hold on;subplot(2,2,3)% 繪制 E 點(diǎn)角加速度plot(n1-1),a(n1),'r-','LineWidth',1.5);title('E 點(diǎn)角加速度 ');xlabel(' 原動(dòng)件 1theta_1/circ');ylabel('E 點(diǎn)角加速度 /radcdots-2');grid on;hold on;% 將數(shù)據(jù)輸出到 Exel 表 shuju1.xls 中機(jī)械原理大作業(yè)平面六桿機(jī)構(gòu) Matlab程序 shuju3.xls',t1(n1)

16、','sheet1','A1');機(jī)械原理大作業(yè)平面六桿機(jī)構(gòu) Matlab程序 shuju3.xls',theta2(n1)'*du,'sheet1','B1');機(jī)械原理大作業(yè)平面六桿機(jī)構(gòu) Matlab程序 shuju3.xls',theta3(n1)'*du,'sheet1','C1');機(jī)械原理大作業(yè)平面六桿機(jī)構(gòu) Matlab程序 shuju3.xls',theta5(n1)'*du,'sheet1','D1

17、9;);機(jī)械原理大作業(yè)平面六桿機(jī)構(gòu) Matlab程序 shuju3.xls',theta6(n1)'*du,'sheet1','E1');機(jī)械原理大作業(yè)平面六桿機(jī)構(gòu) Matlab程序 shuju3.xls',omega2(n1)','sheet1','F1');機(jī)械原理大作業(yè)平面六桿機(jī)構(gòu) Matlab程序 shuju3.xls',omega3(n1)','sheet1','G1');機(jī)械原理大作業(yè)平面六桿機(jī)構(gòu) Matlab程序 shuju3.xls&#

18、39;,omega5(n1)','sheet1','H1');機(jī)械原理大作業(yè)平面六桿機(jī)構(gòu) Matlab程序 shuju3.xls',omega6(n1)','sheet1','I1');機(jī)械原理大作業(yè)平面六桿機(jī)構(gòu) Matlab程序 shuju3.xls',alph2(n1)','sheet1','J1');機(jī)械原理大作業(yè)平面六桿機(jī)構(gòu) Matlab程序 shuju3.xls',alph3(n1)','sheet1','K1

19、');機(jī)械原理大作業(yè)平面六桿機(jī)構(gòu) Matlab程序 shuju3.xls',alph5(n1)','sheet1','L1');機(jī)械原理大作業(yè)平面六桿機(jī)構(gòu) Matlab程序 shuju3.xls',alph6(n1)','sheet1','M1');機(jī)械原理大作業(yè)平面六桿機(jī)構(gòu) Matlab程序 shuju3.xls',V(n1)','sheet1','N1');機(jī)械原理大作業(yè)平面六桿機(jī)構(gòu) Matlab程序 shuju3.xls',a(n

20、1)','sheet1','O1');4.2 從動(dòng)件角位移，角速度，角加速度function omega,alph = Fun_jixie( theta1,omega1,l1,l2,l3,l5,l6,l22,theta)% 從動(dòng)件角位移theta2=theta(1);theta3=theta(2);theta5=theta(3);theta6=theta(4);% 計(jì)算從動(dòng)件角速度A= -l2*sin(theta2),l3*sin(theta3),0,0;l2*cos(theta2), -l3*cos(theta3),0,0;-l22*sin(theta

21、2 - pi/3), -l3*sin(theta3), -l5*sin(theta5),l6*sin(theta6);l22*cos(theta2 - pi/3),l3*cos(theta3),l5*cos(theta5), -l6*cos(theta6);B=l1*sin(theta1);-l1*cos(theta1);0;0;omega=A(omega1*B);omega2=omega(1);omega3=omega(2);omega5=omega(3);omega6=omega(4);%感謝下載載精品% 計(jì)算角從動(dòng)件角加速度A= -l2*sin(theta2),l3*sin(theta3

