平面连杆机构的运动综合(毕业设计论文)

河南科技学院2009届本科毕业论文（设计）论文题目：在MATLAB环境下开发平面连杆机构运动分析系统THE DEVELOPMENT OF SYSTEM FOR ANALYSIS OF MOTION IN PLANE FOUR BAR MECHANISM BASED ONMATLAB SOFTWARE学生姓名：樊新乾所在院系：机电学院所学专业：机械设计制造及其自动化导师姓名：杜家熙卞平艳完成时间：2009年05月20日摘要建立了铰链四杆机构运动分析的数学模型,以MATLAB程序设计语言为平台,将参数化设计与交互式相结合,设计了铰链四杆机构分析软件,该软件具有方便用户的良好界面,并给出界面设计程序,从而使机构分析更加方便、快捷、直观和形象.设计者只需输入参数就可得到分析结果,再将运行结果与设计要求相比较,对怎样修改设计做出决策.它为四杆机构设计提供了一种实用的软件与方法.关键词：平面四杆机构，MATLAB软件，运动分析，分析THE DEVELOPMENT OF SYSTEM FOR ANALYSIS OF MOTION IN PLANE FOUR BAR MECHANISM BASED ONMATLAB SOFTWAREAbstractA mathematical model of motion analysis was established in plane four - linkage , and analytical software was developed. The software adopted Matlab as a design language. It combined parametric design with interactive design and had good interface for user. Thus, it was faster and more convenient to analyse linkage. The analytical result was obtained as soon as input parameters was imported and the devisers can make decision - making of modification by the comparing analytical result with design demand. It provides an applied software and method for linkage.Key words:Plane Four Bar Mechanism, MATLAB, Analysis of Motion, Analyze目录1 绪论 (1)2 平面连杆机构的设计分析 (3)2.1平面四连杆机构的运动分析 (3)2.2 机构的数学模型的建立 (3)2.2.1 建立机构的闭环矢量位置方程 (3)2.2.2 求解方法 (5)3 基于MATLAB程序设计 (7)3.1 程序流程 (7)3.2M文件编写 (9)3.3程序运行结果输出 (13)4 基于MATLAB图形界面设计 (20)4.1界面设计 (20)4.2代码设计 (21)5 结论 (30)致谢 (30)参考文献 (31)1 绪论连杆机构的应用十分广泛，它不仅在众多工农业机械和工程机械中得到广泛应用[1]。

基于MATLAB的平面连杆机构运动分析及动画摘要建立了平面机构运动分析的数学模型，利用MATLAB进行了编程并设计了计算交互界面进而求解，为解析法的复杂计算提供了便利的方法，此方法也同样适用于复杂平面机构的运动分析，并为以后机构运动分析的通用软件的设计提供了基础。

建立了平面四杆机构运动分析的数学模型，以MATLAB 程序设计语言为平台，将参数化设计与交互式相结合，设计了平面四杆机构仿真软件，该软件具有方便用户的良好界面，并给出界面设计程序，从而使机构分析更加方便、快捷、直观和形象。

设计者只需输入参数就可得到仿真结果，再将运行结果与设计要求相比较，对怎样修改设计做出决策，它为四杆机构设计提供了一种实用的软件与方法。

以一种平面六连杆为例建立了平面多连杆机构的运动分析数学模型，应用MATLAB 软件进行了优化设计和仿真分析，为机构优化设计提供了一种高效、直观的仿真手段，提高了对平面多连杆机构的分析设计能力。

