东华大学机械原理课件 平面机构的运动分析第三节.ppt

The Theory of Machines and Mechanisms Chapter 2. Kinematic Analysis Sun Zhihong Zhsun@dhu.edu.cn108 Today’s topic Kinematic analysis by analytical methods Kinematic analysis by analytical methods 杆组法 ---- 杆组法作运动分析的思路 机构的运动部分是由原动件 --- 单杆构件和基本杆组组成的。因此只要分别对单杆构件和各基本杆组用解析法进行运动分析并编制成相应的子程序，然后按照实际机构的结构组成情况，依次调用所需的子程序，就可完成对整个机构的运动分析。 Kinematic analysis by analytical methods Types of grade II Assur group 工程实际中所用的机构多为II级机构，它们所含的基本杆组是II级杆组，即双杆组。双杆组最常见的有三种型式： RRR双杆组 RRP双杆组 RPR双杆组 Kinematic analysis by analytical methods Given : the length of AB is l AB , the position of A(xA,y A ), the velocity and acceleration of point A is vA, aA, also knownφ，ω，ε。 Please decide (xB, yB) ， vB ， aB 。 2.Kinematic analysis by analytical methods Displacement analysis: Establish vector loop equation (1) and project it to axis x and y respectively, the coordinates of point B are shown as equation (2) and (3). rB = rA + l (1) xB = xA + l cosφ (2) yB = yA + l sinφ (3) 2.Kinematic analysis by analytical methods Velocity analysis: v Bx =xB =xA-lφsinφ =vAx- ω lsin φ =vAx-ω(yB - yA) v By =yB =yA-lφcosφ =vAy- ω lcos φ =vAy-ω(xB - xA) 2.Kinematic analysis by analytical methods Acceleration analysis: 2.Kinematic analysis by analytical methods Conclusion: xB = xA + l cosφ yB = yA + l sinφ v Bx =vAx-ω(yB - yA) v By=vAy-ω(xB - xA) aBx=aAx- ω2(xB-xA)-ε(yB-yA) aBx=aAy- ω2(yB-yA)-ε(xB-xA) 2.Kinematic analysis of RRR Assur group Suppose: (xB,yB), vB, aB, (xD,yD), vD, aD are given, LBC and LCD are also known, Find:φ2、φ3，ω2 、 ω3 、 ε2 、 ε3，and (xC, yC), vC, aC 。 Solution Suppose: (xB,yB), vB, aB, (xC,yC), vC, aC are given, and the length of e and l3 are also known, Find: φ3,ω3,ε3; (xD, yD), vD, aD; the displacement of sliding block 2 on link 3: Sr，vr, and ar。 Solution 已知：l2，(xB,yB)，vB ，aB ,以及移动副导路上的参考点P的位置坐标(xP,yP)，速度vP ，加速度aP和滑块3的位置角φ3 （矢量Sr 的正方向与X轴正方向之间的夹角，逆时针为正），角速度ω3，角加速度ε3 。 求：构件2的