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1、-平面六杆机构的运动分析（题号 1 - B）成 绩 _指导老师 班 级 学 号 姓 名 1、题目说明如右图所示平面六杆机构，试用计算机完成其运动分析。已知其尺寸参数如下表所示：组号L1L2L2L3L4L5L6xGyG1-B24.0105.665.067.587.534.425.0600153.541.7题目要求：三人一组计算出原动件从0到360时（计算点数37）所要求的各运动变量的大小，并绘出运动曲线图及轨迹曲线。2、题目分析1） 建立封闭图形：L1 + L2= L3+ L4 L1 + L2= L5+ L6+AG2） 机构运动分析a、角位移分析由图形封闭性得： 将上式化简可得：b、角速度分析上
2、式对时间求一阶导数，可得速度方程：化为矩阵形式为：c、角加速度分析：矩阵对时间求一阶导数，可得加速度矩阵为：d、E点的运动状态位移：速度：加速度：3、 流程图4、 源程序#include #include #include agaus.c#include dnetn.c#include conio.h#define Alpha (PI/3)#define PI 3.14159265358979#define Angle (PI/180) FILE *fp; struct motion int theta1; double theta5; /*theta1,2,3,5,6*/ double w4
3、;/*w2,3,5,6*/ double alpha4; double XYe2,Ve3,ae3; ; struct motion mot37; struct motion *p; int k=100; double L7=65.0,24.0,105.6,67.5,87.5,34.4,25.0; double XG=153.5; double YG=41.7; double w1=1.0; double t=0.1; double h=0.1; double eps=0.0000001; main() int n,i,m; double x4=26.23*Angle,49.75*Angle,8
4、7.16*Angle,37.25*Angle; fp=fopen(num-output.txt,w); for(n=0,p=mot;n=36;n+,p+) double a44; double b4; (*p).theta1=n*10; (*p).theta0=n*10*Angle; i=dnetn(4,eps,t,h,x,k); for(m=0;m4;m+) (*p).thetam+1=xm; printf(%d %d,n,i); getchar(); a00=-L2*sin(*p).theta1); a01=L3*sin(*p).theta2); a02=0.; a03=0.; a10=L
5、2*cos(*p).theta1); a11=-L3*cos(*p).theta2); a12=0.; a13=0.; a20=-L0*sin(*p).theta1-Alpha); a21=-L3*sin(*p).theta2); a22=-L5*sin(*p).theta3); a23=L6*sin(*p).theta4); a30=L0*cos(*p).theta1-Alpha); a31=L3*cos(*p).theta2); a32=L5*cos(*p).theta3); a33=-L6*cos(*p).theta4); b0=L1*sin(*p).theta0)*w1; b1=-L1
6、*cos(*p).theta0)*w1; b2=0.; b3=0.; if(agaus(a,b,4)!=0) for(m=0;m4;m+) (*p).wm=bm; a00=-L2*sin(*p).theta1); a01=L3*sin(*p).theta2); a02=0.; a03=0.; a10=L2*cos(*p).theta1); a11=-L3*cos(*p).theta2); a12=0.; a13=0.; a20=-L0*sin(*p).theta1-Alpha); a21=-L3*sin(*p).theta2); a22=-L5*sin(*p).theta3); a23=L6*
