东北大学机械原理课程设计码头吊车机构的设计及分析

机械原理课程设计说明书题目：码头吊车机构的设计及分析班级：机械1415姓名：张浩学号：20148285指导教师：印明昂成绩：2016年11月18日一、题目说明图示为某码头吊车机构简图。它是由曲柄摇杆机构与双摇杆机构串联成的。已知：lo1x=2.86m,lo1y=4m,lo4x=5.6m,lo4y=8.1m,l3=4m,l3'=28.525m,a3'=25°,l3´´=8.5m,a3´´=7°,l4=3.625m,l4´=8.35m,a4'=184°,l4´´=1m,a4´´=95°,l5=25.15m,l5'=2.5m,a5'=24°。图中S3、S4、S5为构件3、4、5的质心，构件质量分别为：m3=3500kg,m4=3600kg,m5=5500kg,K点向左运动时载重Q为50kN，向右运动时载重为零，曲柄01A的转速n3=1.1r/min.二、机构简图三、求连架杆O3C摆动范围1、拆分杆组2、列形参和实参的表格对主动件③运动分析形式参数N1N2N3kR1R2gamtwepvpap实值4503R450.00.0twepvpap对④⑤rrr杆运动分析形式参数mN1N2N3K1K2R1R2twepvpap实值157645R56R67twepvpap用④bark杆求10点形式参数N1N2N3kR1R2gamtwepvpap实值501040.0R510176°twepvpap3、编写程序/*Note:YourchoiceisCIDE*/#includesubk.cmain(){staticdoublep[20][2],vp[20][2],ap[20][2],del;staticdoublet[10],w[10],e[10];intic;/*定义静态变量*/doubler45,r56,r67,r510,gam;doublepi,dr;doubler2;inti;FILE*fp;char*m[]={p,vp,ap};r45=28.525;r56=3.625;r67=25.15;r510=8.35;gam=176.0;w[3]=15.0;del=1.0;/*步长1*/p[4][1]=0.0;p[4][2]=0.0;p[7][1]=5.6;p[7][2]=8.1;/*变量赋值*/pi=4.0*atan(1.0);/*π*/dr=pi/180.0;/*弧度*/gam=gam*dr;/*计算gam*/printf(\nthekinematicparametersofpoint10\n);printf(NOTHETA1S10V10A10\n);printf(degmm/sm/s/s\n);if((fp=fopen(20148285,w))==NULL){printf(can,topenthisfile.\n);exit(0);}fprintf(fp,\nthekinematicparametersofpoint11\n);fprintf(fp,NOTHETA1S10V10A10\n);fprintf(fp,degmm/sm/s/s\n);ic=(int)(360.0/del);for(i=0;i=ic;i++){t[3]=(i)*del*dr;bark(4,5,0,3,r45,0.0,0.0,t,w,e,p,vp,ap);rrrk(1,5,7,6,4,5,r56,r67,t,w,e,p,vp,ap);bark(5,0,10,4,0.0,r510,gam,t,w,e,p,vp,ap);printf(\n%2d%12.3f%12.3f%12.3f%12.3f,i+1,t[3]/dr,p[10][2],vp[10][2],ap[10][2]);/*运算结果输出*/fprintf(fp,\n%2d%12.3f%12.3f%12.3f%12.3f,i+1,t[3]/dr,p[10][2],vp[10][2],ap[10][2]);/*结果入filel文件*/if((i%16)==0){getch();}/*停*/}fclose(fp);getch();}4、O3C在93°至135°之间摆动时为K点近似水平运动,得O3C摆角为93°~135°。Degmm/sm/s/s9493.00020.156-124.441367165.1979594.00020.12725.14243585.4909695.00020.17653.18211987.3059796.00020.24460.7912608.1329897.00020.31561.275-1276.1119998.00020.38558.575-3155.84210099.00020.45154.272-4137.438101100.00020.51149.122-4660.849102101.00020.56543.524-4928.159103102.00020.61237.712-5041.901104103.00020.65331.829-5057.946105104.00020.68625.967-5008.356106105.00020.71320.192-4912.192107106.00020.73314.550-4781.005108107.00020.7479.077-4621.793109108.00020.7553.803-4438.657110109.00020.756-1.244-4233.755111110.00020.752-6.041-4007.871112111.00020.742-10.562-3760.740113112.00020.727-14.784-3491.225114113.00020.708-18.678-3197.403115114.00020.684-22.214-2876.559116115.00020.656-25.360-2525.130117116.00020.625-28.077-2138.574