插床机械传动系统设计

一机械设计课程设计任务书--------------

二插床方案设计------------------------

三方案评价----------------------------

四运动循环图--------------------------

五连杆机构设计------------------------

六凸轮轮廓设计------------------------

七杆机构运动分析 ---------------------

八凸轮轮廓曲线的设计------------------

九计算机编程清单----------------------

十连杆机构力分析---------------------- 十一实训心得与体会---------------------- 十二参考文献----------------------------

设计进程

• 第一阶段：设计插床方案

• 第二阶段：完成方案评价，连杆机构设计

• 第三阶段：凸轮轮廓设计

• 第四阶段：连杆机构的运动分析（计算机编程设计）

• 第五阶段：连杆机构的力分析

一、机械设计课程设计任务书

1、课程设计题目：插床机械系统方案设计

2、工作原理

插床机械系统的执行机构主要是由导杆机构和凸轮机构组

成。附图1为其参考示意图，电动机经过减速传动装置（皮带和

齿轮传动）带动曲柄2转动，再通过导杆机构使装有刀具的滑块

6沿导路y—y作往复运动，以实现刀具的切削运动。刀具向下

运动时切削，在切削行程H中，前后各有一段0.05H的空刀距离，

工作阻力F为常数；刀具向上运动时为空回行程，无阻力。为了

缩短回程时间，提高生产率，要求刀具具有急回运动。刀具与工

作台之间的进给运动，是由固结于轴O2上的凸轮驱动摆动从动

件lO8D和其它有关机构（图中未画出）来完成的。

3、设计要求

电动机轴与曲柄轴2平行，使用寿命10年，每日一班制工

作，载荷有轻微冲击。允许曲柄2转速偏差为±5％。要求导杆

机构的最小传动角不得小于60o；凸轮机构的最大压力角应在许

用值[α]之内，摆动从动件8的升、回程运动规律均为等加速等

减速运动，其它参数见设计数据。执行机构的传动效率按0.95

计算。按小批量生产规模设计。

二、插床方案设计

方案一

方案二

方案三

三、方案评价

四、运动循环图

行程速比系数k=1.8 θ =51.43° H=100(mm)

转速n2=46r/min ∝=1.30s 0.05H=5(mm)

工作行程P1=231.4 ° ∝1=0.836s

回程 P2=128.6 ° t2=0.464s

五、连杆机构设计

六、凸轮轮廓设计

初取基圆半径 r0=50mm 推杆滚子半径r=5mm L0208=150mm 曲柄L02A=85 摆杆L08D=123

七、连杆机构运动分析

1、求瞬时速度

由VA2求VA4 w2=2πn/60=2×3.14×50/60=5.233 rad/s

∵VA2=VA3=LBA2(2πn)/60=35×2π×50/60=236mm/s

方向⊥O2A2向下

vA4

大小

方向?⊥O4A4→=vA4A3?平行O4A4→+vA3∨⊥O2A2→

其中，VA3是滑块上与A点重合的点的速度，VA3A2是杆4上与A点重合相对滑块的速度，VA4是杆4与A点重合的速度。因为VA4A3是相对速度，所以 VA4=220mm/s

二：求B点的速度

∵VA4=220mm/s 又∵构件3是瞬心点，A4的速度VA4已知，利用构件4上的速度影像有

AO4

BO4

求VC , B, C是同一构件上的点

Vc = VB + VCB →=VA4 得：VB=330mm/s V15

方向 ∥导杆 ⊥BO4 ⊥BC

大小？ ∨ ？图解法：

可得： VC=290mm/s

2、加速的分析

2πn22π⋅502aA2=ω2LAO2=()LAO2=(）⨯70=1612.8mm/s226060

根据速度合成原理：

aA4

=+at anA4A4=aA3+aA4A3+ akA3A4

大小？ ω2L 4O4A ? ∨ ? 2ω4VA3A4 方向 ? ∥O4A ⊥O4A ⊥O4A ∥O4A ⊥O4A 图解法： V42 =1.505rad/s , an∵ω4==182.64mm/sA44 ∴aA4=aA3=176.825mm/s2,方向⊥O4A 再根据速度合成原理求得滑块C的速度。

n+at+aB ac=acDCB

2大小：？ ωcLCB ? ?

方向： ∥导杆 ∥LBC ⊥LBC ⊥LAB ∵ AO4

aA2=BO4aB ∴aB=BO4181⨯aA2=⨯1612.8=1370.5mm/s2 AO4213

n∵ Vn ∴=aBCBC=0

又∵速度比例β=aB1370.5==14.33 LP'b'95.610

∴ac=18.906×14.33=260.734mm/s2

八、凸轮轮廓曲线的设计

⑴ 初取基圆半径ro=50mm，推杆滚子半径rr=5mm

LOO

=150mm

曲柄LOA=70mm 摆杆LOD=132mm

8理论轮廓线：D

X=asinδ-Lsin(δ+ρ+ρ0 ) X=150sinδ-123sin(δ+ρ+ρ0 ) Y=acosδ﹣Lsin(δ+ρ+ρ0)

其中

a2+c2-

2aL

Y=150cosδ

﹣123sin(δ+ρ+ρ0)

ρ0=arccos

ro)

1502+1322-502

=arccos=13.59︒

2⨯150⨯132

X=asinδ-Lsin(δ+ρ+ρ0 )= asinδ-Lsin(δ+2ρmax

δ2

2δ0

++ρ0 )

⎧⎡⎤⎡⎤⎫2

dxδ⎪⎥⎢1+4ρmaxδ⎥⎪=acosδ-⎨⎢cos(δ+2ρmax+ρ0）⎬ 22⎢⎥⎢⎥⎪dδ⎪δδ⎦⎣00⎦⎭⎩⎣

推程阶段：（0≤δ≤10︒）

①

等加速 ρ1=2ρmax

δ2

δ0

2⨯20︒⨯δ2

10︒2

=0.4δ2

(0≤δ≤5︒)

等减速 ρ1’=ρmax-2ρma(5︒≤δ≤10︒)

(δ0-δ)2

δ0

=20︒-

40︒(10︒-δ)2

10︒2

② ③

远休阶段 (10︒≤δ≤170︒) (ρ2=20︒) 回程阶段 (170︒≤δ≤180︒)

等加速 ρ3=ρmax-2ρmax(0≤δ≤60︒)

δ2

2δ0

=20︒-40︒⋅

δ2

10︒2

ρ3’=2ρmax

(δ0’-δ)2

δ’0

(60︒≤δ≤120︒)

④

近休阶段 (180︒≤δ≤360︒)

ρ4=0︒

求轮廓线 a=150 L=132 rr=50

① 推程阶段：

δ=2︒

ρ1=

2ρmaxδ2

δ0

=2⨯20︒⨯

2︒210︒2

=1.6︒

X1=asin -Lsin(δ + ρ1+ρ0 )=150sin2︒-123cos(2︒+1.6︒+13.59︒) =-33.78

y1=acos ﹣Lsin( δ+ρ1 +ρ0 )=150cos2︒-123cos(2︒+1.6︒+13.59︒)