同时，也为其他机构的仿真设计提供了借鉴。

关键词：解析法，平面连杆机构，MATLAB，运动分析，运动仿真Based on the MATLAB Planar Linkage Mechanism MotionAnalysis and AnimationABSTRACTThis article established the kinematical mathematic model of the planar mechanism ,which is programmed and solved with designing the mutual interface of the calculation by MATLAB.This convenient method is provided for the complicated calculation of the analysis and also applicable to the kinematical analysis of the complex planar mechanism.A mathematical model of motion analysis was established in planar four- linkage ,and emulational software was developed. The software adopted MATLAB as a design language. It combined parametric design with interactive design and had good interfacefor user. Thus,it was faster and more convenient to analyse linkage. The emulational result was obtained as soon as input parameters was imported and the devisers can make decision-making of modification by the comparing emulational result with design demand. It provides an applied software and method for linkage.This paper took a planar six-linkage mechanism as a example to set up the mathematics model of planar multi-linkage mechanisms, and made the optimization design and simulation by the MATLAB software. It gave a efficiently and directly method to optimization design of mechanisms, and improved the ability of analyzing and designing the planar multi-linkage mechanisms. At the same time, it also provides a use for reference to the design and simulation for other mechanisms.KEY WORDS: analysis, planar linkage mechanisms, MATLAB, kinematical analysis, kinematical simulation目录1.1 平面连杆机构的研究意义 (1)1.2 平面连杆机构的研究现状 (1)1.3 MATLAB软件介绍 (2)1.3.1 MATLAB简介 (2)1.3.2 MATLAB软件的特点 (4)1.3.3 用MATLAB处理工程问题优缺点 (5)第2章平面机构运动分析的复数矢量解 (6)第3章平面四杆机构运动分析 (8)3.1 铰链四杆机构曲柄存在条件 (8)3.2 平面四杆机构的位移分析 (9)3.3 平面四杆机构的速度分析 (14)3.4 平面四杆机构的加速度分析 (15)第4章基于MATLAB的平面四杆机构运动分析 (17)4.1 基于MATLAB的平面四杆机构运动参数输入界面 (17)4.2 基于MATLAB的平面四杆机构运动参数计算 (21)4.3 基于MATLAB的平面四杆机构运动分析界面 (24)4.4 基于MATLAB的平面四杆机构运动仿真 (26)4.5 基于MATLAB的平面四杆机构运动参数清空及退出 (30)第5章平面六杆机构运动分析 (32)5.1 构建平面六杆机构数学模型 (32)5.2 平面六杆机构的运动分析 (33)5.2.1 曲柄导杆机构的运动分析 (33)5.2.2 摆动滑块机构的运动分析 (36)第6章基于MATLAB的平面六杆机构运动分析 (39)6.1 基于MATLAB的平面六杆机构运动参数输入界面 (39)6.2 基于MATLAB的平面六杆机构运动参数计算 (45)6.3 基于MATLAB的平面六杆机构运动分析界面 (49)6.4 基于MATLAB的平面六杆机构运动仿真 (52)6.5 基于MATLAB的平面六杆机构运动参数清空及退出 (56)结论 (57)参考文献 (59)第1章前言1.1 平面连杆机构的研究意义机构运动分析是不考虑引起机构运动的外力的影响，而仅从几何角度出发，根据已知的原动件的运动规律（通常假设为匀速运动），确定机构其它构件上各点的位移、速度、加速度，或构件的角位移、角速度、角加速度等运动参数。

毕业设计（论文）题目：空间3-RPS并联机构的运动分析与仿真题目类型：论文型学院：机电工程学院专业：机械工程及自动化年级：级学号：学生姓名：指导教师：日期： 2010-6-11摘要3-PRS并联机构是空间三自由度机构，该机构具有支链数目少、结构对称、驱动器易于布置、承载能力大、易于实现动平台大姿态角运动等特点，目前已在工程中得到成功应用。

本文基于空间机构学理论，对3-RPS并联机构进行了相关的运动学分析。

在对机构结构分析的基础上，对机构的输出位姿参数进行了解耦分析，得到了机构输出参数间的解耦关系式；用解析法推导了机构的位置反解方程；用数值法实现了机构的位置正解；依据驱动副行程、铰链转角、连杆尺寸干涉等限制因素确立约束条件，利用极限边界搜索算法搜索了3-PRS并联机构的工作空间，分析了该机构工作空间的特点，并进行了工作空间体积计算。