22、),0,0;l2*cos(theta2), -l3*cos(theta3),0,0;-l22*sin(theta2 - pi/3), -l3*sin(theta3), -l5*sin(theta5),l6*sin(theta6);l22*cos(theta2 - pi/3),l3*cos(theta3),l5*cos(theta5), -l6*cos(theta6);At=-l2*omega2*cos(theta2),l3*omega3*cos(theta3),0,0;-l2*omega2*sin(theta2),l3*omega3*sin(theta3),0,0;-l22*omega2*co

23、s(theta2 -pi/3),-l3*omega3*cos(theta3),-l5*omega5*cos(theta5),l6*omega6*cos(theta6); -l22*omega2*sin(theta2 -pi/3),-l3*omega3*sin(theta3),-l5*omega5*sin(theta5),l6*omega6*sin(theta6); Bt=omega1*l1*cos(theta1);omega1*l1*sin(theta1);0;0; alph=A(-At*omega+omega1*Bt);end點(diǎn)角速度，角加速度function V,a=sudu_jasudu

24、_E(omega,alph,theta,theta1,omega1,l1,l2,l22,alph1)% 求 E 點(diǎn)角速度A=-l1*sin(theta1),-l2*sin(theta(2)+l22*sin(pi/3-theta(1);l1*cos(theta1),l2*cos(theta(1)-l22*cos(pi/3-theta(1);B=omega1;omega(1);Vx=-l1*sin(theta1)*omega1-l2*sin(theta(2)+l22*sin(pi/3-theta(1)*omega(1); Vy=l1*cos(theta1)*omega1+l2*cos(theta(

25、1)-l22*cos(pi/3-theta(1)*omega(1);V=sqrt(Vx2+Vy2);% 求 E 點(diǎn)角加速度D1=alph1;alph(1);D2=-l1*cos(theta1)*omega1,-l2*cos(theta(1)*omega(1)-l22*cos(pi/3-theta(1)*omega(1);-l1*sin(theta1)*omega1,-l2*sin(theta(2)*omega(1)+l22*sin(pi/3-theta(1)*omega(1);a1=A*D1+D2*B;a=sqrt(a1(1)2+a1(2)2);end4.4E 點(diǎn)位移function xe,y

26、e = weiyi_E( theta1,theta,l1,l2,l22)xe=l1*cos(theta1)+l2*cos(theta(1)+l22*cos(pi/3-theta(1);ye=l1*sin(theta1)+l2*sin(theta(2)+l22*sin(pi/3-theta(1);end感謝下載載精品五、計(jì)算結(jié)果1-C各桿角位移變化主動(dòng)桿 1從動(dòng)桿 2從動(dòng)桿 3從動(dòng)桿 5從動(dòng)桿 6/( °)035.608465.6281207.97522 48.09291030.893461.5375194.83922 45.66832027.086259.5197185.65082

27、42.79253024.247259.4280179.32912 37.81744022.271160.9068174.50822 30.17165021.000763.5668169.55662 19.56936020.289967.0707162.65462 05.59807020.024671.1528152.01911 87.90728020.122975.6089136.66231 67.01769020.528780.2819118.61811 46.745910021.205085.0474102.40701 32.540811022.128989.803390.2305125.

28、721012023.287094.463081.3183123.927113024.671998.950774.4878124.785614026.2796103.199068.9103126.7727感謝下載載精品15028.1066107.147264.1954129.011616030.1477110.741360.0940130.926617032.3934113.934556.4453132.127418034.8277116.687453.1161132.349319037.4267118.967849.9679131.434220040.1568120.750346.843912

29、9.322921042.9741122.014743.5755126.045922045.8240122.743540.0051121.703623048.6401122.919036.0147116.438124051.3440122.520031.5507110.395225053.8440121.518426.6324103.676926056.0339119.876321.337396.285227057.7910117.544215.758288.063328058.9751114.46109.928778.638829059.4298110.55793.698867.3608300