=23.81

δ=4︒

ρ2=

2ρmaxδ2

δ0

=2⨯20︒⨯

4︒210︒2

=6.4︒

X2=asin -Lsin(δ + ρ1+ρ0 )=150sin4︒-123cos(4︒+6.4︒+13.59︒) =-43.21

y2=acos ﹣Lsin( δ+ρ1 +ρ0 )=150cos4︒-123cos（4︒+6.4︒+13.59︒)

=29.04

δ=6︒

ρ4=

2ρmaxδ2

δ0

=2⨯20︒⨯

6︒210︒

=14.4︒

X4=asin -Lsin(δ + ρ1+ρ0 )=150sin6︒-123cos(6︒+14.4︒+13.59︒) =-58.12

y4=acos ﹣Lsin( δ+ρ1 +ρ0 )=150cos6︒-123cos（6︒+14.4︒+3.59︒)

=39.73

δ=8︒

ρ5=

2ρmaxδ2

δ0

=2⨯20︒⨯

8︒210︒

=25.6︒

X5=asin -Lsin(δ + ρ1+ρ0 )=150sin8︒-123cos(8︒+25.6︒+13.59︒) =-75.96

y5=acos ﹣Lsin( δ+ρ1 +ρ0 )=150cos8︒-123cos（8︒+25.6︒+13.59︒)

=58.84

δ=10︒

ρ6=

2ρmaxδ2

δ0

=2⨯20︒⨯

10︒210︒

=40︒

X6=asin -Lsin(δ + ρ1+ρ0 )=150sin10︒-123cos(10︒+40︒+13.59︒） =-92.18

y6=acos ﹣Lsin( δ+ρ1 +ρ0 )=150cos10︒-123cos（10︒+40︒+13.59︒)

=89.01

⎡⎤⎡⎤2ρρδδmax⎥

=acosδ-L⎢cos(δ+2ρmax+ρ0)⎥⎢1+

22⎥⎢⎥⎢dδ

δ0δ0⎦⎣⎦⎣dx

x'=x-rrcosθ

⎡⎤

ρρδmax⎥

=-acosδ+L[sin(δ+ρ+ρ0)]⎢1+

2⎥⎢dδ

δ0⎦⎣dy

y'=y-rrsinθ

sinθ=

()ddxdδ

dy+dδ

cosθ=-

dy()ddxdδ

dy+dδ

δ=2︒

⎡⎡⎤⎤⎡2︒24⨯20︒⨯2︒⎤

=150cos2︒-132⎢⎢cos(2︒+2⨯20︒⨯+13.59︒⎥⎥⎢1+⎥22dδ⎢⎥⎦10︒10︒⎣⎦⎥⎣⎢⎦⎣dx

=56.07

⎡⎤⎡2︒24⨯20︒⨯2︒⎤

=-150sin2︒+132⎢sin(2︒+2⨯20︒⨯+13.59︒⎥⎢1+⎥22dδ⎢⎥⎦10︒10︒⎣⎦⎣dy

=87.60

Sinθ1=(dx/dδ)/√dx/dδ2+(dy/dδ)2=0.573 Cosθ1=-(dy/dδ)/√dx/dδ2+(dy/dδ)2=-8.39 X1'=X1-rrCosθ1=-26.825

Y1'=y1-rrSinθ1=19.015

δ=4︒ dx/dδ

=150cos4°-132[cos4°+2×20°×16°/100°+13.59°][1+4×20°×4°/100°]=174.27 dy/dδ

=-150sin4°+132[sin4°+2×20°×16°/100°+13.59°][1+4×20°×4°/100°]=119.22

Sinθ2=(dx/dδ)dx/dδ2+(dy/dδ)2=0.825 Cosθ2=-(dy/dδ)/√dx/dδ2+(dy/dδ)2=0.565 X2'=X2--rrCosθ2=-40.385 Y2'=y2-rrSinθ2=29.915

δ=6︒ dx/dδ

=150cos6°-132[cos6+2×20°×36°/100°+13.59°][1+4×20°×6°/100°]=275.31 dy/dδ

=-150sin6°+132[sin6°+2×20°×36°/100°+13.59°][1+4×20°×6°/100°]=-54.59

Sinθ4=(dx/dδ)dx/df2+(dy/df)2=0.981

Cosθ4=-(dy/dδ)/√dx/df2+(dy/df)2=0.194 X4'=X4--rrCosθ4=-59.09 Y4'=y4-rrSinθ4=34.825

δ=8︒ dx/dδ

=150cos8°-132[cos8°+2×20°×64°/100°+13.59°][1+4×20°×8°/100°]=18.88 dy/dδ

=-150sin8°+132[sin8°+2×20°×64°/100°+13.59°][1+4×20°×8°/100°]=-45.60

Sinθ5=(dx/dδ)dx/df2+(dy/df)2=0.383 Cosθ5=-(dy/dδ)/√dx/df2+(dy/df)2=0.924 X5'=X5--rrCosθ5=-80.58 Y5'=y5-rrSinθ5=56.925

δ=10︒ dx/dδ

=150cos10°-132[cos10°+2×20°×100°/100°+13.59°][1+4×20°×10°/100°]=259.28

dy/dδ

=-150sin10°+132[sin10°+2×20°×100°/100°+13.59°][1+4×20°×100°/100°]=-96.60

Sinθ6=(dx/dδ)dx/df2+(dy/df)2=0.937 Cosθ6=-(dy/dδ)/√dx/df2+(dy/df)2=-0.349 X6'=X6—rrCosθ6=-93.925 Y6'=y6-rrSinθ6=84.325

九、计算机编程清单

加速度与速度编程

! FIG1-6

!open #1:name"TWO2",create newold !erase #1 OPTION NOLET

FOR QO2A=0 TO 360 STEP 2

CALL LINK(0, 0, 0, 0, 0, 0, QO2A*PI/180, 4.8147, 0, 70, XA, YA, VAX, VAY, AAX, AAY)

CALL RPR(0,-161,0,0,0,0,0,XA,YA,VAX,VAY,AAX,AAY,0,QO4A,W4,E4) QO4B=QO4A+PI

CALL LINK(-161, 0, 0, 0, 0, 0, QO4B, W4, E4, 115, XB, YB, VBX, VBY, ABX, ABY)

CALL RRP1(+1, -276.4,46 ,XB, VBX, ABX, QBC, W5, E5)

CALL LINK(XB, YB, VBX, VBY, ABX, ABY, QBC, W5, E5, 46, XC, YC, VCX, VCY, ACX, ACY)