最后基于ADAMS软件平台，建立了3-RPS并联机构的三维实体简化模型，对3-RPS并联机构的运动进行了仿真。

本文的研究为3-RPS并联机构的结构设计与应用提供了参考。

关键词：3-PRS并联机构；位置正解；位置反解；工作空间；运动仿真ABSTRACT3-PRS parallel mechanism is a three degrees of freedom of space agencies, the agency has a small number of branched-chain, structural symmetry, the drive is easy layout, carrying capacity, easy to implement a large moving platform attitude angle motion and other characteristics, has been successfully applied in engineering . Based on the theory of space agencies, on the 3-RPS parallel mechanism was related to kinematics analysis. In the analysis of the structure, based on the position and orientation of the body of the output parameters of the decoupling analysis, the decoupling of the output parameters of the relationship; analytic method derived by inverse position equations institutions; achieved by numerical methods body forward position; based driver Vice trip, hinge angle, rod size interference and other constraints set constraints, using the limit boundary search algorithm for searching for the 3-PRS parallel mechanism of the working space, analysis of the sector space characteristics, and a working space of volume. Finally, based on ADAMS software platform, the establishment of the 3-RPS parallel mechanism of three-dimensional solid simplified model of 3-RPS parallel mechanism of the movement is simulated. This study for the 3-RPS parallel mechanism structure provides a reference design and application.Key word: 3-PRS parallel mechanism; forward position;inverse position;workspace ;motion simulation.目录摘要IIABSTRACT III前言VII第1章绪论1课题研究的意义 1并联机构简介 2并联机构的国内外发展现状 3少自由度机构介绍 6少自由度的研究意义 6少自由度并联机构的研究现状 (6)本文主要研究内容7第2章并联机构的组成原理及运动学分析 (9)引言9并联机构自由度分析9并联机构的组成原理10并联机构的研究内容11运动学分析11工作空间分析12本章小结13第3章3-PRS并联机构位置分析14引言14空间3-RPS并联机构14机构组成143-RPS并联平台机构的位姿描述 (15)3-RPS并联平台机构位姿解耦 (19)3-RPS并联平台机构的位姿反解203-RPS并联平台机构的位置正解23本章小结：25第4章3-RPS并联机构的工作空间分析 (26)引言263-RPS并联平台机构的工作空间分析 (26)机构的运动学约束263-RPS并联机构工作空间边界的确定 (28)工作空间分析算例29工作空间体积的计算方法29本章小结30第5章3-RPS并联机构的仿真与应用 313-RPS并联机构的的三维建模31ADAMS软件介绍313-RPS并联机构的建模313-RPS并联机构的运动仿真323-RPS并联机构的应用34本章小结37总结与体会38谢辞39参考文献40前言机构的发明与发展同人类的生产、生活息息相关，它促进着生产力的发展、生产工具的改进和人类生活水平的不断提高。

毕业设计报告(论文) 报告(论文)题目：平面连杆机构运动及动力分析作者所在系部：机械工程系作者所在专业：机械设计制造及其自动化作者所在班级： B07115 作者姓名：作者学号：指导教师姓名：完成时间： 2011年6月北华航天工业学院教务处摘要平面连杆机构是一种应用十分广泛的机构。

平面连杆机构全部采用低副连接，因而结构简单易于制造，结实耐用，不易磨损，适于高速重载；运动低副具有良好的匣形结构，无需保养，适于极度污染或腐蚀而易出现问题的机器中；平面连杆机构能够实现多种多样复杂的运动规律，而且结构的复杂性不一定随所需完成的运动规律性的复杂程度而增加；平面连杆机构还具有一个独特的优点，就是可调性，即通过改变机构中各杆件长度，从而方便地改变了原机构的运动规律和性能。

连杆机构由于结构上的特点在各种机械行业中被广泛的采用。

通过对连杆机构的设计，可以实现不同的运动规律，满足预定的位置要求和满足预定的轨迹要求。

机构运动及动力分析的目的是分析各个构件的位移、、角加速度以及受力，分析构件上某点的位置、轨迹、速度和加速度等。

这种方法能给出各运动参数与机构尺寸间的解析关系及写出机构某些点的轨迹方程式，能帮助我们合理地选择机构的尺寸，从而对某一机构作深入的系统研究。

平面连杆机构运动及动力分析，就是以连杆机构作为研究对象，对其各个运动件之间的关系公式进行推导，应用现代设计理论方法和有关专业知识进行系统深入地分析和研究，探索掌握其运动规律，讨论重要参数间的关系。