7、sin(*p).theta4); a30=L0*cos(*p).theta1-Alpha); a31=L3*cos(*p).theta2); a32=L5*cos(*p).theta3); a33=-L6*cos(*p).theta4); b0=L2*cos(*p).theta1)*(*p).w0*(*p).w0-L3*cos(*p).theta2)*(*p).w1*(*p).w1+w1*w1*L1*cos(*p).theta0); b1=L2*sin(*p).theta1)*(*p).w0*(*p).w0-L3*sin(*p).theta2)*(*p).w1*(*p).w1+w1*w1*L1
8、*sin(*p).theta0); b2=L0*cos(*p).theta1-Alpha)*(*p).w0*(*p).w0+L3*cos(*p).theta2)*(*p).w1*(*p).w1+L5*cos(*p).theta3)*(*p).w2*(*p).w2-L6*cos(*p).theta4)*(*p).w3*(*p).w3; b3=L0*sin(*p).theta1-Alpha)*(*p).w0*(*p).w0+L3*sin(*p).theta2)*(*p).w1*(*p).w1+L5*sin(*p).theta3)*(*p).w2*(*p).w2-L6*sin(*p).theta4)
9、*(*p).w3*(*p).w3; if(agaus(a,b,4)!=0) for(m=0;m4;m+) (*p).alpham=bm;(*p).XYe0=XG+L6*cos(*p).theta4)-L5*cos(*p).theta3); (*p).XYe1=YG+L6*sin(*p).theta4)-L5*sin(*p).theta3); (*p).Ve0=-L6*sin(*p).theta4)*(*p).w3+L5*sin(*p).theta3)*(*p).w2; (*p).Ve1=L6*cos(*p).theta4)*(*p).w3-L5*cos(*p).theta3)*(*p).w2;
10、(*p).Ve2=sqrt(*p).Ve0* (*p).Ve0+(*p).Ve1*(*p).Ve1); (*p).ae0=-L6*cos(*p).theta4)*(*p).w3*(*p).w3-L6*sin(*p).theta4)*(*p).alpha3+L5*cos(*p).theta3)*(*p).w2*(*p).w2+L5*sin(*p).theta3)*(*p).alpha2; (*p).ae1=-L6*sin(*p).theta4)*(*p).w3*(*p).w3+L6*cos(*p).theta4)*(*p).alpha3+L5*sin(*p).theta3)*(*p).w2*(*
11、p).w2-L5*cos(*p).theta3)*(*p).alpha2; (*p).ae2=sqrt(*p).ae0*(*p).ae0+(*p).ae1*(*p).ae1); fprintf(fp,%dt,(*p).theta1); for(m=0;m=4;m+) fprintf(fp,%lft,(*p).thetam); for(m=0;m=3;m+) fprintf(fp,%lft,(*p).wm); for(m=0;m=3;m+) fprintf(fp,%lft,(*p).alpham); for(m=0;m=1;m+) fprintf(fp,%lft,(*p).XYem); for(
12、m=0;m=2;m+) fprintf(fp,%lft,(*p).Vem); for(m=0;m=2;m+) fprintf(fp,%lft,(*p).aem); fprintf(fp,n); fclose(fp); void dnetnf(x,y,n)int n;double x,y; y0=L1*cos(*p).theta0)+L2*cos(x0)-L3*cos(x1)-L4; y1=L1*sin(*p).theta0)+L2*sin(x0)-L3*sin(x1); y2=L3*cos(x1)+L0*cos(x0-Alpha)+L5*cos(x2)-L6*cos(x3)-XG+L4; y3
13、=L3*sin(x1)+L0*sin(x0-Alpha)+L5*sin(x2)-L6*sin(x3)-YG; n=n; return; 5、 计算结果和曲线图：各从动件的角位移与1的关系曲线和计算数据：12356000.6560231.2671912.3093821.934332100.1745330.5932751.21221.9611071.449734200.3490660.5391941.1806731.7590481.158217300.5235990.4955651.1724811.6197780.983385400.6981320.4624771.1851321.5034750.