PRINT QO2A, W4, W5, YC, VCY, ACY

!print #1:"QO2A";","; "W4";","; "W5";","; "YC";","; "VCY";","; "ACY";

!PRINT #1:STR$(QO2A);","; STR$(W4);","; STR$(W5);","; STR$(YC);","; STR$(VCY);","; STR$(ACY) NEXT QO2A END

SUB LINK(XA,YA,VAX,VAY,AAX,AAY,QAB,W,E,L,XB,YB,VBX,VBY,ABX,ABY) XB=XA+L*COS(QAB) YB=YA+L*SIN(QAB) VBX=VAX-L*SIN(QAB)*W VBY=VAY+L*COS(QAB)*W

ABX=AAX-L*COS(QAB)*W^2-L*SIN(QAB)*E ABY=AAY-L*SIN(QAB)*W^2+L*COS(QAB)*E END SUB

SUB RPR(M,XA,YA,VAX,VAY,AAX,AAY,XC,YC,VCX,VCY,ACX,ACY,LAB,QBD,W,E) LAC=SQR((XC-XA)^2+(YC-YA)^2) COSQAC=(XC-XA)/LAC SINQAC=(YC-YA)/LAC

QAC=ANGLE(COSQAC,SINQAC) LBC=SQR(LAC^2-LAB^2) QACB=ATN(LAB/LBC) QBD=QAC+M*QACB

DELTA=-(YC-YA)*SIN(QBD)-(XC-XA)*COS(QBD) DELTAW=(VCX-VAX)*SIN(QBD)-(VCY-VAY)*COS(QBD)

DELTAV=-(YC-YA)*(VCY-VAY)-(XC-XA)*(VCX-VAX) W=DELTAW/DELTA VLBC=DELTAV/DELTA

T1=(ACX-AAX)+(VCY-VAY)*W+SIN(QBD)*W*VLBC T2=(ACY-AAY)-(VCX-VAX)*W-COS(QBD)*W*VLBC DELTAE=T1*SIN(QBD)-T2*COS(QBD) E=DELTAE/DELTA END SUB

SUB RRP1(M,XB,LAB,XA,VAX,AAX,QAB,W,E) ! THE GUIDEWAY IS VERTICAL

! B IS THE REVOLUTE BETWEEN COUPLER AND SLIDING BLOCK ! IF YB>YA THEN M=+1,OTHERWISE, M=-1 COSQAB=(XB-XA)/LAB

SINQAB=M*SQR(1-COSQAB^2) QAB=ANGLE(COSQAB,SINQAB) W=VAX/(LAB*SINQAB)

E=(AAX*SINQAB-VAX*COSQAB*W)/(LAB*SINQAB^2) END SUB

加速度与速度清单

QO2A,W4,W5,YC,VCY,ACY0,1.459,-2.06677e-15,45.9983,-167.785,-2.12876 QO2A,W4,W5,YC,VCY,ACY2,1.45876,3.85745e-2,44.7819,-167.763,8.10281 QO2A,W4,W5,YC,VCY,ACY4,1.45802,7.70934e-2,43.5659,-167.668,18.1384 QO2A,W4,W5,YC,VCY,ACY6,1.4568,.115501,42.3508,-167.501,27.9859 QO2A,W4,W5,YC,VCY,ACY8,1.45509,.153741,41.1373,-167.263,37.6545 QO2A,W4,W5,YC,VCY,ACY10,1.45287,.191759,39.9257,-166.955,47.1553 QO2A,W4,W5,YC,VCY,ACY12,1.45016,.229497,38.7166,-166.579,56.5008 QO2A,W4,W5,YC,VCY,ACY14,1.44695,.2669,37.5105,-166.136,65.7053 QO2A,W4,W5,YC,VCY,ACY16,1.44322,.303912,36.3078,-165.627,74.7847 QO2A,W4,W5,YC,VCY,ACY18,1.43898,.340475,35.109,-165.052,83.7566 QO2A,W4,W5,YC,VCY,ACY20,1.43421,.376534,33.9147,-164.413,92.6405 QO2A,W4,W5,YC,VCY,ACY22,1.42891,.41203,32.7252,-163.709,101.457 QO2A,W4,W5,YC,VCY,ACY24,1.42305,.446905,31.5411,-162.942,110.23 QO2A,W4,W5,YC,VCY,ACY26,1.41665,.481102,30.3627,-162.111,118.984 QO2A,W4,W5,YC,VCY,ACY28,1.40967,.514562,29.1906,-161.216,127.745 QO2A,W4,W5,YC,VCY,ACY30,1.40211,.547223,28.0252,-160.258,136.543 QO2A,W4,W5,YC,VCY,ACY32,1.39395,.579027,26.867,-159.236,145.407 QO2A,W4,W5,YC,VCY,ACY34,1.38518,.60991,25.7165,-158.15,154.37 QO2A,W4,W5,YC,VCY,ACY36,1.37578,.639811,24.574,-156.998,163.467 QO2A,W4,W5,YC,VCY,ACY38,1.36573,.668665,23.4401,-155.779,172.735 QO2A,W4,W5,YC,VCY,ACY40,1.355,.696406,22.3154,-154.492,182.212 QO2A,W4,W5,YC,VCY,ACY42,1.34358,.722967,21.2002,-153.136,191.939 QO2A,W4,W5,YC,VCY,ACY44,1.33145,.748278,20.0951,-151.709,201.96

