机械原理课件平面运动分析analysis.pptxVIP

Theory of Machines and Mechanisms(机械原理)Chapter1 IntroductionChapter2 Structural Analysis of Planar MechanismsChapter3 Kinematic Analysis of MechanismsChapter4 Planar Linkage MechanismsChapter 5 Cam MechanismsChapter 6 Gear MechanismsChapter 7 Gear TrainsChapter 8 Other Mechanisms in Common UseChapter 9 Balancing of MachineryChapter 10 Motion of Mechanical Systems and Its RegulationChapter 11 Efficiency of MachineChapter 3 Kinematic Analysis of Mechanisms3.1 Tasks and Methods of Kinematic Analysis不考虑引起机构运动外力的影响，仅仅研究已知原动件运动规律的条件下，输出构件的运动情况.Task: to find positions, velocities and accelerations or angular positions, angular velocities and angular accelerationsPosition: to determine whether all links will interfere(干涉) with each other,to find locus(轨迹)Velocity: to calculate the stored kinetic energy(动能) or power(功率) P. Acc.：To calculate the dynamic forcesmethod Instant(瞬时的) centre method for velocityVector(矢量) equation methodgraphical method (图解法): 直观，精度不高 analytical method (解析法) : 精度高，计算烦琐 experimental method (实验法) : 需专门的仪器 3.2 Velocity Analysis by the Method of instant Centres3.2.1 Definition of the Instant Centre 刚体2相对于另一刚体1（固体坐标系）作平面运动，在任一瞬时，该平面运动都可看成绕某一相对静止点的转动，该点称为速度瞬时中心（瞬心） instant center?P12 VA2A1?刚体2上的A点相对于刚体1上的A点的相对速度， VA2A1?AP.VB2B1同理。 Suppose that the positions of points A and B, the directions of VA2A1 and VB2B1 are known.可通过VA2A1，VB2B1求P12点。 VA2A1?AP. VB2B1?BP. instant center?P12 One of bodies is static?absolute instant center Both of them are moving?relative instant centerAttention:instant centera pair of coincident(重合) points, the absolute(绝对) velocities of which are the same, in both magnitude(大小) and direction.具有相同的绝对速度的重合点 。 relative velocity is zero.两构件上相对速度是零的重合点3.2.2 Number of Instant Centers of a Mechanism发生相对运动的任意两构件之间都有一个瞬心 k—number of links including the frameinstant center—the center of revolutes3.2.3 Location of the Instant Center of two links connected by a kinematic pair(1) Revolute Pair若两构件组成回转副，则回转副中心为其速度瞬心；(2) Sliding Pair Inst