机械课程设计说明书Word格式文档下载.docx
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机械课程设计说明书Word格式文档下载.docx
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r1
r2
gam
t
w
e
p
vp
ap
实参
1
3
0.1
0.0
2)现已知2、3点的运动状态可调用rprk函数可知构件3运动参数,主动件1逆时针转动,m值取1.
rprk
m
k1
k2
vr2
ar2
2
&
3)已求出构件3的运动状态,并2点的运动参数,调用bark函数求4点的运动参数。
4
0.75
4)调用rprk函数,求构件5的运动参数。
构件4、5的导路方向垂直,所以gam2=pi/2。
rppk
n4
k3
gam1
gam2
6
5
pi/2
r3
ar3
vr3
动态静力分析
在运动分析的基础上,进行动态静力学分析。
简易求法求解平衡力矩时,需求出构件5质心9的运动状态、构件3的质心8运动状态和工艺阻力作用点7的运动状态
1)调用bark求7点的运动参数。
7
r57
2)调用bark求9点运动参数。
9
r59
3)调用bark求8点运动参数。
8
r28
4)从外力已知杆组开始,即工艺阻力Q作用的构件5,调用rppf函数求4点的运动副反力。
rppf
5)调用rprf函数,求3、2点的运动副反力。
rprf
ns1
ns2
nn1
nn2
nexf
fr
fk
fp
6)调用barf函数,求固定铰支座1点的运动副反力。
barf
tb
5.自编程序中主要标识符说明
#include"
extf.c"
(工艺阻力子程序)#include"
subf.c"
(杆组动态静力分析程序包)
subk.c"
(杆组运动分析子程序包)#include"
draw.c"
(出图程序)
#include"
main()
{
staticdoublep[20][2],vp[20][2],ap[20][2],del;
staticdoublet[10],w[10],e[10],pdraw[370],vpdraw[370],apdraw[370];
staticintic;
doubler13,r24;
doublepi,dr;
doubler2,vr2,ar2,r3,vr3,ar3;
inti;
FILE*fp;
char*m[]={"
p"
"
vp"
ap"
};
r13=0.1;
r24=0.75;
t[6]=0.0;
w[6]=0.0;
e[6]=0.0;
e[1]=0.0;
del=10.0;
p[1][1]=0.0;
p[1][2]=0.0;
p[2][1]=0.0;
p[2][2]=-0.4;
p[6][1]=0.0;
p[6][2]=0.338;
pi=4.0*atan(1.0);
w[1]=-2*pi;
dr=pi/180.0;
printf("
\nTheKinematicParametersofPoint5\n"
);
NOTHETA1S5V5A5\n"
degmm/sm/s/s\n"
if((fp=fopen("
filel"
w"
))==NULL)
{
can'
topenthisfile.\n"
exit(0);
}
fprintf(fp,"
\nthekinematicparametersofpoint5\n"
notheta1s5v5a5\n"
degmm/sm/s/s"
ic=(int)(360.0/del);
for(i=0;
i<
=ic;
i++)
t[1]=-(i)*del*dr+asin(0.25)+pi;
bark(1,3,0,1,r13,0.0,0.0,t,w,e,p,vp,ap);
rprk(1,2,3,3,2,0.0,&
r2,&
vr2,&
ar2,t,w,e,p,vp,ap);
bark(2,4,0,3,r24,0.0,0.0,t,w,e,p,vp,ap);
rppk(4,6,4,5,4,5,6,0.0,0.0,90.0,&
ar2,&
r3,&
vr3,&
ar3,t,w,e,p,vp,ap);
\n%2d%12.3f%12.3f%12.3f%12.3f"
i+1,t[1]/dr,
p[5][1],vp[5][1],ap[5][1]);
i+1,t[1]/dr,p[5][1],vp[5][1],ap[5][1]);
pdraw[i]=p[5][1];
vpdraw[i]=vp[5][1];
apdraw[i]=ap[5][1];
if((i%16)==0){getch();
}
fclose(fp);
getch();
draw1(del,pdraw,vpdraw,apdraw,ic,m);
staticdoublet[10],w[10],e[10],tbdraw[370],tb1draw[370];
staticdoublesita1[370],fr1draw[370],sita2[370],fr2draw[370],
sita3[370],fr3draw[370];
staticdoublefr[20][2],fe[20][2],fk[20][2],pk[20][2],tb,tb1,fr1,bt1,fr2,bt2,
we1,we2,we3,we4,we5;
doubler13,r24,r28,r57,r59,gam1,gam2;
tb"
tb1"
fr1"
fr2"
sm[3]=30.0;
sm[5]=95.0;
sj[3]=0.7;
r28=0.375;
r57=0.41;
r59=0.158;
gam1=atan(0.05/0.15);
gam2=-atan(0.1/0.4);
pi=4.0*atan(1.0);
dr=pi/180.0;
\nthekineto-staticanalysisofasix-barlinkase\n"
nohetalfr1sitalfr2sita2tbtb1\n"
degnradiannradiann.mn.m"
notheta1fr1sita1fr2sita2tbtb1\n"
degnradiannradiann.mn.m"
rppk(4,6,4,5,4,5,6,0.0,0.0,90.0*dr,&
bark(5,0,7,5,0.0,r57,gam1,t,w,e,p,vp,ap);
bark(5,0,9,5,0.0,r59,gam2,t,w,e,p,vp,ap);
bark(2,0,8,3,0.0,r28,0.0,t,w,e,p,vp,ap);
rppf(4,10,4,5,4,9,0,7,7,4,5,6,p,vp,ap,t,w,e,fr,fk,pk);
rprf(2,3,8,3,4,0,0,3,2,p,vp,ap,t,w,e,fr,fk,pk);
barf(1,1,3,1,p,ap,e,fr,&
tb);
fr1=sqrt(fr[1][1]*fr[1][1]+fr[1][2]*fr[1][2]);
bt1=atan2(fr[1][2],fr[1][1]);
fr2=sqrt(fr[2][1]*fr[2][1]+fr[2][2]*fr[2][2]);
bt2=atan2(fr[2][2],fr[2][1]);
we1=0.0;
we2=0.0;
we4=0.0;
we3=-(ap[8][1]*vp[8][1]+(ap[8][2]+9.81)*vp[8][2])*sm[3]-e[3]*w[3]*sj[3];
extf(p,vp,ap,t,w,e,7,fe);