QO2A,W4,W5,YC,VCY,ACY46,1.31857,.77227,19.0006,-150.207,212.322 QO2A,W4,W5,YC,VCY,ACY48,1.30492,.794867,17.9173,-148.629,223.071 QO2A,W4,W5,YC,VCY,ACY50,1.29048,.815995,16.8457,-146.971,234.258 QO2A,W4,W5,YC,VCY,ACY52,1.2752,.835573,15.7864,-145.231,245.938 QO2A,W4,W5,YC,VCY,ACY54,1.25906,.853522,14.74,-143.404,258.166 QO2A,W4,W5,YC,VCY,ACY56,1.24202,.869755,13.7072,-141.486,271.001 QO2A,W4,W5,YC,VCY,ACY58,1.22404,.884184,12.6887,-139.473,284.505 QO2A,W4,W5,YC,VCY,ACY60,1.20508,.896717,11.6851,-137.359,298.742 QO2A,W4,W5,YC,VCY,ACY62,1.18509,.907259,10.6972,-135.139,313.779 QO2A,W4,W5,YC,VCY,ACY64,1.16404,.915709,9.72587,-132.807,329.688 QO2A,W4,W5,YC,VCY,ACY66,1.14187,.921963,8.77183,-130.356,346.542 QO2A,W4,W5,YC,VCY,ACY68,1.11853,.925913,7.836,-127.78,364.416 QO2A,W4,W5,YC,VCY,ACY70,1.09396,.927443,6.91934,-125.07,383.391 QO2A,W4,W5,YC,VCY,ACY72,1.06811,.926437,6.02284,-122.218,403.548 QO2A,W4,W5,YC,VCY,ACY74,1.0409,.922772,5.14755,-119.215,424.972 QO2A,W4,W5,YC,VCY,ACY76,1.01227,.916318,4.2946,-116.052,447.751 QO2A,W4,W5,YC,VCY,ACY78,.982154,.906945,3.4652,-112.719,471.973 QO2A,W4,W5,YC,VCY,ACY80,.950466,.894515,2.66061,-109.205,497.731 QO2A,W4,W5,YC,VCY,ACY82,.917128,.878888,1.88219,-105.498,525.115 QO2A,W4,W5,YC,VCY,ACY84,.882052,.859918,1.13138,-101.587,554.22 QO2A,W4,W5,YC,VCY,ACY86,.845148,.837458,.409707,-97.4577,585.138 QO2A,W4,W5,YC,VCY,ACY88,.806316,.811358,-.2812,-93.0976,617.962 QO2A,W4,W5,YC,VCY,ACY90,.765453,.781467,-.939617,-88.4924,652.783 QO2A,W4,W5,YC,VCY,ACY92,.72245,.747634,-1.56371,-83.6272,689.688 QO2A,W4,W5,YC,VCY,ACY94,.67719,.70971,-2.15155,-78.4867,728.759 QO2A,W4,W5,YC,VCY,ACY96,.629552,.66755,-2.70107,-73.0548,770.076 QO2A,W4,W5,YC,VCY,ACY98,.579405,.621014,-3.2101,-67.315,813.708 QO2A,W4,W5,YC,VCY,ACY100,.526614,.569971,-3.67635,-61.2503,859.715 QO2A,W4,W5,YC,VCY,ACY102,.471037,.514302,-4.0974,-54.8433,908.147 QO2A,W4,W5,YC,VCY,ACY104,.412524,.453903,-4.47071,-48.0762,959.04 QO2A,W4,W5,YC,VCY,ACY106,.35092,.388692,-4.79359,-40.9312,1012.41 QO2A,W4,W5,YC,VCY,ACY108,.286063,.318608,-5.06325,-33.3902,1068.27 QO2A,W4,W5,YC,VCY,ACY110,.217786,.243622,-5.27675,-25.4354,1126.58 QO2A,W4,W5,YC,VCY,ACY112,.145918,.163741,-5.43102,-17.049,1187.31 QO2A,W4,W5,YC,VCY,ACY114,7.02817e-2,7.90135e-2,-5.52288,-8.21378,1250.37

QO2A,W4,W5,YC,VCY,ACY116,-9.2989e-3,-1.04597e-2,-5.549,1.08684,1315.68

QO2A,W4,W5,YC,VCY,ACY118,-9.30021e-2,-.104521,-5.50595,10.8686,1383.08

QO2A,W4,W5,YC,VCY,ACY120,-.181004,-.202944,-5.3902,21.1461,1452.39 QO2A,W4,W5,YC,VCY,ACY122,-.273474,-.305426,-5.19811,31.9324,1523.41 QO2A,W4,W5,YC,VCY,ACY124,-.370576,-.411578,-4.92593,43.239,1595.86 QO2A,W4,W5,YC,VCY,ACY126,-.472458,-.520912,-4.56986,55.0751,1669.42

QO2A,W4,W5,YC,VCY,ACY128,-.579249,-.632829,-4.12604,67.4474,1743.71 QO2A,W4,W5,YC,VCY,ACY130,-.691055,-.746611,-3.59057,80.3596,1818.28 QO2A,W4,W5,YC,VCY,ACY132,-.807947,-.861409,-2.95952,93.8119,1892.63 QO2A,W4,W5,YC,VCY,ACY134,-.929956,-.976229,-2.229,107.801,1966.13 QO2A,W4,W5,YC,VCY,ACY136,-1.05706,-1.08992,-1.39514,122.317,2038.1 QO2A,W4,W5,YC,VCY,ACY138,-1.18917,-1.20118,-.454156,137.347,2107.71 QO2A,W4,W5,YC,VCY,ACY140,-1.32613,-1.30853,.597595,152.871,2174.02 QO2A,W4,W5,YC,VCY,ACY142,-1.46768,-1.41033,1.7636,168.86,2235.93 QO2A,W4,W5,YC,VCY,ACY144,-1.61346,-1.50475,3.0471,185.278,2292.18 QO2A,W4,W5,YC,VCY,ACY146,-1.76299,-1.58982,4.45106,202.08,2341.31 QO2A,W4,W5,YC,VCY,ACY148,-1.91564,-1.66343,5.97805,219.206,2381.62 QO2A,W4,W5,YC,VCY,ACY150,-2.07065,-1.72335,7.63017,236.587,2411.19 QO2A,W4,W5,YC,VCY,ACY152,-2.22707,-1.7673,9.40897,254.137,2427.84 QO2A,W4,W5,YC,VCY,ACY154,-2.38379,-1.79295,11.3153,271.754,2429.11 QO2A,W4,W5,YC,VCY,ACY156,-2.53952,-1.79806,13.3493,289.316,2412.33 QO2A,W4,W5,YC,VCY,ACY158,-2.69278,-1.78056,15.5099,306.682,2374.57 QO2A,W4,W5,YC,VCY,ACY160,-2.84194,-1.73861,17.7953,323.689,2312.82 QO2A,W4,W5,YC,VCY,ACY162,-2.98522,-1.67079,20.2021,340.152,2224.01 QO2A,W4,W5,YC,VCY,ACY164,-3.12073,-1.57619,22.7257,355.865,2105.27 QO2A,W4,W5,YC,VCY,ACY166,-3.24649,-1.45454,25.3598,370.6,1954.08 QO2A,W4,W5,YC,VCY,ACY168,-3.36054,-1.30638,28.0964,384.116,1768.58 QO2A,W4,W5,YC,VCY,ACY170,-3.46095,-1.13308,30.9259,396.159,1547.87 QO2A,W4,W5,YC,VCY,ACY172,-3.54592,-.936947,33.8366,406.476,1292.32 QO2A,W4,W5,YC,VCY,ACY174,-3.61383,-.721184,36.815,414.818,1003.84 QO2A,W4,W5,YC,VCY,ACY176,-3.66336,-.489845,39.8461,420.961,686.099 QO2A,W4,W5,YC,VCY,ACY178,-3.6935,-.247693,42.9132,424.709,344.53 QO2A,W4,W5,YC,VCY,ACY180,-3.70362,1.13441e-15,45.9983,425.916,-13.7173