30、58.9895105.7702356.504553.180231057.4975100.0632346.867034.321032054.844593.4802331.20497.504233051.031086.2118302.1698327.046934046.245878.6793258.9097278.655135040.910071.5539227.0232254.5326感謝下載載精品36035.608465.6281207.97442 48.0919各桿角加位移變化主動(dòng)桿 1從動(dòng)桿 2從動(dòng)桿 3從動(dòng)桿 5從動(dòng)桿 6/( °)/(rad/s)0-0.5086-0.5086

31、-1.5567-0.323410-0.4292-0.3058-1.0981-0.223820-0.3315-0.1005-0.7553-0.378630-0.23820.0760-0.5319-0.626340-0.15970.2131-0.4595-0.906850-0.09690.3132-0.5604-1.218260-0.04720.3832-0.8498-1.579870-0.00720.4299-1.3021-1.9614800.02600.4588-1.7368-2.1529900.05460.4738-1.7842-1.79541000.08030.4776-1.4218-1.

32、02701100.10430.4721-1.0319-0.38381200.12720.4586-0.7715-0.01541300.14970.4379-0.61170.16041400.17180.4108-0.50870.22311500.19350.3780-0.43740.2155感謝下載載精品1600.21450.3401-0.38510.16121700.23430.2979-0.34660.07461800.25210.2521-0.3214-0.03291900.26710.2035-0.3108-0.15112000.27820.1527-0.3168-0.27062100

33、.28440.0999-0.3395-0.38312200.28450.0455-0.3766-0.48292300.2774-0.0108-0.4225-0.56772400.2618-0.0695-0.4700-0.63922500.2364-0.1315-0.5123-0.70442600.1995-0.1978-0.5450-0.77652700.1495-0.2697-0.5699-0.87402800.0847-0.3481-0.5980-1.02142900.0035-0.4336-0.6567-1.2509300-0.0942-0.5246-0.8057-1.6129310-0

34、.2061-0.6162-1.1794-2.2099320-0.3247-0.6975-2.0790-3.2613330-0.4350-0.7493-3.8460-4.8486340-0.5149-0.7458-4.1423-3.9824350-0.5421-0.6655-2.3603-1.1752360-0.5086-0.5086-1.5567-0.3233感謝下載載精品各桿角加位移變化主動(dòng)桿 1從動(dòng)桿 2從動(dòng)桿 3從動(dòng)桿 5從動(dòng)桿 6E 點(diǎn)速度E 點(diǎn)加速度/( °)/(rad/s 2)/(rad/s)/(rad/s 2)00.34761.07143.16261.92340.182

35、30.0915100.53451.20852.2553-0.38770.18220.0889200.56271.11321.6533-1.24750.17970.0756300.49640.90060.8734-1.53710.17670.0604400.40330.6738-0.0636-1.67870.17420.0476500.31900.4800-1.1073-1.91240.17220.0383600.25370.3282-2.1925-2.21380.17050.0321700.20710.2122-2.8440-1.97650.16850.0282800.17520.1227-1

36、.71690.21190.16600.0259900.15440.05191.21613.75260.16280.02441000.1414-0.00622 .47154.41950.15850.02321100.1339-0.05561 .87242.85400.15320.02221200.1298-0.09891 .15571.46720.14680.02111300.1276-0.13760 .72100.62890.13960.01991400.1258-0.17230 .48210.12760.13150.01861500.1228-0.20320 .3464-0.19440.12

37、300.01731600.1175-0.23000 .2576-0.41520.11420.0159感謝下載載精品1700.1085-0.25270 .1833-0.56590.10540.01481800.0948-0.27100 .1046-0.65630.09710.01401900.0756-0.28550 .0144-0.68960.08940.01382000.0505-0.2970- 0.0832-0.67130.08280.01452100.0192-0.3069- 0.1751-0.61240.07730.0159220-0.0188-0.3168- 0.2439-0.529