关键词：平面连杆机构运动性能仿真运动规律AbstractPlanar linkage mechanisms are used widely. Planar linkage mechanisms take the use of lower pair connection, so its structure is easy to manufacture, durable and resistant, especially suitable for high-speed and heavy-duty; lower pair sports has a good box-shaped structure, without maintenance, which is fit for machines working in extreme contamination or often coming with problems because of corrosion; planar linkage mechanism not only can achieve a variety of complex movement, but also the more complex movem ent doesn’t go with more complex structure; what gives linkage a unique advantage is that the motive rules and performance of the original mechanism will change with the length of the bar. As a result, linkage mechanisms are widely used in mechanical industries. By changing the design of linkage mechanisms, it can achieve different motive rules in order to move as the intended location and trajectory.The analysis of mechanism’s motion and power is aimed at each linkage mechanism’s location, speed, angle acceleration and power, even those of some point of linkage mechanisms. This method can give the motion parameters and body size between the analytic relationship and trajectory equations of some point in the bar, which can help us choose a reasonable choice of mechanisms size, and thus to have further study about the system of some mechanisms.The research of simulation of planar linkage mechanisms is to infer relative formers about every motive bar by studying the linkage mechanisms. Going further study and analyze, by applying modern design theory method and relevant professional knowledge is to obtain motive rules of it, discuss the relationship of important parameters.Key Words: Planar Linkage Mechanisms Kinematical Performance SimulationComputer Aided Design目录摘要....................................................................Abstract....................................................................第1章绪论.................................................................1.1 本课题的选题背景 ...................................................1.2 目前国内外研究概况 .................................................1.3 连杆机构 ...........................................................1.3.1 连杆机构的概念及特点.........................................1.3.2 连杆机构的地位和作用.........................................1.3.3 连杆机构的发展及现状.........................................1.4 连杆机构的运动及动力分析 ...........................................1.4.1 运动及动力分析需完成的工作...................................1.4.2 平面连杆机构的运动及动力分析.................................1.5 本课题的研究内容 ...................................................1.5.1 课题的提出...................................................1.5.2 研究目标和研究内容...........................................1.5.3 拟解决的关键问题.............................................1.6 本章小节 ........................................................... 第2章连杆机构运动规律.....................................................2.1 研究连杆机构运动规律的目的 .........................................2.2 运动参数公式的推导 .................................................2.2.1 位置公式的推导...............................................2.2.2 速度公式的推导...............................................2.2.3 加速度公式的推导.............................................2.3 运动关系的分析 .....................................................2.3.1 位置关系曲线.................................................2.3.2 角速度关系曲线...............................................2.3.3 角加速度关系曲线.............................................2.4 运动结果分析 .......................................................2.5 本章小结 ........................................................... 第3章连杆机构动力分析.....................................................3.1 研究连杆机构动力规律的目的 .........................................3.2动力参数公式的推导..................................................3.2.1 运动副中反力的推导...........................................3.2.2 曲柄上平衡力矩的推导.........................................3.3 动力关系的分析 .....................................................3.3.1 运动副中反力曲线.............................................3.3.2 曲柄平衡力矩关系曲线.........................................2.4 动力结果分析 .......................................................3.5 本章小结 ........................................................... 第4章总结.................................................................4.1 总结 ...............................................................4.2 展望 ............................................................... 致谢.................................................................... 参考文献....................................................................第1章绪论1.1 本课题的选题背景平面连杆机构是由若干刚性构件用低副联接而成的平面机构，故又称平面低副机构。

平面连杆机构运动分析大作业（一）平面连杆机构的运动分析班级：姓名：姓名：姓名：指导教师：完成日期：一、题目及原始数据1.1、平面连杆机构的运动分析题目：如图1.1所示，为一平面六杆机构。

设已知各构件的尺寸如表 1.1 所示，又知原动件1以等角速度1ω= 1rad/s 沿逆时针方向回转，试求各从动件的角位移、角速度及角加速度以及位移E 点的位移、速度及加速度的变化情况。

表1.1 平面六杆机构的尺寸参数2'l =65mm,G x =153.5mm,G y =41.7mm题 号 1l 2l3l4l5l6lαABC1-A105.6 67.5 87.5 34.42560°1l =26.5 1l =241l =29.5算出原动件从 0º到 360º时（计算点数 N=36）所要求各运动变量的大小，并绘出各组应的运动线图以及 E 点的轨迹曲线。