14、881119500.8726650.4390431.2150171.3893620.819504601.0471980.4240281.2583611.2622150.768284701.221730.416221.3117191.103070.689658801.3962630.4145881.3721390.8830430.529201901.5707960.4183271.4371530.5815970.2366421001.7453290.4268321.5047010.245608-0.151371101.9198620.4396651.573043-0.03764-0.528211
15、202.0943950.4565121.640689-0.23518-0.837911302.2689280.477141.706339-0.36101-1.080011402.4434610.5013631.76885-0.43869-1.269611502.6179940.5291.827209-0.4876-1.420691602.7925270.5598481.880524-0.52159-1.543421702.967060.5936471.928018-0.55031-1.6451803.1415930.6300521.969024-0.58041-1.730791903.3161
16、260.6686112.002982-0.61636-1.805162003.4906590.7087462.029422-0.66098-1.871962103.6651910.7497372.047947-0.71577-1.934622203.8397240.7907162.058204-0.78126-1.996072304.0142570.8306572.059856-0.85725-2.058442404.188790.8683712.052548-0.94311-2.122772504.3633230.9024992.035877-1.03816-2.188752604.5378
17、560.9315162.009384-1.14201-2.254752704.7123890.9537311.972557-1.25487-2.318062804.8869220.9673271.924878-1.37782-2.375412905.0614550.9704371.865936-1.51275-2.423693005.2359880.9613051.795638-1.66223-2.460993105.4105210.9385691.714542-1.82937-2.488083205.5850540.901691.624345-2.01888-2.511753305.7595
18、870.8514961.528412-2.24561-2.558733405.9341190.7906341.432113-2.60336-2.774343506.1086520.7236021.342527-3.34217-3.563363606.2831850.6560231.267191-3.9738-4.34885各从动件角速度与1的关系曲线和计算结果：23560-0.37795-0.37795-2.67285-3.5506510-0.33738-0.2492-1.46626-2.1267920-0.28069-0.11229-0.92514-1.2836330-0.219260.01
19、5911-0.70654-0.7600840-0.160810.125518-0.64485-0.441450-0.108930.213289-0.67648-0.2927360-0.06430.280093-0.79782-0.3291770-0.026170.328526-1.05428-0.62445800.0067040.361488-1.49479-1.27316900.0355650.38156-1.9127-2.044081000.0614810.390826-1.84048-2.282841100.0852810.390901-1.37725-1.984541200.10755
20、20.383027-0.90373-1.568361300.1286560.368182-0.56169-1.221651400.1487430.347174-0.34696-0.964481500.1677640.320717-0.22655-0.776361600.1854830.289483-0.17209-0.63681700.2014960.254119-0.16332-0.532251800.2152470.215247-0.18581-0.454961900.2260590.173436-0.22879-0.400932000.2331660.129166-0.28388-0.3
21、67772100.2357310.082778-0.34451-0.353072200.2328750.034444-0.40574-0.353172300.223679-0.01585-0.46434-0.36262400.207191-0.06829-0.51886-0.374242500.182436-0.12318-0.56994-0.380252600.148451-0.18089-0.62024-0.373442700.104373-0.24162-0.67411-0.348862800.049631-0.30515-0.73659-0.30521290-0.0157-0.3703
22、9-0.81211-0.24612300-0.09029-0.43469-0.90377-0.18183310-0.17082-0.49304-1.01549-0.13413320-0.25104-0.53737-1.16684-0.1577330-0.32162-0.55679-1.49038-0.47584340-0.37144-0.53983-3.03617-2.62664350-0.39118-0.47936-4.53764-5.32839360-0.37795-0.37795-2.67285-3.55065各从动件角加速度与1的关系曲线和计算结果235600.1631630.6765
23、839.62383910.37457100.2904760.7796584.5832376.170388200.3478960.7725851.9479833.747622300.3486530.6871510.7059862.352497400.3177860.5660440.0579481.330158500.2762290.440802-0.417510.360502600.2360190.327323-1.01754-0.84794700.2021630.2305-1.99224-2.65699800.1757250.149699-2.89533-4.61522900.1560190.
