牛头刨床机构的设计及运动分析.docx
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牛头刨床机构的设计及运动分析.docx
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牛头刨床机构的设计及运动分析
机械原理课程设计
编程说明书
设计题目:
牛头刨床机构的设计及运动分析(3)
牛头刨床导杆机构的运动分析
1设计任务及要求……………………………………
2数学模型的建立……………………………………
3程序框图……………………………………………
4程序清单及运行结果………………………………
5设计总结……………………………………………
6参考文献……………………………………………
一、设计任务及要求
设计
内容
导杆机构的运动分析
单位
r/min
mm
符号
n2
lo2o4
lo2A
lo4B
lBC
lo4s4
数据
72
430
110
810
219.6
405
要求
(1)作机构的运动简图。
(2)用C语言编写主程序调用子程序,对机构进行运动分析,动态显示,并打印程序及运算结果。
(3)画出导轨的角位移,角速度,角加速度。
(4)编写设计计算说明书。
二、数学模型
如图四个向量组成封闭四边形,于是有
按复数式可以写成
a(cosα+isinα)-b(cosβ+isinβ)+d(cosθ3+isinθ3)=0
(1)
由于θ3=90º,上式可化简为
a(cosα+isinα)-b(cosβ+isinβ)+id=0
(2)
根据
(2)式中实部、虚部分别相等得
acosα-bcosβ=0(3)
asinα-bsinβ+d=0(4)
(3)(4)联立解得
β=arctan
(5)
b=
(6)
将
(2)对时间求一阶导数得
ω2=β’=
ω1cos(α-β)(7)
υc=b’=-aω1sin(α-β)(8)
将
(2)对时间求二阶导数得
ε3=β”=
[aε1cos(α-β)-aω
sin(α-β)-2υcω2](9)
ac=b”=-aε1sin(α-β)-aω
cos(α-β)+bω
(10)
ac即滑块沿杆方向的加速度,通常曲柄可近似看作均角速转动,则ε3=0。
三、程序框图
输入a,d,n2
求解ω1,θ1
作循环,For(i=0;i 依次计算θ2,ω2,ε2,lo4A,υc,ac 将计算的θ2,ω2,ε2,lo4A,υc,ac 结果分别存入数组或文件中 按格式输出所有计算结果 初始化图形系统 绘制直角坐标系 直角坐标系下分别绘出角位移,角速度,角加速度图象 绘出机构动画 四.程序清单及运行结果 #include"graphics.h" #include"math.h" #include"conio.h" #include"stdio.h" #definePI3.1415926 #defineMPI/180 #defineC2*PI*60/60 #definel1110 #definel2430 #definel4810 #definel5(0.36*l4) #defineYs640 #definel7l4-Ys6 voiddtmn(); voidpist(floatx0,floaty0,floatl,floath,floattheta); voidslide(floatx0,floaty0,floatx1,floath); voidpirot(floatx0,floaty0,floatl); voidsgd(); voidcur(); /*****************************主函数****************************************/ main() {intQ2,i=0,j=0,Q_2[72]; floatQ4,Q41,Q411,w3,a3,Q5,Q51; floatQ511,sA,sA1,sA11,Se,w4,Ve,Se1,a4,Se11; floatS_e[72],S_e1[72],S_e11[72],Q_511[72]; FILE*fl; if((fl=fopen("mydata.txt","w"))==NULL) {printf("mydata.txtcannotopen! \n"); exit(0); } /*intgd=DETECT,gm; initgraph(&gd,&gm,"c: \\turboc2"); cleardevice();*/ clrscr(); printf("zhuanjiaoweiyisudujiaojiasudujiasudu\n"); for(Q2=0;Q2<=360;Q2+=5) {i++; if(i%12==0){getch(); printf("zhuanjiaoweiyisudujiaojiasudujiasudu\n"); } if(Q2>=0&&Q2<90||Q2>270&&Q2<=360) {Q4=atan((l2+l1*sin(Q2*M))/(l1*cos(Q2*M)));Q4/=M;} elseif(Q2==90||Q2==270) {Q4=90;} elseif(Q2>90&&Q2<180) {Q4=PI-atan((l2+l1*sin(Q2*M))/(-l1*cos(Q2*M)));Q4/=M;} elseif(Q2>=180&&Q2<270) {Q4=PI-atan((l2+l1*sin(Q2*M))/(-l1*cos(Q2*M)));Q4/=M;} if(Q4==90)sA=l2+l1; elseif(Q4==270)sA=l2-l1; else