38、30.07320.0182230-0.0637-0.3289- 0.2750-0.44350.07070.0212240-0.1161-0.3448- 0.2631-0.38230.07000.0249250-0.1769-0.3664- 0.2167-0.37810.07100.0294260-0.2471-0.3947- 0.1600-0.46520.07400.0347270-0.3275-0.4300- 0.1352-0.67580.07900.0407280-0.4174-0.4699- 0.2113-1.04370.08610.0470290-0.5131-0.5080- 0.51

39、41-1.63080.09540.0524300-0.6046-0.5302- 1.3115-2.60590.10710.0546310-0.6704-0.5094- 3.2443-4.43720.12110.0497320-0.6740-0.4036- 7.5941-7.93730.13680.0332330-0.5685-0.1643- 10.9200-7.72740.15300.0060340-0.32440.22629.987118.86480.16750.03893500.02120.69526.96149.34080.17770.07443600.34761.07143.16251

40、.92320.18230.09151-A各桿角位移變化：主動(dòng)桿1從動(dòng)桿 2從動(dòng)桿 3從動(dòng)桿 5從動(dòng)桿 6 角速度變化：主動(dòng)桿 1從感謝下載載精品動(dòng)桿 2從動(dòng)桿 3從動(dòng)桿 5從動(dòng)桿 6角加速度變化：從動(dòng)桿2從動(dòng)桿 3從動(dòng)桿 5從動(dòng)桿 6E 點(diǎn)速度E 點(diǎn)加速度037.587473.3953132.3244-249.1610-0.4173-0.4173-2.9518-3.92100.18530.768411.496612.24920.17500.06621033.992270.5461112.362583.0629-0.3725-0.2752-1.6190-2.34830.33120.88615.4

41、4357.20010.17710.06982030.893868.3522100.788766.3895-0.3099-0.1240-1.0223-1.41830.39470.87482.28584.29350.17690.06523028.393968.821792.806156.3457-0.24210.0176-0.7802-0.83930.39180.77250.79572.62000.17560.05654026.498068.096986.142950.4847-0.17760.1386-0.7120-0.48740.35250.63000.01861.39920.17370.04

42、715025.155370.384779.600246.9508-0.12030.2355-0.7470-0.32330.30160.4844-0.55680.23900.17170.03886024.295073.901372.301444.0020-0.07100.3093-0.8813-0.36410.25330.3542-1.2895-1.21620.16950.03237023.847675.155963.140739.4490-0.02890.3627-1.1655-0.69190.21310.2447-2.4793-3.40590.16700.02768023.754178.61

43、7850.594630.32110.00740.3991-1.6505-1.40580.18230.1547-3.5724-5.76450.16400.02449023.968482.342833.322613.55850.03930.4213-2.1120-2.25710.15980.0808-1.6008-4.24380.16040.022410024.455786.213014.0722351.32720.06790.4315-2.0322-2.52060.14400.01942.37230.64730.15600.021011025.191090.1287357.8431329.736

44、00.09420.4316-1.5207-2.19130.1332-0.03263.59372.82040.15090.019912026.156294.0046346.5251311.99130.11880.4229-0.9979-1.73170.1258-0.07742.90222.68880.14500.019013027.338197.7660339.3348298.16840.14210.4065-0.6212-1.34980.1203-0.11661.93412.04100.13840.017914028.7259101.3476334.8721287.27910.16420.38

45、33-0.3835-1.06520.1154-0.15101.16531.47500.13120.016815030.3094104.6913332.0658278.61090.18520.3541-0.2503-0.85730.1096-0.18120.62381.07090.12370.015616032.0769107.7461330.1164271.57350.20480.3196-0.1901-0.70320.1019-0.20740.24980.78720.11610.014517034.0134110.4673328.4700265.75100.22250.2806-0.1804-0.58770.0910-0.2297-0.00730.57610.10860.013618036.0993112.81683