HarbinInstituteofTechnology机械原理大作业一课程名称：机械原理设计题目：连杆机构运动分析院系：能源学院班级：1302402设计者：黄建青学号：1130240222指导教师：焦映厚陈照波设计时间：2015年06月24日1求解步骤如下：1.建立坐标系建立以点A为原点的固定平面直角坐标系xAy。2.机构的结构分析，基本干组的划分该机构由I级杆组RR（原动件AB）、II级杆组RRP（杆2,3）、II级杆组RRP（杆4,5）。如下图所示。3.建立各基本杆组的运动分析的数学模型计算流程框图如下：3.1I级杆组RR（原动件AB）设原动件杆1的转角为φ，则角速度srad/101角加速度0求B点的s,v,a求C点的坐标求C点的s,v,a求B点的s,v,a求E点的s,v,a2支座A的位置坐标为0,y0AAx速度为0,0AAyx加速度为0,0AAyx原动件杆1的长度mm100ABl所以，运动副B的位置、速度和加速度分析如下：位置iABABlxxcosiABABlyysin速度iABAxBxlvvsiniAByAyBlvvcos加速度分析iABiABAxBxllaasincos2iABiABAyByllaacossin23.2II级杆组RRP（杆2、3）杆长200BClmm,设点C位移为s则c0xc-200*cosarcsin()200BjBjyyxC点位移y200*cosarcsin()200BcBxsy速度ccvy加速度ccay33.3II级杆组RRP（杆4、5）杆长100BDlmm,则D点轨迹：100*sinDBjxx+100*cosarcsin()200DBjBjyyxE点坐标：0cossin()EEDDEkDkDExyyLxareL速度EEvy加速度EEay4.用VB编程求解源代码如下：DimXAAsDouble,YAAsDoubleDimθ2(10)AsDoubleDimXD(10)AsDouble,YD(10)AsDoubleDimXB(10)AsDouble,YB(10)AsDoubleDimXC(10)AsDouble,YC(10)AsDouble,ψ1(10)AsDoubleDimXE(10)AsDouble,YE(10)AsDoubleDimψ2(10)AsDoubleDimtAsDoubleDimw1AsDoubleDimLABAsDouble,LBCAsDouble,LBDAsDouble,LDEAsDoubleDimiAsDoubleFunctionArcsin(X)AsDoubleArcsin=Atn(X/Sqr(-X*X+1))4EndFunctionPrivateSubCommand1_Click()Picture1.FillColor=vbBlackPicture1.Circle(XA,YA),6,vbBlacki=0Fort=0To10Step0.0001Ifi=1ThenPicture1.Line(XA,YA)-(XB(t),YB(t)),vbWhitePicture1.Line(XC(t),YC(t))-(XD(t),YD(t)),vbWhitePicture1.Line(XE(t),YE(t))-(XD(t),YD(t)),vbWhitePicture1.Circle(XA,YA),6,vbWhitePicture1.Circle(XD(t),YD(t)),6,vbWhitePicture1.Circle(XB(t),YB(t)),6,vbWhitePicture1.Circle(XC(t),YC(t)),6,vbWhitePicture1.Circle(XE(t),YE(t)),6,vbWhiteEndIfθ2(t)=w1*tXB(t)=LAB*Cos(θ2(t))YB(t)=LAB*Sin(θ2(t))Picture1.FillColor=vbBlackPicture1.Circle(XB(t),YB(t)),6,vbBlackPicture1.Line(XA,YA)-(XB(t),YB(t)),vbBlackIfθ2(t)>(3.14159/2)Andθ2(t)<(3*3.14159/2)Thenψ1(t)=Arcsin(-XB(t)/LBC)Elseψ1(t)=Arcsin(XB(t)/LBC)EndIfXC(t)=0YC(t)=YB(t)-LBC*(Cos(ψ1(t)))Ifθ2(t)>(3.14159/2)Andθ2(t)<(3*3.14159/2)ThenXD(t)=XB(t)-LBD*(Sin(ψ1(t)))ψ2(t)=Arcsin(-(XD(t))/LDE)ElseIfθ2(t)<>(3*3.14159/2)ThenXD(t)=XB(t)+LBD*(Sin(ψ1(t)))ψ2(t)=Arcsin((XD(t))/LDE)5EndIfYD(t)=YB(t)+LBD*Abs(Cos(ψ1(t)))Picture1.FillColor=vbBlackAPicture1.Circle(XC(t),YC(t)),6,vbBlack'Picture1.Line(XC(t),YC(t))-(XB(t),YB(t)),vbBlackPicture1.Line(XC(t),YC(t))-(XD(t),YD(t)),vbBlackXE(t)=0YE(t)=YD(t)+LDE*(Cos(ψ2(t)))Picture1.FillColor=vbBlackPicture1.Circle(XE(t),YE(t)),6,vbBlackPicture1.Line(XD(t),YD(t))-(XE(t),YE(t)),vbBlack'Picture1.Line(XE(t)-100,YE(t))-(XE(t)+100,YE(t)),vbBlack'Picture1.Line(XE(t)-100,YE(t)-450)-(XE(t)+100,YE(t)-450),vbBlacki=1NexttEndSub得到动画图：6图1、动画DimXAAsDouble,YAAsDoubleDimθ2(10)AsDoubleDimXB(10)AsDouble,YB(10)AsDoubleDimXC(10)AsDouble,YC(10)AsDouble,ψ1(10)AsDoubleDimXD(10)AsDouble,YD(10)AsDouble,XE(10)AsDouble,YE(10)AsDoubleDimψ2(10)AsDoubleDimtAsDoubleDimw1AsDoubleDimLABAsDouble,LBCAsDouble,LBDAsDouble,LDEAsDoubleDimiAsDoublePrivateSubCommand2_Click()Picture1.ClsEndSubPrivateSubCommand3_Click()EndEndSubPrivateSubForm_Load()XA=0YA=0w1=10LAB=100LBC=2007LBD=100LDE=210EndSubFunctionArcsin...
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