哈工大机械原理大作业15题

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1、大作业1连杆机构1．运动分析题目2．机构的结构分析及基本杆组划分1．结构分析与自由度计算机构各构件都在同一平面内运动，活动构件数n=5，PL=7，分布在A、B、C、D、E、F、G。没有高副，则机构的自由度为F=3xn-2xPL-lxPll=3x5-2x7-0=12．基本杆组划分图1-15中1为原动件，先移除之。之后按顺序进行拆分，就可以得到由杆2，3组成的RPPⅡ级杆组和4，5组成的RPRⅡ级杆组，机构分解图如下：（1）(2)(3)(1)(2)xC=lab*coswt+,求C点得坐标和与X轴的角度(3)xD=lcd*cos+xC,yD=lcd*sinylAB=10

2、0;lBD=400;lAE=400;lBC=200;symst;fai=10*t;xB=lAB*cos(fai);yB=lAB*sin(fai);xC=lAB*cos(fai)+sqrt(lBC.^2+lAB.^2*(cos(fai))^2-lAB.^2);yC=0;theta=asin(lAB*sin(fai)/lBC);xD=(lBD-lBC)*cos(theta)+xC;yD=(lBD-lBC)*sin(theta);a=0:0.001*pi:2*pi;Xd=subs(xD,t,a);Yd=subs(yD,t,a);plot(Xd,Yd);afa=atan(

3、yD/xD)wD=diff(afa,t);aD=diff(afa,t,2);a=0:0.001*pi:2*pi;afa=subs(afa,t,a);afa=subs(afa,t,a);wD=subs(wD,t,a);aD=subs(aD,t,a);plot(a,afa);plot(a,wD);plot(a,aD);D点的运动轨迹图像：角位移：00.006283309201106280.01256735861553440.01885287268386310.02514054420080590.03143101824222110.03772487579457350.0

4、4402261699198770.05032464386995070.05663124254991480.06294256477567620.06925860873069920.07557919907575370.08190396615861930.08823232436246810.09456344957719260.1008962557986910.1072293708852700.1135611115281540.1198894575247970.1262120254794790.1325260420955150.1388283172673010.14511

5、52172280460.1513826380599340.1576259799269650.1638401224457100.1700194016645090.1761575891753900.1822478739333690.1882828474022140.1942544926817260.2001541782960480.2059726573324030.2117000726118710.2173259685453390.2228393102759670.2282285106323420.2334814653126200.2385855965892250.2

6、435279056670060.2482950336477200.2528733308541370.2572489340535770.2614078509000980.2653360506950560.2690195603562510.2724445642957330.2755975067447410.2784651949397100.2810349015028140.2832944643195840.2852323822375660.2868379049843600.2881011158284380.2890130056770860.28956553751566

7、10.2897517003321680.2895655519308500.2890022503072090.2880580735240670.2867304282837360.2850178476263750.2829199783918880.2804375592568860.277572390295991角位移图像：角速度：22.000118226460602.000470398199642.001048976289762.001841342662062.002829720818212.003991065843042.005296924783172.006713

8、26883