平面六杆机构设计

机械原理大作业姓名：班级：材料124小组数据:3B一、题目：计算平面连杆机构的运动学分析1，图a所示的为一平面六杆机构。设已知各构件的尺寸如表1所示，原动件1以等角速度ω1=1rad/s沿着逆时针方向回转，试求各从动杆件的角位移、角速度和角加速度以及E点的位移、速度和加速度的变化情况。表1平面六杆机构的尺寸参数(单位:mm)mml0.652，mmxG5.153mmyG7.41L1L2L3L4L5L6αABC26.5105.69587.548.43960°L3=95A1B2C34DAA2'G65EFyxθ1ω1α%crank_rocker222_mainclear;l1=26.5;l2=105.6;l3=95;l4=87.5;l5=48.4;l6=39.0;l9=65.0;lag=159.1;xg=153.5;yg=41.7;omega1=1;theta7=60;alpha1=0;hd=pi/180;du=180/pi;m=-1;forn1=1:360theta1=(n1-1)*hd;aa=2*l1*l3*sin(theta1);bb=2*l3*(l1*cos(theta1)-l4);cc=l2*l2-l1*l1-l3*l3-l4*l4+2*l1*l4*cos(theta1);theta3(n1)=2*atan((aa+m*sqrt(aa*aa+bb*bb-cc*cc))/(bb-cc));s1=l3*sin(theta3)-l1*sin(theta1);theta2(n1)=atan(s1/(l4+l3*cos(theta3)-l1*cos(theta1)));xe=l1*cos(theta1)+l2*cos(theta2)+l9*cos(theta2-theta7);ye=l1*sin(theta1)+l2*sin(theta2)+l9*sin(theta2-theta7);s2=yg-ye;theta8(n1)=atan(s2/(xg-xe));s3=(xe-xg).*(xe-xg)+(ye-yg).*(ye-yg)+l5*l5-l6*l6;theta9(n1)=acos(s3/(2*l5*sqrt((xe-xg).*(xe-xg)+(ye-yg).*(ye-yg))));theta5(n1)=theta8(n1)-theta9(n1)+pi;s4=ye+l5*sin(theta8-theta9)-yg;theta6(n1)=atan(s4/(xe+l5*cos(theta8-theta9)-xg));theta9(n1)=2*pi-(theta7-theta2(n1));omega3(n1)=omega1*l1*sin(theta1-theta2)/l3/sin(theta3-theta2);omega2(n1)=-omega1*l1*sin(theta1-theta3)/l2/sin(theta2-theta3);omega5(n1)=omega2(n1)*(l2*sin(theta2(n1)-theta6(n1))+l9*sin(theta2(n1)-theta7-theta6(n1)))+omega1*l1*sin(theta1-theta6(n1))/l5/sin(theta5(n1)-theta6(n1));omega6(n1)=-omega2(n1)*(l2*sin(theta2(n1)-theta5(n1))+l9*sin(theta2(n1)-theta7-theta5(n1)))+omega1*l1*sin(theta1-theta5(n1))/l6/sin(theta5(n1)-theta6(n1));s4=l2*omega2(n1)*omega2(n1)+l1*omega1*omega1*cos(theta1-theta2)-l3*omega3(n1)*omega3(n1)*cos(theta3-theta2);s5=l3*omega3(n1)*omega3(n1)-l1*omega1*omega1*cos(theta1-theta3)-l2*omega2(n1)*omega2(n1)*cos(theta2-theta3);s6=omega1*omega1*l1*cos(theta1-theta6(n1))+omega2(n1)*omega2(n1)*(l2*cos(theta2(n1)-theta6(n1))+l9*cos(theta2(n1)-theta7-theta6(n1)))-l5*omega5(n1)*omega5(n1)*cos(theta5(n1)-theta6(n1))-l6*omega6(n1)*omega6(n1);s7=omega1*omega1*l1*cos(theta1-theta5(n1))+omega2(n1)*omega2(n1)*(l2*cos(theta2(n1)-theta5(n1))+l9*cos(theta2(n1)-theta7-theta5(n1)))-l5*omega5(n1)*omega5(n1)-l6*omega6(n1)*omega6(n1)*cos(theta6(n1)-theta5(n1));alpha3(n1)=s4/(l3*sin(theta3-theta2));alpha2(n1)=s5/(l2*sin(theta2-theta3));alpha5(n1)=(s6+alpha2(n1)*(l2*sin(theta2(n1)-theta6(n1))+l9*sin(theta2(n1)-theta7-theta6(n1))))/l5/sin(theta5(n1)-theta6(n1));alpha6(n1)=-(s7+alpha2(n1)*(l2*sin(theta2(n1)-theta5(n1))+l9*sin(theta2(n1)-theta7-theta5(n1))))/l6/sin(theta5(n1)-theta6(n1));vex=-l1*omega1.