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1、机械原理大作业班级：1013105姓名：李典东学号：100140412题目序号：7号大作业1 连杆机构1运动分析题目2机构的结构分析及基本杆组划分1结构分析与自由度计算 机构各构件都在同一平面内运动，活动构件数n=5，PL=7，分布在A、B、C、D、E、F、G。没有高副，则机构的自由度为 F=3xn-2xPL-lxPll=3x5-2x7-0=12基本杆组划分图1-15中1为原动件，先移除之。之后按顺序进行拆分，就可以得到由杆2，3组成的RPP级杆组和4，5组成的RPR 级杆组，机构分解图如下： （1） (2) (3)(1) (2)xC=lab*coswt+,求C点得坐标和与X轴的角度(3)xD
2、=lcd*cos+xC,yD=lcd*sin ylAB=100;lBD=400;lAE=400;lBC=200;syms t ;fai=10*t;xB=lAB*cos(fai);yB=lAB*sin(fai);xC=lAB*cos(fai)+sqrt(lBC.2+lAB.2*(cos(fai)2-lAB.2);yC=0;theta=asin(lAB*sin(fai)/lBC);xD=(lBD-lBC)*cos(theta)+xC;yD=(lBD-lBC)*sin(theta);a=0:0.001*pi:2*pi;Xd=subs(xD,t,a);Yd=subs(yD,t,a);plot(Xd,Y
3、d);afa=atan(yD/xD)wD=diff(afa,t);aD=diff(afa,t,2);a=0:0.001*pi:2*pi;afa=subs(afa,t,a);afa=subs(afa,t,a);wD=subs(wD,t,a);aD=subs(aD,t,a);plot(a,afa);plot(a,wD);plot(a,aD);D点的运动轨迹图像：角位移：00.006283309201106280.01256735861553440.01885287268386310.02514054420080590.03143101824222110.03772487579457350.0440
4、2261699198770.05032464386995070.05663124254991480.06294256477567620.06925860873069920.07557919907575370.08190396615861930.08823232436246810.09456344957719260.1008962557986910.1072293708852700.1135611115281540.1198894575247970.1262120254794790.1325260420955150.1388283172673010.1451152172280460.151382
5、6380599340.1576259799269650.1638401224457100.1700194016645090.1761575891753900.1822478739333690.1882828474022140.1942544926817260.2001541782960480.2059726573324030.2117000726118710.2173259685453390.2228393102759670.2282285106323420.2334814653126200.2385855965892250.2435279056670060.2482950336477200.
6、2528733308541370.2572489340535770.2614078509000980.2653360506950560.2690195603562510.2724445642957330.2755975067447410.2784651949397100.2810349015028140.2832944643195840.2852323822375660.2868379049843600.2881011158284380.2890130056770860.2895655375156610.2897517003321680.2895655519308500.28900225030
7、72090.2880580735240670.2867304282837360.2850178476263750.2829199783918880.2804375592568860.277572390295991角位移图像：角速度：22.000118226460602.000470398199642.001048976289762.001841342662062.002829720818212.003991065843042.005296924783172.006713268833122.008200299198752.009712229000462.011197044145142.01259
8、6246745932.013844585409972.014869777551952.015592229828602.015924763824232.015772355245442.015031896090922.013591990531992.011332796542152.008125926612752.003834422137631.998312817181021.991407308287541.982956047663861.972789577362451.960731421921261.946598856148431.930203863274421.911354296420001.8
9、89855253154881.865510668782061.838125128845571.807505895240751.773465133280951.735822319285581.694406799919071.649060465922961.599640494411021.546022105969231.488101275892541.425797333488451.359055379959441.287848454366081.212179378899641.132082219361201.047623304393010.9589017574990250.866049508894
10、4190.7692307692307700.6686409635887470.5645051410361630.4570758916753260.3466308186091630.2334696258603330.1179108943192840.000288625779016211-0.119051360264801-0.239755091199027角速度图像：角加速度图像：角加速度00.07513235283778400.1486674411956260.2189978226728880.2844957886696930.3435034591938430.3943231617850680
11、.4352082069310810.4643541873834890.4798909473960470.4798753899244630.4622853149702940.4250145101155050.3658693443028890.2825671472820040.1727366888104560.0339211023182427-0.136416374404501-0.340883445955447-0.582146182382407-0.862912402214766-1.18591060761408-1.55386408971778-1.96945986954727-2.4353
12、1221253059-2.95392055658112-3.52762182810961-4.15853728976501-4.84851426917257-5.59906335865458-6.41129194863485-7.28583525595225-8.22278632306308-9.22162678186765-10.2811604797463-11.3994523350626-12.5737750019727-13.8005660554977-15.0753984332909-16.3929667684477-17.7470920007927-19.1307462521713-
13、20.5360993936751-21.9545880300268-23.3770068015483-24.7936209926309-26.1942984839539-27.5686581489384-28.9062309328316-30.1966291250419-31.4297187961216-32.5957900637460-33.6857198056506-34.6911216619647-35.6044786550823-36.4192544732767-37.1299803689617-37.7323156554125-38.2230808810526-38.60026385
14、06560-38.8629996846799-39.0115270071220-39.0471230871449-38.9720213034832-38.7893146419556-38.5028490784265-38.11711065789093.对计算结果进行分析角位移近似为余弦函数曲线，位移随原动件转角按余弦规律变化，速度则大致为为正弦变化规律，加速度变化规律大致可以看出包含了更高阶的正余弦谐波分量，总之波形都即为规整，而原动件作的是匀速定轴转动。这就反映出短传动链具有传递更精准运动且传动效率高的特点。大作业2.凸轮机构设计1.设计题目 （1）凸轮机构运动简图（2）凸轮机构原始参数序号升程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77090等加等减4080余弦70901002凸轮推杆升程，回程运动方程及推杆位移，速度、加速度图（1）.推杆升程方程、回程运动方程（2）推杆回程方程3.推杆位移、速度、加速度编程及线图如下：A推杆位移线图clearx1=0:0.04:(pi/4);x2=(pi/4):0.02:(pi/2);x3=(pi/2):0.03:pi;x4=pi:0.03:(13/9*pi);x5=(13*pi/9):0.03:(2*pi);s1=(560*x1