QO2A,W4,W5,YC,VCY,ACY182,-3.6935,.247693,49.0826,424.49,-380.107 QO2A,W4,W5,YC,VCY,ACY184,-3.66336,.489845,52.1469,420.407,-745.176 QO2A,W4,W5,YC,VCY,ACY186,-3.61383,.721184,55.1722,413.712,-1099.14 QO2A,W4,W5,YC,VCY,ACY188,-3.54592,.936947,58.1397,404.52,-1432.54 QO2A,W4,W5,YC,VCY,ACY190,-3.46095,1.13308,61.0321,393.011,-1736.91 QO2A,W4,W5,YC,VCY,ACY192,-3.36054,1.30638,63.8334,379.422,-2005.28 QO2A,W4,W5,YC,VCY,ACY194,-3.24649,1.45454,66.5294,364.033,-2232.59 QO2A,W4,W5,YC,VCY,ACY196,-3.12073,1.57619,69.1082,347.156,-2415.83 QO2A,W4,W5,YC,VCY,ACY198,-2.98522,1.67079,71.5603,329.113,-2554.09 QO2A,W4,W5,YC,VCY,ACY200,-2.84194,1.73861,73.8783,310.228,-2648.32 QO2A,W4,W5,YC,VCY,ACY202,-2.69278,1.78056,76.0573,290.812,-2701.08 QO2A,W4,W5,YC,VCY,ACY204,-2.53952,1.79806,78.0945,271.153,-2716.14 QO2A,W4,W5,YC,VCY,ACY206,-2.38379,1.79295,79.9891,251.508,-2698.1 QO2A,W4,W5,YC,VCY,ACY208,-2.22707,1.7673,81.742,232.099,-2652.03 QO2A,W4,W5,YC,VCY,ACY210,-2.07065,1.72335,83.3556,213.109,-2583.1 QO2A,W4,W5,YC,VCY,ACY212,-1.91564,1.66343,84.8334,194.687,-2496.38

QO2A,W4,W5,YC,VCY,ACY214,-1.76299,1.58982,86.1802,176.943,-2396.56 QO2A,W4,W5,YC,VCY,ACY216,-1.61346,1.50475,87.401,159.958,-2287.89 QO2A,W4,W5,YC,VCY,ACY218,-1.46768,1.41033,88.5015,143.781,-2174.07 QO2A,W4,W5,YC,VCY,ACY220,-1.32613,1.30853,89.4878,128.439,-2058.22 QO2A,W4,W5,YC,VCY,ACY222,-1.18917,1.20118,90.3659,113.936,-1942.89 QO2A,W4,W5,YC,VCY,ACY224,-1.05706,1.08992,91.1419,100.261,-1830.11 QO2A,W4,W5,YC,VCY,ACY226,-.929956,.976229,91.8216,87.3893,-1721.42 QO2A,W4,W5,YC,VCY,ACY228,-.807947,.861409,92.4109,75.2875,-1617.93 QO2A,W4,W5,YC,VCY,ACY230,-.691055,.746611,92.9151,63.9148,-1520.39 QO2A,W4,W5,YC,VCY,ACY232,-.579249,.632829,93.3393,53.2264,-1429.24 QO2A,W4,W5,YC,VCY,ACY234,-.472458,.520912,93.6884,43.1749,-1344.67 QO2A,W4,W5,YC,VCY,ACY236,-.370576,.411578,93.9668,33.7127,-1266.68 QO2A,W4,W5,YC,VCY,ACY238,-.273474,.305426,94.1785,24.7925,-1195.11 QO2A,W4,W5,YC,VCY,ACY240,-.181004,.202944,94.3274,16.3686,-1129.7 QO2A,W4,W5,YC,VCY,ACY242,-9.30021e-2,.104521,94.417,8.39776,-1070.09 QO2A,W4,W5,YC,VCY,ACY244,-9.2989e-3,1.04597e-2,94.4502,.839186,-1015.9

QO2A,W4,W5,YC,VCY,ACY246,7.02817e-2,-7.90135e-2,94.43,-6.34479,-966.683

QO2A,W4,W5,YC,VCY,ACY248,.145918,-.163741,94.359,-13.1887,-922.013 QO2A,W4,W5,YC,VCY,ACY250,.217786,-.243622,94.2395,-19.7239,-881.451 QO2A,W4,W5,YC,VCY,ACY252,.286063,-.318608,94.0737,-25.9786,-844.572 QO2A,W4,W5,YC,VCY,ACY254,.35092,-.388692,93.8635,-31.9781,-810.971 QO2A,W4,W5,YC,VCY,ACY256,.412524,-.453903,93.6106,-37.7447,-780.267 QO2A,W4,W5,YC,VCY,ACY258,.471037,-.514302,93.3167,-43.2981,-752.106 QO2A,W4,W5,YC,VCY,ACY260,.526614,-.569971,92.9832,-48.6556,-726.163 QO2A,W4,W5,YC,VCY,ACY262,.579405,-.621014,92.6116,-53.8322,-702.142 QO2A,W4,W5,YC,VCY,ACY264,.629552,-.66755,92.2031,-58.8407,-679.778 QO2A,W4,W5,YC,VCY,ACY266,.67719,-.70971,91.7588,-63.6924,-658.831 QO2A,W4,W5,YC,VCY,ACY268,.72245,-.747634,91.2799,-68.3967,-639.09 QO2A,W4,W5,YC,VCY,ACY270,.765453,-.781467,90.7674,-72.9616,-620.368 QO2A,W4,W5,YC,VCY,ACY272,.806316,-.811358,90.2223,-77.3941,-602.501 QO2A,W4,W5,YC,VCY,ACY274,.845148,-.837458,89.6455,-81.6996,-585.346 QO2A,W4,W5,YC,VCY,ACY276,.882052,-.859918,89.0379,-85.883,-568.78 QO2A,W4,W5,YC,VCY,ACY278,.917128,-.878888,88.4005,-89.9481,-552.697 QO2A,W4,W5,YC,VCY,ACY280,.950466,-.894515,87.734,-93.8981,-537.005 QO2A,W4,W5,YC,VCY,ACY282,.982154,-.906945,87.0392,-97.7354,-521.628 QO2A,W4,W5,YC,VCY,ACY284,1.01227,-.916318,86.3171,-101.462,-506.502 QO2A,W4,W5,YC,VCY,ACY286,1.0409,-.922772,85.5683,-105.08,-491.574 QO2A,W4,W5,YC,VCY,ACY288,1.06811,-.926437,84.7937,-108.59,-476.798 QO2A,W4,W5,YC,VCY,ACY290,1.09396,-.927443,83.994,-111.994,-462.139 QO2A,W4,W5,YC,VCY,ACY292,1.11853,-.925913,83.17,-115.292,-447.57 QO2A,W4,W5,YC,VCY,ACY294,1.14187,-.921963,82.3225,-118.484,-433.068 QO2A,W4,W5,YC,VCY,ACY296,1.16404,-.915709,81.4522,-121.571,-418.616