*sin(theta1)-l2*omega2.*sin(theta2)-l9*omega2.*sin(theta2-theta7);vey=l1*omega1.*cos(theta1)+l2*omega2.*cos(theta2)+l9*omega2.*cos(theta2-theta7);ve=sqrt(vex.*vex+vey.*vey);aex=-l1*alpha1.*sin(theta1)-l1*omega1.*omega1.*cos(theta1)-l2*omega2.*omega2.*cos(theta2)-l2*alpha2.*sin(theta2)-l9*alpha2.*sin(theta2-theta7)-l9*omega2.*omega2.*cos(theta2-theta7);aey=l1*alpha1.*cos(theta1)-l1*omega1.*omega1.*sin(theta1)+l2*alpha2.*cos(theta2)-l2*omega2.*omega2.*sin(theta2)+l9*alpha2.*cos(theta2-theta7)-l9*omega2.*omega2.*sin(theta2-theta7);ae=sqrt(aex.*aex+aey.*aey);endfigure(1);n1=1:360;subplot(2,3,1);plot(n1,real(theta2*du),n1,real(theta3*du),n1,real(theta5*du),n1,real(theta6*du),'k');title('角位移线图');xlabel('曲柄转角\phi_1/\circ')ylabel('角位移/\circ')gridon;holdon;text(100,100,'\phi_3')text(100,40,'\phi_2')text(100,175,'\phi_5')text(100,0,'\phi_6')subplot(2,3,2);plot(n1,real(omega2),n1,real(omega3),'k');title('角速度23线图');xlabel('曲柄转角\phi_1/\circ')ylabel('角速度/rad\cdots^{-1}')gridon;holdon;text(100,0.1,'\omega_2')text(100,0.35,'\omega_3')subplot(2,3,3);plot(n1,real(omega5),n1,real(omega6),'k');title('角速度56线图');xlabel('曲柄转角\phi_1/\circ')ylabel('角速度/rad\cdots^{-1}')gridon;holdon;text(200,14,'\omega_5')text(200,25,'\omega_6')subplot(2,3,4);plot(n1,real(alpha2),n1,real(alpha3),'k');title('角加速度23线图');xlabel('曲柄转角\phi_1/\circ')ylabel('角加速度/rad\cdots^{-2}')gridon;holdon;text(200,0,'\alpha_2')text(200,-0.2,'\alpha_3')subplot(2,3,5);plot(n1,real(alpha5),n1,real(alpha6),'k');title('角加速度56线图');xlabel('曲柄转角\phi_1/\circ')ylabel('角加速度/rad\cdots^{-2}')gridon;holdon;text(200,-200,'\alpha_5')text(200,-450,'\alpha_6')subplot(2,3,6);plot(n1,real(ve),n1,real(ae),'k');title('e点的速度和加速度线图');xlabel('曲柄转角\phi_1/\circ')ylabel('速度/m*s^{-1}')gridon;holdon;text(80,25,'ve')text(65,45,'ae')figure(2)m=moviein(20);j=0;forn1=1:5:360;j=j+1;clf;x(1)=0;y(1)=0;x(2)=l1*cos((n1-1)*hd);y(2)=l1*sin((n1-1)*hd);x(3)=l4+l3*cos(theta3(n1));y(3)=l3*sin(theta3(n1));x(4)=l4;y(4)=0;x(5)=l4+l3*cos(theta3(n1));y(5)=l3*sin(theta3(n1));x(6)=l4+l3*cos(theta3(n1))+l2-cos(theta2(n1)-theta7);y(6)=l3*sin(theta3(n1))+l2*sin(theta2(n1)-theta7);x(7)=xg+l6*cos(theta6(n1));y(7)=yg+l6*sin(theta6(n1));x(8)=xg;y(8)=yg;plot(real(x),real(y));gridon;holdon;plot(x(1),y(1),'o');plot(x(2),y(2),'o');plot(x(3),y(3),'o');plot(x(4),y(4),'o');plot(x(5),y(5),'o');plot(real(x(6)),real(y(6)),'o');plot(real(x(7)),real(y(7)),'o');plot(real(x(8)),real(y(8)),'o');axis([-150350-150200]);title('平面六连杆机构');xlabel('mm')ylabel('mm')m(j)=