we5=-(ap[9][1])*vp[9][1]*sm[5]+fe[7][1]*vp[7][1];
tb1=-(we1+we2+we3+we4+we5)/w[1];
\n%2d%10.3f%10.3f%10.3f%10.3f%10.3f%10.3f%10.3f"
fr1,bt1/dr,fr2,bt2/dr,tb,tb1);
tbdraw[i]=tb;
tb1draw[i]=tb1;
fr1draw[i]=fr1;
sita1[i]=bt1;
fr2draw[i]=fr2;
sita2[i]=bt2;
fr3draw[i]=fr2;
sita3[i]=bt2;
draw2(del,tbdraw,tb1draw,ic,m);
draw3(del,sita1,fr1draw,sita2,fr2draw,sita3,fr3draw,ic,m);
extf(p,vp,ap,t,w,e,nexf,fe)
doublep[20][2],vp[20][2],ap[20][2],t[10],w[10],e[10],fe[20][2];
intnexf;
doubleh=0.386*0.05;
fe[nexf][2]=0.0;
if(vp[nexf][1]>
0)
if(((-0.193+h)<
p[5][1])&
(p[5][1]<
0.193-h))
{fe[nexf][1]=-9000.0;
else
{fe[nexf][1]=0.0;
6.自编程序及计算结果清单
thekinematicparametersofpoint5
notheta1s5v5a5
degmm/sm/s/s
1194.478-0.1930.0008.360
2184.478-0.1900.2167.204
3174.478-0.1820.4006.059
4164.478-0.1680.5534.980
5154.478-0.1510.6783.988
6144.478-0.1310.7763.086
7134.478-0.1080.8502.268
8124.478-0.0840.9031.525
9114.478-0.0580.9350.848
10104.478-0.0320.9500.226
1194.478-0.0060.948-0.349
1284.4780.0200.931-0.885
1374.4780.0460.899-1.390
1464.4780.0700.854-1.872
1554.4780.0930.796-2.341
1644.4780.1140.724-2.807
1734.4780.1330.640-3.285
1824.4780.1500.541-3.792
1914.4780.1630.428-4.349
204.4780.1730.299-4.979
21-5.5220.1800.151-5.705
22-15.5220.182-0.019-6.536
23-25.5220.178-0.213-7.451
24-35.5220.169-0.433-8.364
25-45.5220.154-0.676-9.085
26-55.5220.132-0.933-9.293
27-65.5220.102-1.184-8.580
28-75.5220.066-1.398-6.615
29-85.5220.025-1.539-3.391
30-95.522-0.018-1.5790.615
31-105.522-0.061-1.5064.578
32-115.522-0.101-1.3327.722
33-125.522-0.135-1.0889.644
34-135.522-0.161-0.80810.370
35-145.522-0.179-0.52010.180
36-155.522-0.190-0.2479.416
37-165.522-0.1930.0008.360
thekineto-staticanalysisofasix-barlinkase
notheta1fr1sita1fr2sita2tbtb1
degnradiannradiann.mn.m
1194.4781519.21214.478659.183-175.054-0.000-0.000
2184.4781268.75414.262524.129179.413-21.562-21.562
3174.4781049.65413.658421.563171.314-34.485-34.485
4164.47815911.31912.7236809.444-151.974-752.996-752.996
5154.47815327.97111.5126238.929-153.734-923.192-923.192
6144.47814845.23410.0745750.795-156.374-1060.594-1060.594
7134.47814449.8428.4555342.350-159.882-1168.678-1168.678
8124.47814130.4176.6925013.291-164.213-1250.121-1250.121
9114.47813877.7144.8234765.036-169.270-1306.920-1306.920
10104.47813684.5542.8814599.553-174.885-1340.520-1340.520
1194.47813545.6370.8954517.969179.175-1351.917-1351.917
1284.47813457.325-1.1044519.387173.190-1341.732-1341.732
1374.47813417.449-3.0864600.341167.443-1310.262-1310.262
1464.47813425.136-5.0234755.099162.178-1257.497-1257.497
1554.47813480.659-6.8824976.619157.574-1183.124-1183.124
1644.47813585.300-8.6315257.689153.740-1086.520-1086.520
1734.47813741.205-10.2345591.876150.730-966.742-966.742
1824.47813951.216-11.6505974.088148.563-822.536-822.536
1914.47814218.709-12.8346400.747147.238-652.399-652.399
204.4781071.043166.263430.7707.72133.47933.479
21-5.5221293.517165.696536.736-0.11019.74819.748
22-15.5221546.948165.525675.075-5.382-2.828-2.828
23-25.5221820.504165.811840.689-8.281-35.776-35.776
24-35.5222083.367166.6101016.628-9.067-78.491-78.491
25-45.5222273.380167.9661166.050-7.930-125.437-125.437
26-55.522229
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