24、082297-1.29346-3.397791000.1417530.0254171.9499390.5888111100.131532-0.023382.9426592.3604111200.124017-0.065922.3686582.2496531300.117956-0.103431.5654961.7161491400.112174-0.136630.9288951.2532731500.105565-0.16590.4780730.9224041600.0971-0.19140.1650950.6895581700.085859-0.21325-0.0510.5157451800
25、.071064-0.23165-0.196550.3734991900.052104-0.247-0.288030.247782000.02853-0.25997-0.336980.1343682100.000029-0.27144-0.353040.037497220-0.03363-0.28244-0.34556-0.0334230-0.07266-0.29404-0.32449-0.06772240-0.11722-0.30716-0.30094-0.05805250-0.16738-0.3223-0.28693-0.00381260-0.2229-0.33924-0.293710.08
26、67270-0.28278-0.3565-0.328540.196347280-0.3445-0.37052-0.391720.300513290-0.40291-0.37457-0.476510.367195300-0.44882-0.35752-0.576660.350054310-0.46799-0.30342-0.716980.151732320-0.44227-0.19401-1.10288-0.57763330-0.35557-0.01707-3.2752-4.05407340-0.205890.218804-17.5054-25.2675350-0.01730.4718817.5
27、277364.8277873600.1631630.6765839.62383910.37457E点运动分析结果：1235623562356XeYeVexVeyVeaexaeyae000.6560231.2671912.3093821.934332-0.37795-0.37795-2.67285-3.550650.1631630.6765839.62383910.37457167.7739.6300414.97828-30.338333.8343-51.003417.796854.01922100.1745330.5932751.21221.9611071.449734-0.33738-0.2
28、492-1.46626-2.126790.2904760.7796584.5832376.170388169.607534.704226.134785-25.612126.33661-49.120534.7580960.17431200.3490660.5391941.1806731.7590481.158217-0.28069-0.11229-0.92514-1.283630.3478960.7725851.9479833.747622169.96230.80999-1.86453-18.823318.91543-42.029341.2939858.92074300.5235990.4955
29、651.1724811.6197780.983385-0.219260.015911-0.70654-0.760080.3486530.6871510.7059862.352497169.039528.15071-8.45887-11.721114.45465-33.542738.9130451.37446400.6981320.4624771.1851321.5034750.881119-0.160810.125518-0.64485-0.44140.3177860.5660440.0579481.330158167.093126.6642-13.6198-5.5291514.69933-2
30、5.801831.5397840.74915500.8726650.4390431.2150171.3893620.819504-0.108930.213289-0.67648-0.292730.2762290.440802-0.417510.360502164.357426.13484-17.5409-0.7962117.55894-19.334822.6618829.78919601.0471980.4240281.2583611.2622150.768284-0.06430.280093-0.79782-0.329170.2360190.327323-1.01754-0.84794161
31、.030126.29742-20.43012.41751820.57268-13.917314.3665820.00223701.221730.416221.3117191.103070.689658-0.026170.328526-1.05428-0.624450.2021630.2305-1.99224-2.65699157.277126.90154-22.43884.30773922.84858-9.189757.58053811.91285801.3962630.4145881.3721390.8830430.5292010.0067040.361488-1.49479-1.27316
32、0.1757250.149699-2.89533-4.61522153.243127.7411-23.66295.16694924.22046-4.895732.5607395.524997901.5707960.4183271.4371530.5815970.2366420.0355650.38156-1.9127-2.044080.1560190.082297-1.29346-3.39779149.059128.66302-24.16585.30125924.74048-0.91606-0.749921.1838651001.7453290.4268321.5047010.245608-0
33、.151370.0614810.390826-1.84048-2.282840.1417530.0254171.9499390.588811144.846529.56598-244.99403324.514092.763608-2.534563.7498671101.9198620.4396651.573043-0.03764-0.528210.0852810.390901-1.37725-1.984540.131532-0.023382.9426592.360411140.717230.39502-23.22144.4920823.651936.093834-3.021096.8016041
34、202.0943950.4565121.640689-0.23518-0.837910.1075520.383027-0.90373-1.568360.124017-0.065922.3686582.249653136.772431.13471-21.89784.00078722.260268.995492-2.454029.324221302.2689280.477141.706339-0.36101-1.080010.1286560.368182-0.56169-1.221650.117956-0.103431.5654961.716149133.100431.80168-20.11123
35、.68199420.4454711.38586-1.0874811.437681402.4434610.5013631.76885-0.43869-1.269610.1487430.347174-0.34696-0.964480.112174-0.136630.9288951.253273129.773732.43689-17.9573.65245318.324713.199070.81633213.224291502.6179940.5291.827209-0.4876-1.420690.1677640.320717-0.22655-0.776360.105565-0.16590.47807
36、30.922404126.847533.09765-15.53943.98269516.0416814.402392.99094514.709681602.7925270.5598481.880524-0.52159-1.543420.1854830.289483-0.17209-0.63680.0971-0.19140.1650950.689558124.358633.84954-12.96454.69696913.7890915.008545.17436815.875461702.967060.5936471.928018-0.55031-1.6450.2014960.254119-0.16332-0.532250.085859-0.21325-0.0510.515745122.325434.75845-10.33155.77513211.8360515.08287.12241216.679911803.1415930.6300521.969024-0.58041-1.730790.2152470.215247-0.18581-0.454960.071064-0.23165-0.196550.373499120.750735.88318-7.723737.15709