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11.运动分析题目如图所示机构，已知机构各构件的尺寸为AB=108mm，EF=320mm，BC=CE=CD=200mm，FG=162mm，AD=258mm，AG=514mm，DG=384mm，β=80º，构件1的角速度为ω1=10rad/s，试求构件2上点E的轨迹及构件5的角位移、角速度和角加速度，并对计算结果进行分析。2.机构的结构分析，组成机构的基本杆组划分3.各基本杆组的运动分析数学模型2（1）RR基本杆组：delt=0xB=xA+AB*Cos(f+delt)yB=yA+AB*Sin(f+delt)vxB=vxA-w*AB*Sin(f+delt)vyB=vyA+w*AB*Cos(f+delt)axB=axA-w^2*AB*Cos(f+delt):ayB=ayA-w^2*AB*Sin(f+delt)(2)RRR基本杆组Ci=lbc*Cos(fbc)Si=lbc*Sin(fbc)Cj=lcd*Cos(fcd)Sj=lcd*Sin(fcd)G1=Ci*Sj-Cj*Siwbc=(Cj*(vxD-vxB)+Sj*(vyD-vyB))/G1wcd=(Ci*(vxD-vxB)+Si*(vyD-vyB))/G1vxC=vxB-wbc*lbc*Sin(fbc)vyC=vyB+wbc*lbc*Cos(fbc)G2=axD-axB+wbc^2*Ci-wcd^2*CjG3=ayD-ayB+wbc^2*Si-wcd^2*Sjebc=(G2*Cj+G3*Sj)/G1ecd=(G2*Ci+G3*Si)/G1axC=axB-ebc*lbc*Sin(fbc)-wbc^2*lbc*Cos(fbc)ayC=ayB+ebc*lbc*Cos(fbc)-wbc^2*lbc*Sin(fbc)EB=2*BC*Cos(febc)xE=xB+EB*Cos(fbc+febc)yE=yB+EB*Sin(fbc+febc)vxE=vxB–wbc*EB*Sin(fbc+febc)vyE=vyB+wbc*EB*Cos(fbc+febc)axE=axB-wbc^2*EB*Cos(fbc+delt)-ebc*EB*Sin(fbc+febc)3ayE=ayB-wbc^2*leb*Sin(fbc+delt)+ebc*leb*Sin(fbc+febc)Ci=lef*Cos(fef)Si=lef*Sin(fef)Cj=lfg*Cos(ffg)Sj=lfg*Sin(ffg)G1=Ci*Sj-Cj*Siwef=(Cj*(vxG-vxE)+Sj*(vyG-vyE))/G1wfg=(Ci*(vxG-vxE)+Si*(vyG-vyE))/G1vxF=vxE-wef*lef*Sin(fef)vyF=vyE+wef*lef*Cos(fef)G2=axG-axE+wef^2*Ci-wfg^2*CjG3=ayG-ayE+wef^2*Si-wfg^2*Sjeef=(G2*Cj+G3*Sj)/G1efg=(G2*Ci+G3*Si)/G1axF=axE-eef*lef*Sin(fef)-wef^2*lef*Cos(fef)ayF=ayE+eef*lef*Cos(fef)-wef^2*lef*Sin(fef)4.计算编程DimxAAsDoubleDimyAAsDoubleDimvxAAsDoubleDimvyAAsDoubleDimaxAAsDouble'A'点加速度x轴分量DimayAAsDouble'A'点加速度y轴分量DimxBAsDouble'B'点'x轴坐标DimyBAsDouble'B点y轴坐标DimvxBAsDouble'B点速度x轴分量DimvyBAsDouble'B点速度y轴分量DimaxBAsDouble'B点加速度x轴分量DimayBAsDouble'B点加速度y轴分量DimxCAsDouble'C点x轴坐标DimyCAsDoubleC'点y轴坐标DimvxCAsDouble'C点速度x轴分量DimvyCAsDouble'C点速度y轴分量DimaxCAsDouble'C点加速度x轴分量DimayCAsDouble'C点加速度y轴分量DimxDAsDouble'D点x轴坐标DimyDAsDouble'D点y轴坐标DimvxDAsDouble'D点速度x轴分量DimvyDAsDouble'D点速度y轴分量DimaxDAsDouble'D点加速度x轴分量DimayDAsDouble'D点加速度y轴分量DimxEAsDouble'E点x轴坐标4DimyEAsDouble'E点y轴坐标DimvxEAsDouble'E点速度x轴分量DimvyEAsDouble'E点速度y轴分量DimaxEAsDouble'E点加速度x轴分量DimayEAsDouble'E点加速度y轴分量DimxFAsDouble'F点x轴坐标DimyFAsDouble'F点y轴坐标DimvxFAsDouble'F点速度x轴分量DimvyFAsDouble'F点速度y轴分量DimaxFAsDouble'F点加速度x轴分量DimayFAsDouble'F点加速度y轴分量DimxGAsDouble'G点x轴坐标DimyGAsDouble'G点y轴坐标DimvxGAsDouble'G点速度x轴分量DimvyGAsDouble'G点速度y轴分量DimaxGAsDouble'G点加速度x轴分量DimayGAsDouble'G点加速度y轴分量DimdeltAsDouble'AB杆初始转角DimlabAsDouble'AB杆长DimlbcAsDouble'BC杆长DimlcdAsDouble'CD杆长DimlceAsDouble'CE杆长DimlefAsDouble'EF杆长DimlfgAsDouble'FG杆长DimlebAsDouble'ED杆长DimfAsDouble'AB杆转角DimfbcAsDouble'BC杆转角DimfcdAsDouble'CD杆转角DimfceAsDouble'CE杆转角DimfefAsDouble'EF杆转角DimffgAsDouble'FG杆转角DimfgeAsDouble'ge杆转角DimwAsDouble'AB杆角速度DimwbcAsDouble'BC角速度DimwcdAsDouble'CD角速度DimwceAsDouble'CE角速度DimwefAsDouble'EF角速度DimwfgAsDouble'FG角速度DimeAsDouble'AB杆角加速度DimebcAsDouble'BC杆角加速度DimecdAsDouble'CD杆角加速度DimeceAsDouble'CE杆角加速度DimeefAsDouble'EF杆角加速度DimefgAsDouble'FG杆角加速度5DimLBDAsDouble'BD距离DimlegAsDouble'EG距离DimJCBDAsDouble'角CBDDimjfegAsDouble'角FEGDimfBDAsDouble'BD转角DimfegAsDouble'EG转角DimCiAsDoubleDimCjAsDoubleDimSiAsDoubleDimSjAsDoubleDimG1AsDoubleDimG2AsDoubleDimG3AsDoubleDimvalAsDoubleDimpiAsDoubleDimpaAsDoubleDimfebcAsDouble'角EBCDimiAsDoubleDimfj1AsDoublePrivateSubCommand1_Click()'求点E的轨迹Picture1.Scale(-300,400)-(10,-15)Picture1.Line(-300,0)-(10,0)'XPicture1.Line(0,400)-(0,-15)'YFori=-300To0Step50'X轴坐标Picture1.DrawStyle=2Picture1.Line(i,400)-(i,0)Picture1.CurrentX=i-10:Picture1.CurrentY=0Picture1.PrintiNextiFori=0To350Step50'Y轴坐标Picture1.DrawStyle=2Picture1.Line(0,i)-(-400,i)Picture1.CurrentX=-20:Picture1.CurrentY=i+7Picture1.PrintiNextiForfj1=0To360Step0.01f=fj1*paCallRR1CallRRR1CallRR2Picture1.PSet(xE,yE)Nextfj1EndSub6PrivateSubCommand2_Click()'求构件5的角位移Picture2.Scale(-20,5)-(380,-0.5)Picture2.Line(-20,0)-(380,0)'XPicture2.Line(0,3)-(0,-0.5)'YFori=0To360Step30'X轴坐标Picture2.DrawStyle=2Picture2.Line(i,3)-(i,0)Picture2.CurrentX=i-10:Picture2.CurrentY=0Picture2.PrintiNextiFori=-0.5To3Step0.5'Y轴坐标Picture2.Line(0,i)-(380,i)Picture2.CurrentX=-25:Picture2.CurrentY=iPicture2.PrintiNextiForfj1=0To360Step0.01f=fj1*paCallRR1CallRRR1CallRR2CallRRR2Picture2.PSet(fj1,ffg)Nextfj1EndSubPrivateSubCommand3_Click()'求构件5的角速度Picture3.Scale(-20,10)-(380,-10)Picture3.Line(-20,0)-(380,0)'XPicture3.Line(0,10)-(0,-10)'YFori=0To360Step30'X轴坐标Picture3.DrawStyle=2Picture3.Line(i,10)-(i,-10)Picture3.CurrentX=i-10:Picture3.CurrentY=0Picture3.PrintiNextiFori=-8To8Step2'Y轴坐标Picture3.Line(0,i)-(380,i)Picture3.CurrentX=-20:Picture3.CurrentY=iPicture3.PrintiNextiForfj1=0To360Step0.01f=fj1*paCallRR17CallRRR1CallRR2CallRRR2Picture3.PSet(fj1,wfg)Nextfj1EndSubPrivateSubCommand4_Click()'求构件5的角加速度Picture4.Scale(-20,300)-(380,-200)Picture4.Line(-20,0)-(380,0)'XPicture4.Line(0,300)-(0,-200)'YFori=0To360Step30'X轴坐标Picture4.DrawStyle=2Picture4.Line(i,300)-(i,-200)Picture4.CurrentX=i-10:Picture4.CurrentY=0Picture4.PrintiNextiFori=-200To300Step50'Y轴坐标Picture4.Line(0,i)-(380,i)Picture4.CurrentX=-25:Picture4.CurrentY=i+5Picture4.PrintiNextiForfj1=0To360Step0.01f=fj1*paCallRR1CallRRR1CallRR2CallRRR2Picture4.PSet(fj1,efgNextfj1EndSubPrivateSubForm_Load()'赋初值lab=108lce=200lbc=200lcd=2