sA=l1*cos(Q2*M)/cos(Q4*M); sA1=-l1*C*sin((Q2-Q4)*M); Q41=-l1*C*cos((Q2-Q4)*M)/sA; w3=Q41; Q411=(C*C*l1*sin((Q4-Q2)*M)-w3*sA1)/sA; a3=Q411; if(((l7-l4*sin(Q4*M))/l5)>=0&&((l7-l4*sin(Q4*M))/l5)<=1) Q5=180-asin(l7-(l4*sin(Q4*M))/l5)/M; elseif(((l7-l4*sin(Q4*M))/l5)>=-1&&((l7-l4*sin(Q4*M))/l5)<=0) Q5=180+asin((l7-l4*sin(Q4*M))/l5)/M; Se=l4*cos(Q4*M)+l5*cos(Q5*M); Q51=-w3*l4*cos(Q4*M)/(l5*cos(Q5*M)); w4=Q51; Se1=-w3*l4*sin((Q4-Q5)*M)/cos(Q5*M); Q511=(Q41*Q41*l4*sin(Q4*M)+Q51*Q51*l5*sin(Q5*M)-Q411*l4*cos(Q4*M))/(l5*cos(Q5*M)); Se11=-(a3*l4*sin((Q4-Q5)*M)+w3*w3*l4*cos((Q4-Q5)*M)-w4*w4*l5)/cos(Q5*M); S_e[j]=Se; S_e1[j]=Se1; Q_511[j]=Q511; S_e11[j]=Se11; Q_2[j]=Q2; printf("%7d%-7.3f%-7.3f%-7.3f%-7.3f\n",Q_2[j],S_e[j], S_e1[j],Q_511[j],S_e11[j]); fprintf(fl,"%7d%-7.3f%-7.3f%-7.3f%-7.3f\n",Q_2[j],S_e[j], S_e1[j],Q_511[j],S_e11[j]); } j++; fclose(fl); cur(); dtmn(); sgd(); } /**********************速度,加速度,位移曲线图函数*************************/ voidcur() {/*floatw1=2*PI,L1=110,L4=135,L61=490,L3=540,L6=380;*/ floatQ4,Q2,sA,w3,sA1,sA11,Se,Se1,Se11,a3,a4,Q411,Q5,Q51,w4; intgd=DETECT,gmode,i; initgraph(&gd,&gmode,"c: \\turboc2"); clrscr(); for(Q2=0;Q2<=2*PI;Q2+=1.0*PI/1000) {if(Q2>=0&&Q2 Q4=atan((l2+l1*sin(Q2))/(l1*cos(Q2))); elseif(Q2==PI/2.0||Q2==1.5*PI) Q4=PI/2; elseif(Q2>PI/2&&Q2 Q4=PI-atan((l2+l1*sin(Q2))/(-l1*cos(Q2))); else Q4=PI-atan((l2+l1*sin(Q2))/(-l1*cos(Q2))); if(Q2! =PI/2&&Q2! =1.5*PI) sA=l1*cos(Q2)/cos(Q4); elseif(Q2==PI/2) sA=l1+l2; else sA=l2-l1; /*sA1=-l1*w1*sin(Q2-Q4);*/ w3=l1*C*cos(Q2-Q4)/sA; Q411=(C*C*l1*sin(Q4-Q2)-2*w3*sA)/sA; a3=Q411; if(((l7-l4*sin(Q4))/l5)>=0&&((l7-l4*sin(Q4))/l5)<=1) Q5=PI-asin((l7-l4*sin(Q4))/l5); elseif(((l7-l4*sin(Q4))/l5)>=-1&&((l7-l4*sin(Q4))/l5)<0) Q5=PI+asin((l7-l4*sin(Q4))/l5); Se=l4*cos(Q4)+l5*cos(Q5); Q51=-w3*l4*cos(Q4)/(l5*cos(Q5)); w4=Q51; Se1=-w3*l4*sin(Q4-Q5)/cos(Q5); /*Q511=(Q41*Q41*l4*sin(Q4)+Q51*Q51*l5*sin(Q5)-Q411*Q411*l4*cos(Q4))/(l5*cos(Q5));*/ Se11=-(a3*l4*sin(Q4-Q5)+w3*w3*l4*cos(Q4-Q5)-w4*w4*l5)/cos(Q5); line(100,200,500,200); setcolor(5); line(492,201,500,200); line(492,199,500,200); line(100,10,100,350); setcolor(5); line(99,18,100,10); line(101,18,100,10); putpixel(100+Q2*180/PI,200-Se/5,1);/*绘制位移曲线*/ putpixel(100+Q2*180/PI,200-Se1/100,2);/*绘制速度曲线*/ putpixel(100+Q2*180/PI,200-Se11/100,4);}/*绘制加速度曲线*/ setcolor(10); settextjustify(CENTER_TEXT,0); outtextxy(300,300,"RED___JIASUDU"); outtextxy(300,330,"GREEN___SUDU"); outtextxy(300,360,"BLUE___WEIYI"); /*outtextxy(300,50,"SUDUJIASUDUWEIYIGUANXIQUXIANTU");*/ outtextxy(300,50,"SUDUJIASUDUWEIYIGUANXIQUXIANTU"); getch(); closegraph();} /***************************运动模拟图函数*****************************/ voiddtmn() { intgd=DETECT,gmode,n; initgraph(&gd,&gmode,"c: \\turboc2"); cleardevice(); do {setbkcolor(0); sgd(); }while(! kbhit()); getch(); } /****************************导轨函数*********************************/ voidslide(floatx0,floaty0,floatx1,floath) {floatxr; inti,n; xr=x0+x1; line(x0,y0,xr,y0); n=x1/h; for(i=0;i<=n;i++) {moveto(x0+i*h,y0+h); lineto(x0+(i+1)*h,y0); } } /************************摇块函数**************************************/ voidpist(floatx0,floaty0,floatl,floath,floattheta) {floatx,y; x=x0-cos(theta)*l/2+h/2*sin(theta); y=y0+l/2*sin(theta)+h/2*cos(theta); moveto(x,y); linerel(l*cos(theta),-l*sin(theta));/***绘制轮廓线******/ linerel(-h*sin(theta),-h*cos(theta)); linerel(-l*cos(theta),l*sin(theta)); lineto(x,y); } /*************************支点函数**************************************/ voidpirot(floatx0,floaty0,floatl) {/*floatPI=3.1415926;*/ floatx,y; inti,n; inth=4; setcolor(6); circle(x0,y0,3); setcolor(9); x=x0-l/2; y=y0+sin(PI/3)*l; moveto(x0,y0); lineto(x,y); linerel(18,0); lineto(x0,y0); n=l/4; for(i=0;i<=n;i++) {moveto(x+i*h,y+h); lineto(x+(i+1)*h,y); } } /************************连杆,摇块,导轨函数****************************/ voidsgd() {inti; intx04,y04,x02,y02; intl04b=l4/2; intl02a=l1/2; floatlbc=l5/2; floatxa,ya,xb,yb,xc,yc,l; floatss,theta; for(i=0;i<=63;i++)/*****动态模拟******/ {ss=i*0.1; /*坐标计算*/ x04=400;x02=400; y04=400;y02=225; xa=x02+l02a*cos(ss); ya=y02+l02a*sin(ss); l=sqrt((xa-x04)*(xa-x04)+(ya-y04)*(ya-y04)); xb=x04+(xa-x04)*l04b/l; yb=y04+(ya-y04)*l04b/l; yc=135; xc=xb-sqrt(lbc*lbc-(yb-yc)*(yb-yc)); theta=-atan((ya-y04)/(xa-x04)); setcolor(6); cleardevice(); circle(xb,yb,3); circle(xa,ya,3); circle(xc,yc,3); setcolor(9); line(50,135,500,135); rectangle(xc+7,yc+6,xc-7,yc-6);/*绘制滑块C*/ line(x02,y02,xa,ya); line(xc,yc,xb,yb); line(xb,yb,x04,y04); setcolor(9); pirot(x02,y02,16);/*绘制支点X04,X02*/ pirot(x04,y04,16); pist(xa,ya,20,10,theta);/*绘制滑块A*/ slide(60,135,100,10); slide(500,135,570,10); setcolor (2); settextstyle(3,0,2); outtextxy(200,30,"DAOGANYUNDONGMONI"); outtextxy(200,440,"PRESSANYKEYTORETURN"); outtextxy(200,420,"PRESSBREAKTOSTOP"); delay(1000);} } 0-90.855302.8446.525-7945.676 5-95.677390.3175.906-7767.201 10-101.665470.8925.181-7542.569 15-108.727544.9054.378-7274.238 20-116.773612.6883.525-6964.807 25-125.719674.5562.644-6617.047 30-135.484730.7991.758-6233.863 35-145.994781.6790.885-5818.282 40-157.174827.4330.040-5373.429 45-168.955868.268-0.761-4902.485 50-181.270904.365-1.508-4408.655 zhuanjiaoweiyisudujiaojiasudujiasudu 55-194.055935.878-2.188-3895.115 60-207.246962.942-2.795-3365.007 65-220.783985.665-3.319-2821.384 70-234.6061004.139-3.757-2267.217 75-248.6571018.434-4.101-1705.345 80-262.8771028.610-4.350-1138.495 85-277.2101034.698-4.500-569.231 90-291.6001036.726-4.5500.006 95-305.9901034.695-4.500566.923 100-320.3231028.609-4.3501129.368 105-334.5431018.435-4.1011685.306 110-348.5941004.138-3.7572232.816 105-334.5431018.435-4.1011685.306 110-348.5941004.138-3.7572232.816 zhuanjiaoweiyisudujiaojiasudujiasudu 115-362.417985.664-3.3192770.065 120-375.954962.941-2.7953295.282 125-389.145935.877-2.1883806.716 130-401.930904.363-1.5084302.614 135-414.245868.267-0.7614781.164 140-426.026827.4320.0405240.429 145-437.206781.6780.8855678.334 150-447.716730.7981.7586092.539 155-457.481674.5552.6446480.422 160-466.427612.6873.5256838.999 165-474.473544.9044.3787164.852 170-481.535470.8915.1817454.074 zhuanjiaoweiyisudujiaojiasudujiasudu 175-487.523390.3175.9067702.266 180-492.345302.8446.5257904.503 185-495.902208.1437.0078055.423 190-498.092105.9197.3188149.294 195-498.808-4.0547.4238180.248 200-497.943-121.8847.2908142.548 205-495.387-247.5026.8868030.973 210-491.033-380.5796.1857841.249 215-484.783-520.4355.1717570.547 220-476.550-665.9283.8387217.901 225-466.267-815.3452.1996784.396 230-453.895-966.3020.2906273.208 zhuanjiaoweiyisudujiaojiasudujiasudu 235-439.432-1115.682-1.8295689.107
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