QO2A,W4,W5,YC,VCY,ACY298,1.18509,-.907259,80.56,-124.554,-404.204 QO2A,W4,W5,YC,VCY,ACY300,1.20508,-.896717,79.6464,-127.432,-389.823 QO2A,W4,W5,YC,VCY,ACY302,1.22404,-.884184,78.7124,-130.207,-375.471 QO2A,W4,W5,YC,VCY,ACY304,1.24202,-.869755,77.7587,-132.877,-361.145 QO2A,W4,W5,YC,VCY,ACY306,1.25906,-.853522,76.786,-135.443,-346.848 QO2A,W4,W5,YC,VCY,ACY308,1.2752,-.835573,75.795,-137.906,-332.583 QO2A,W4,W5,YC,VCY,ACY310,1.29048,-.815995,74.7866,-140.266,-318.356 QO2A,W4,W5,YC,VCY,ACY312,1.30492,-.794867,73.7614,-142.522,-304.175 QO2A,W4,W5,YC,VCY,ACY314,1.31857,-.77227,72.7203,-144.676,-290.046 QO2A,W4,W5,YC,VCY,ACY316,1.33145,-.748278,71.6639,-146.728,-275.98 QO2A,W4,W5,YC,VCY,ACY318,1.34358,-.722967,70.593,-148.678,-261.987 QO2A,W4,W5,YC,VCY,ACY320,1.355,-.696406,69.5083,-150.527,-248.076 QO2A,W4,W5,YC,VCY,ACY322,1.36573,-.668665,68.4105,-152.276,-234.259 QO2A,W4,W5,YC,VCY,ACY324,1.37578,-.639811,67.3005,-153.924,-220.548 QO2A,W4,W5,YC,VCY,ACY326,1.38518,-.60991,66.1789,-155.474,-206.952 QO2A,W4,W5,YC,VCY,ACY328,1.39395,-.579027,65.0464,-156.925,-193.482 QO2A,W4,W5,YC,VCY,ACY330,1.40211,-.547223,63.9037,-158.28,-180.151 QO2A,W4,W5,YC,VCY,ACY332,1.40967,-.514562,62.7516,-159.538,-166.967 QO2A,W4,W5,YC,VCY,ACY334,1.41665,-.481102,61.5906,-160.701,-153.942 QO2A,W4,W5,YC,VCY,ACY336,1.42305,-.446905,60.4216,-161.77,-141.084 QO2A,W4,W5,YC,VCY,ACY338,1.42891,-.41203,59.2452,-162.747,-128.402 QO2A,W4,W5,YC,VCY,ACY340,1.43421,-.376534,58.062,-163.633,-115.904 QO2A,W4,W5,YC,VCY,ACY342,1.43898,-.340475,56.8727,-164.428,-103.597 QO2A,W4,W5,YC,VCY,ACY344,1.44322,-.303912,55.678,-165.135,-91.4883 QO2A,W4,W5,YC,VCY,ACY346,1.44695,-.2669,54.4785,-165.755,-79.5823 QO2A,W4,W5,YC,VCY,ACY348,1.45016,-.229497,53.2748,-166.29,-67.8833 QO2A,W4,W5,YC,VCY,ACY350,1.45287,-.191759,52.0675,-166.74,-56.3946 QO2A,W4,W5,YC,VCY,ACY352,1.45509,-.153741,50.8572,-167.108,-45.1182 QO2A,W4,W5,YC,VCY,ACY354,1.4568,-.115501,49.6446,-167.395,-34.0546 QO2A,W4,W5,YC,VCY,ACY356,1.45802,-7.70934e-2,48.4302,-167.602,-23.2034

QO2A,W4,W5,YC,VCY,ACY358,1.45876,-3.85745e-2,47.2146,-167.732,-12.5626

QO2A,W4,W5,YC,VCY,ACY360,1.459,-3.68664e-15,45.9983,-167.785,-2.12876

动画编程

! FIG3-10

SET WINDOW -300,150,-130,150

OPTION NOLET

W1=4.8147

XO2=0

YO2=0

XC=-276.4

YO4=0

LO2A=70

LO4B=115

LBC=46

R=5

FOR QO2A=0 TO 360 STEP 2

CALL LINK(0, 0, 0, 0, 0, 0, QO2A*PI/180, 4.8147, 0, 70, XA, YA, VAX, VAY, AAX, AAY)

CALL RPR(0,-161,0,0,0,0,0,XA,YA,VAX,VAY,AAX,AAY,0,QO4A,W4,E4) QO4B=QO4A+PI

CALL LINK(-161, 0, 0, 0, 0, 0, QO4B, W4, E4, 115, XB, YB, VBX, VBY, ABX, ABY)

CALL RRP1(+1, -276.4, 46,XB, VBX, ABX, QBC, W5, E5)

CALL LINK(XB, YB, VBX, VBY, ABX, ABY, QBC, W5, E5, 46, XC, YC, VCX, VCY, ACX, ACY)

CLEAR

PLOT XO2,YO2;XA,YA;XO4,YO4 !draw O2A

!draw AO4

PLOT XO4,YO4;XB,YB !draw O4B

PLOT XB,YB;XC,YC !draw BC

BOX CIRCLE -R,R,-R,R !draw a circle centred at point O2 PLOT TEXT, AT XO2+1,YO2:"O2" !write a letter O2 at point O2

BOX CIRCLE XA-R,XA+R,YA-R,YA+R !draw a circle centred at point A PLOT TEXT, AT XA+1,YA:"A" !write a letter A at point A BOX CIRCLE XB-R,XB+R,YB-R,YB+R

PLOT TEXT, AT XB+1,YB:"B"

BOX CIRCLE XC-R,XC+R,YC-R,YC+R

PLOT TEXT, AT XC+1,YC:"C"

BOX CIRCLE XO4-R,XO4+R,YO4-R,YO4+R

PLOT TEXT, AT XO4+1,YO4:"O4"

PAUSE 0.04

NEXT QO2A

END

SUB LINK(XA,YA,VAX,VAY,AAX,AAY,QAB,W,E,L,XB,YB,VBX,VBY,ABX,ABY) XB=XA+L*COS(QAB)

YB=YA+L*SIN(QAB)

VBX=VAX-L*SIN(QAB)*W

VBY=VAY+L*COS(QAB)*W

ABX=AAX-L*COS(QAB)*W^2-L*SIN(QAB)*E

ABY=AAY-L*SIN(QAB)*W^2+L*COS(QAB)*E

SUB RPR(M,XA,YA,VAX,VAY,AAX,AAY,XC,YC,VCX,VCY,ACX,ACY,LAB,QBD,W,E) LAC=SQR((XC-XA)^2+(YC-YA)^2)

COSQAC=(XC-XA)/LAC

SINQAC=(YC-YA)/LAC

QAC=ANGLE(COSQAC,SINQAC)

LBC=SQR(LAC^2-LAB^2)

QACB=ATN(LAB/LBC)

QBD=QAC+M*QACB

DELTA=-(YC-YA)*SIN(QBD)-(XC-XA)*COS(QBD)