118117.00020.591-30.321-1711.173119118.00020.555-32.040-1235.737120119.00020.517-33.174-703.189121120.00020.478-33.650-101.983122121.00020.439-33.379582.738123122.00020.401-32.2541370.353124123.00020.364-30.1402286.547125124.00020.331-26.8703366.016126125.00020.302-22.2264656.661127126.00020.280-15.9256226.325128127.00020.266-7.5908174.020129128.00020.2633.30010649.527130129.00020.27517.48713889.468131130.00020.30636.06818288.309132131.00020.36160.76024550.172133132.00020.45094.43634050.297134133.00020.586142.38149830.626135134.00020.791215.77679985.448136135.00021.109344.361153865.3685、K点坐标位置图四、曲柄摇杆机构尺寸的设计。由O3C摆角范围求得O3B摆角为68°~110°通过作图法计算得L1=1.387m,L2=2.783m。五、求K点水平位移、速度和加速度1、拆分杆组2、列形参实参表对主动件①运动分析形式参数N1N2N3kR1R2gamtwepvpap实值1201R120.00.0twepvpap对②③组成的rrr杆组运动分析形式参数mN1N2N3K1K2R1R2twepvpap实参142332R34R23twepvpap用bark函数求5点形式参数N1N2N3kR1R2gamtwepvpap实参40530.0R4525°twepvpap对④⑤组成的rrr杆组运动分析形式参数mN1N2N3K1K2R1R2twepvpap实参157645R56R67twepvpap用bark函数求8，9,10,11形式参数N1N2N3kR1R2gamtwepvpap实参501040.0R510176°twepvpap实参70850.0R78-156°twepvpap实参50940.0R5995°twepvpap实参401130.0R41118°twepvpap3、编写程序#includesubk.cmain(){staticdoublep[20][2],vp[20][2],ap[20][2],del;staticdoublet[10],w[10],e[10];/*定义静态变量*/intic;doubler12,r34,r23,r45,r56,r67,r510,r78,r59,r411;doublepi,dr;doubler2,vr2,ar2;/*定义局部变量*/inti;FILE*fp;char*m[]={p,vp,ap};r56=3.625,r67=25.15,r510=8.35;r12=1.387,r34=4.0,r23=2.783,r45=28.525;pi=4.0*atan(1.0);dr=pi/180.0;w[1]=0.0367*pi;del=1.0;e[1]=0.0,r411=8.5,r59=1.0,r78=2.5;p[1][1]=2.86;p[1][2]=4.0;p[4][1]=0.0;p[4][2]=0.0;p[7][1]=5.6;p[7][2]=8.1;/*变量赋值*/printf(\nTheKinematicParametersofPoint10\n);printf(NoTHETA1s10v10a10\n);printf(degmm/sm/s/s\n);/*写表头*/if((fp=fopen(20148285.txt,w))==NULL){printf(Can'topenthisfile.\n);exit(0);}fprintf(fp,\nThekinematicparametersofpoint10\n);fprintf(fp,NoTHETA1S10V10A10\n);fprintf(fp,degmm/sm/s/s\n);ic=(int)(360.0/del);for(i=0;i=ic;i++){t[1]=i*del*dr;bark(1,2,0,1,r12,0.0,0.0,t,w,e,p,vp,ap);rrrk(1,4,2,3,3,2,r34,r23,t,w,e,p,vp,ap);bark(4,0,5,3,0.0,r45,25.0*dr,t,w,e,p,vp,ap);rrrk(1,5,7,6,4,5,r56,r67,t,w,e,p,vp,ap);bark(5,0,10,4,0.0,r510,176.0*dr,t,w,e,p,vp,ap);bark(4,0,11,3,0.0,r411,18.0*dr,t,w,e,p,vp,ap);bark(5,0,9,4,0.0,r59,95.0*dr,t,w,e,p,vp,ap);bark(7,0,8,5,0.0,r78,-156.0*dr,t,w,e,p,vp,ap);printf(\n%2d%12.3f%12.3f%12.3f%12.3f,i+1,t[1]/dr,p[10][2],vp[10][2],ap[10][2]);fprintf(fp,\n%2d%12.3f%12.3f%12.3f%12.3f,i+1,t[1]/dr,p[10][2],vp[10][2],ap[10][2]);/*结果显示屏幕上*/if((i%16)==0){getch();};}fclose(fp);getch();}4、运行结果(一部分)8988.00020.7520.017-0.0369089.00020.7550.0