DELTAW=(VCX-VAX)*SIN(QBD)-(VCY-VAY)*COS(QBD)

DELTAV=-(YC-YA)*(VCY-VAY)-(XC-XA)*(VCX-VAX)

W=DELTAW/DELTA

VLBC=DELTAV/DELTA

T1=(ACX-AAX)+(VCY-VAY)*W+SIN(QBD)*W*VLBC

T2=(ACY-AAY)-(VCX-VAX)*W-COS(QBD)*W*VLBC

DELTAE=T1*SIN(QBD)-T2*COS(QBD)

E=DELTAE/DELTA

END SUB

SUB RRP1(M,XB,LAB,XA,VAX,AAX,QAB,W,E)

! THE GUIDEWAY IS VERTICAL

! B IS THE REVOLUTE BETWEEN COUPLER AND SLIDING BLOCK

! IF YB>YA THEN M=+1,OTHERWISE, M=-1

COSQAB=(XB-XA)/LAB

SINQAB=M*SQR(1-COSQAB^2)

QAB=ANGLE(COSQAB,SINQAB)

W=VAX/(LAB*SINQAB)

E=(AAX*SINQAB-VAX*COSQAB*W)/(LAB*SINQAB^2)

END SUB

三线图编程

! CREATE SCR FILE TO DRAW QFG-QED, W4-QED, E4-QED CURVES

! FOR FIG.3-10 IN P.37

!OPEN #1:NAME "SVA3-10.SCR", CREATE NEWOLD

!ERASE #1

SET WINDOW 0,500,-300,300

OPTION NOLET

W1=10

XE=0

YE=0

XB=41

YB=0

XF=0

YF=-34

LED=14

LDA=39

LBA=28

ADC=35

LDC=15

LFG=55

PLOT 0,0;360,0

PLOT 0,200;0,-200

! DRAW QFG-QED CURVE

!PRINT #1:"PLINE ";

FOR QO2A=0 TO 360 STEP 2

CALL LINK(0, 0, 0, 0, 0, 0, QO2A*PI/180, 4.8147, 0, 70, XA, YA, VAX, VAY, AAX, AAY)

CALL RPR(0,-161,0,0,0,0,0,XA,YA,VAX,VAY,AAX,AAY,0,QO4A,W4,E4) QO4B=QO4A+PI

CALL LINK(-161, 0, 0, 0, 0, 0, QO4B, W4, E4, 115, XB, YB, VBX, VBY, ABX, ABY)

CALL RRP1(+1, -276.4, 46,XB, VBX, ABX, QBC, W5, E5)

CALL LINK(XB, YB, VBX, VBY, ABX, ABY, QBC, W5, E5, 46, XC, YC, VCX, VCY, ACX, ACY)

PLOT QO2A,YC;

! PRINT #1:STR$(QED);",";STR$(QFG*180/PI)

NEXT QO2A

PLOT

! PRINT #1:

! DRAW W4-QED CURVE

!PRINT #1:"PLINE ";

FOR QO2A=0 TO 360 STEP 2

CALL LINK(0, 0, 0, 0, 0, 0, QO2A*PI/180, 4.8147, 0, 70, XA, YA, VAX, VAY, AAX, AAY)

CALL RPR(0,-161,0,0,0,0,0,XA,YA,VAX,VAY,AAX,AAY,0,QO4A,W4,E4) QO4B=QO4A+PI

CALL LINK(-161, 0, 0, 0, 0, 0, QO4B, W4, E4, 115, XB, YB, VBX, VBY, ABX, ABY)

CALL RRP1(+1, -276.4, 46,XB, VBX, ABX, QBC, W5, E5)

CALL LINK(XB, YB, VBX, VBY, ABX, ABY, QBC, W5, E5, 46, XC, YC, VCX, VCY, ACX, ACY)

PLOT QO2A,VCY*0.2;

! PRINT #1:STR$(QED);",";STR$(W4*17)

NEXT QO2A

PLOT

! PRINT #1:

! DRAW E4-QED CURVE

!PRINT #1:"PLINE ";

FOR QO2A=0 TO 360 STEP 2

CALL LINK(0, 0, 0, 0, 0, 0, QO2A*PI/180, 4.8147, 0, 70, XA, YA, VAX, VAY, AAX, AAY)

CALL RPR(0,-161,0,0,0,0,0,XA,YA,VAX,VAY,AAX,AAY,0,QO4A,W4,E4) QO4B=QO4A+PI

CALL LINK(-161, 0, 0, 0, 0, 0, QO4B, W4, E4, 115, XB, YB, VBX, VBY, ABX, ABY)

CALL RRP1(+1, -276.4, 46,XB, VBX, ABX, QBC, W5, E5)

CALL LINK(XB, YB, VBX, VBY, ABX, ABY, QBC, W5, E5, 46, XC, YC, VCX, VCY, ACX, ACY)

PLOT QO2A,ACY*0.02;

! PRINT #1:STR$(QED);",";STR$(E4*1.4)

NEXT QO2A

PLOT

! PRINT #1:

END

SUB LINK(XA,YA,VAX,VAY,AAX,AAY,QAB,W,E,L,XB,YB,VBX,VBY,ABX,ABY) XB=XA+L*COS(QAB)

YB=YA+L*SIN(QAB)

VBX=VAX-L*SIN(QAB)*W

VBY=VAY+L*COS(QAB)*W

ABX=AAX-L*COS(QAB)*W^2-L*SIN(QAB)*E

ABY=AAY-L*SIN(QAB)*W^2+L*COS(QAB)*E

END SUB

SUB

RRR(XA,YA,VAX,VAY,AAX,AAY,XC,YC,VCX,VCY,ACX,ACY,LAB,LCB,QAB,WAB,EAB,QCB,WCB,ECB)

LAC=SQR((XC-XA)^2+(YC-YA)^2)

COSQAC=(XC-XA)/LAC

SINQAC=(YC-YA)/LAC

QAC=ANGLE(COSQAC,SINQAC)

COSQCBA=(LAB^2+LAC^2-LCB^2)/(2*LAB*LAC)

SINQCBA=SQR(1-COSQCBA^2)

QCBA=ANGLE(COSQCBA,SINQCBA)

QAB=QAC-QCBA

XB=XA+LAB*COS(QAB)

YB=YA+LAB*SIN(QAB)

COSQCB=(XB-XC)/LCB

SINQCB=(YB-YC)/LCB

QCB=ANGLE(COSQCB,SINQCB)

WAB=((VAX-VCX)*COSQCB+(VAY-VCY)*SINQCB)/LAB/SIN(QAB-QCB) WCB=((VAX-VCX)*COS(QAB)+(VAY-VCY)*SIN(QAB))/LCB/SIN(QAB-QCB) G=AAX-ACX-LAB*COS(QAB)*WAB^2+LCB*COSQCB*WCB^2

F=AAY-ACY-LAB*SIN(QAB)*WAB^2+LCB*SINQCB*WCB^2

EAB=(G*COSQCB+F*SINQCB)/LAB/SIN(QAB-QCB)

ECB=(G*COS(QAB)+F*SIN(QAB))/LCB/SIN(QAB-QCB)

END SUB

SUB RPR(M,XA,YA,VAX,VAY,AAX,AAY,XC,YC,VCX,VCY,ACX,ACY,LAB,QBD,W,E) LAC=SQR((XC-XA)^2+(YC-YA)^2)

COSQAC=(XC-XA)/LAC

SINQAC=(YC-YA)/LAC

QAC=ANGLE(COSQAC,SINQAC)

LBC=SQR(LAC^2-LAB^2)

QACB=ATN(LAB/LBC)

QBD=QAC+M*QACB

DELTA=-(YC-YA)*SIN(QBD)-(XC-XA)*COS(QBD)

DELTAW=(VCX-VAX)*SIN(QBD)-(VCY-VAY)*COS(QBD)

DELTAV=-(YC-YA)*(VCY-VAY)-(XC-XA)*(VCX-VAX)

W=DELTAW/DELTA

VLBC=DELTAV/DELTA

T1=(ACX-AAX)+(VCY-VAY)*W+SIN(QBD)*W*VLBC

T2=(ACY-AAY)-(VCX-VAX)*W-COS(QBD)*W*VLBC

DELTAE=T1*SIN(QBD)-T2*COS(QBD)

E=DELTAE/DELTA

END SUB

SUB RRP(M,YB,LAB,YA,VAY,AAY,QAB,W,E)

! THE GUIDEWAY IS HORIZONTAL

! B IS THE REVOLUTE BETWEEN COUPLER AND SLIDING BLOCK

! IF XB>XA THEN M=+1,OTHERWISE, M=-1

SINQAB=(YB-YA)/LAB

COSQAB=M*SQR(1-SINQAB^2)

QAB=ANGLE(COSQAB,SINQAB)

W=-VAY/(LAB*COSQAB)

E=(-AAY*COSQAB-VAY*SINQAB*W)/(LAB*COSQAB^2)

END SUB

SUB RRP1(M,XB,LAB,XA,VAX,AAX,QAB,W,E)

! THE GUIDEWAY IS VERTICAL

! B IS THE REVOLUTE BETWEEN COUPLER AND SLIDING BLOCK

! IF YB>YA THEN M=+1,OTHERWISE, M=-1

COSQAB=(XB-XA)/LAB

SINQAB=M*SQR(1-COSQAB^2)

QAB=ANGLE(COSQAB,SINQAB)

W=VAX/(LAB*SINQAB)

E=(AAX*SINQAB-VAX*COSQAB*W)/(LAB*SINQAB^2)

END SUB

十、连杆机构力分析

滑块质量为44KG，导杆的质量22KG，其质心转动惯量1.2KG*M²，质心在杆长适宜处，其余构件的质量和转动惯量忽略不计。

滑块6和连杆5进行分析：

由ΣMc=0,可知Ft Rbc=0,在竖直方向上： Σ

Fy=Fic+Gc+Fr=44*ac=44ac+44*10+9800=10440.365N 取μ=100画出力的多边形图可得Frc=437.3N, FR56=10449.5N,

对于连杆5，因为连杆5为二力杆，连杆5的运动副反力为1.449.5N。

对滑块3和导杆4进行分析，取杆4中点为质点，可得在距离O4右边的0.67处，可得

FI4=m4*a4=22*0.67/162*1.748=0.159，方向与as4相反，垂直于导杆向上。

惯性力偶矩：

MI4=Js4*α4,

α4=a13/LBO4=1.748/162*0.001=10.79m/s²

MI4=JS4*α4=1.1*10.79=11.869,方向与α4相反，为逆时针方向。

对A点取矩得sin69.47*LAB*FR54*0.001+sin64.3（lo4A+0.56*G*0.001-FtRO4*(Lao4-0.56)*0.001+Mz4=0

可得FtR04=15045.43N.下图为导杆4的受力情况，其中FI4忽略不计。

O4点运动副反力为16723N，

A点运动副反力为9054N。

由二力杆可知O2的运动副反力为9054N。

当滑块A在下极位时:

有向上的阻力，与加速度方向相反的惯性，重力，滑块的运动副反力，连杆5对滑块6的反力，如图

ΣFy=FR+FIC-Gc=9800=44*ac-44*10=9340.3N FRc=848.0N,FR50=9378N

对滑块3和导杆4的中心点为质点，可得在距离O4右边的0.56处，可得导杆4 的惯性为：、

FI4=m4*as4=22*0.56/156.8*1.748=0.1373N,方向与as4

的相反，垂直导杆向上。

惯性力偶矩：

MI4=JS4*α4，

α4=Ab/lbo4=1.748/156.8*0.001=11.148m/s

MI4=JS4*α4=1.1*11.148=12.263，方向与4相反，为逆时针方向。

以A点取矩：

—sin69.74*lab*FR54*0.001+sin64.3*（loa4—0.56）*G80.001+FtRO4*Lo4a*0.001-FI4(lo4a-0.56)-M=0得FtRO4A=17258.68N.受力图如图示，

可

所以，O4点的运动副反力为17646.2N,A点的运动副反力为8777.1N.

对曲柄2进行受力分析;曲柄上的平衡力矩M2对o2取矩，可得M2=0，O2的运动副反力为8777.1N.

十一、实训心得与体会

机械设计是机电类专业当中的非常重要的一节，本次机械设计时间一周，略显得仓促一些。但是通过本次每天都过得很充实的，从中得到的收获还是非常多的。我们小组是插床传动系统设计第三组。由于理论知识的不足，再加上平时没有什么设计经验，一开始的时候有些手忙脚乱，不知从何入手。在老师的谆谆教导，和学习好的同学们的热情帮助下，使我小组迅速的展开讨论方案的设计。

在我们这个团队里，我们分工很明确，而我负责连杆运动的分析，从开始的速度和加速度的计算，到后来的整体连杆的运动，都有很明确的设计方向。期间很多这是点都不是很清楚，迫使我回到课本细心研读，找到解决方法。其次这次机械设计锻炼了我各方面的能力，不局限于机械原理知识理论知识的巩固与实践，更多对大一掌握有关作图的知识点也有深层次的回顾，以及一些课外知识的融入。同时在整理设计说明书的时候，了解了更多有关word文档的操作。例如：公式编辑以及图片修改等。

设计是一个系统性的工程，越做到后面，越发现自己知识的局限性，所以在今后的学习中，还得更加努力学习。

十二、参考文献

机械原理，西安工业大学，葛文杰主编

机械原理与设计实验实训和课程设计指导，陈虹微主编

插床机械传动系统设计

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