图1.1二、平面连杆机构运动分析方程2.1、位移方程：4312l4cos cos l1cos 0h θθθ--=43311l4sin s sin l1sin 0h θθθ+--= 43l4cos l3cos s c 0θθ+-⋅= 43l4sin l3 sin h 0θθ+-=[]343c v v ωω2.2、速度方程：3433343314343cos l4sin s sin 0sin l4cos s cos 0V 0l4sin l3sin 10l4cos l3cos 0θθθθθθθθθθ--⎡⎤⎢⎥⎢⎥=⎢⎥---⎢⎥⎣⎦[]211V l1sin l1cos 00θθ=-[]3343V c v v ωω=3V V1\V2=2.3、加速度方程：3344333333443333311144334433sin 14cos v sin s cos 014sin ?v cos s sin 0014cos 13cos 0014sin 13sin 0A ωθωθθωθωωθθωθωθωθωθωθ+⎡⎤⎢⎥--+⎢⎥=⎢⎥⎢⎥⎣⎦[]112343c A =v v ωω11111112A A A =⨯[]1211A l1cos l1sin 00θθ=--11112A A A =+[]3343A a c a γγ=321A A \A =三、计算程序框图四、计算源程序4.1主程序%输入已知数据clearl1=0.0240;l2=0.1056;l3=0.0675;l4=0.0875;l5=0.0344;l6=0.025;l22=0.065;xg=0.1535;yg=0.0417;omega1=1;alph1=0;hd=pi/180;du=180/pi;t1=1:10:361;theta2=1:10:361;theta3=1:10:361;theta5=1:10:361;theta6=1:10:361;omega2=1:10:361;omega3=1:10:361;omega5=1:10:361;omega6=1:10:361;alph2=1:10:361;alph3=1:10:361;alph5=1:10:361;alph6=1:10:361;xe=1:10:361;ye=1:10:361;V=1:10:361;a=1:10:361;theta1=0;options=gaoptimset('PopulationSize',100,'Generations',10000,'StallGenLimit', 500,'TolFun',1e-100);theta0=ga(@(thet) weiyi_0(thet,theta1),4,options);if theta0(1)<0theta0(1)=theta0(1)+2*pi;endif theta0(1)>2*pitheta0(1)=theta0(1)-2*pi;endif theta0(2)<0theta0(2)=theta0(2)+2*pi;endif theta0(2)>2*pitheta0(2)=theta0(2)-2*pi;endif theta0(3)<0theta0(3)=theta0(3)+2*pi;endif theta0(3)>2*pitheta0(3)=theta0(3)-2*pi;endif theta0(4)<0theta0(4)=theta0(4)+2*pi;endif theta0(4)>2*pitheta0(4)=theta0(4)-2*pi;end%调用子函数Fun_jixie计算该六杆机构的各杆角位移、角速度、角加速度以及E点的角位移、角速度、角加速度for n1=1:10:361theta1=(n1-1)*hd;t1(n1)=theta1*du;theta=fsolve(@(thet) weiyi(thet,theta1),theta0);if theta(1)<0theta(1)=theta(1)+2*pi;endif theta(1)>2*pitheta(1)=theta(1)-2*pi;endif theta(2)<0theta(2)=theta(2)+2*pi;endif theta(2)>2*pitheta(2)=theta(2)-2*pi;endif theta(3)<0theta(3)=theta(3)+2*pi;endif theta(3)>2*pitheta(3)=theta(3)-2*pi;endif theta(4)<0theta(4)=theta(4)+2*pi;endif theta(4)>2*pitheta(4)=theta(4)-2*pi;end[xe(n1),ye(n1)]=weiyi_E(theta1,theta,l1,l2,l22);[omega,alph] = Fun_jixie(theta1,omega1,l1,l2,l3,l5,l6,l22,theta);[V(n1),a(n1)]=sudu_jasudu_E(omega(1),alph(1),theta,theta1,omega1,l1,l2,l22,a lph1);theta2(n1)=theta(1);theta3(n1)=theta(2);theta5(n1)=theta(3);theta6(n1)=theta (4);omega2(n1)=omega(1);omega3(n1)=omega(2);omega5(n1)=omega(3);omega6(n1)=o mega(4);alph2(n1)=alph(1);alph3(n1)=alph(2);alph5(n1)=alph(3);alph6(n1)=alph(4);theta0=theta;end%绘制各杆件的角位移、角速度、角加速度n2=1:10:361;n1=1:10:361;figure(1);%%%%%%subplot(2,2,1)%绘制位移线图plot((n1-1),theta2(n2)*du,'r-',(n1-1),theta3(n2)*du,'g-',(n1-1),theta5(n2)*d u,'y-',(n1-1),theta6(n2)*du,'k-','LineWidth',1.5);title('各杆角位移线图');xlabel('原动件1\theta_1/\circ');ylabel('角位移/\circ');grid on;hold on;text(200,60,'θ2');text(200,150,'θ3');text(200,350,'θ5');text(200,260,'θ6');%%%%%%subplot(2,2,2)%绘制角速度线图plot((n1-1),omega2(n2),'r-',(n1-1),omega3(n2),'g-',(n1-1),omega5(n2),'y-',(n 1-1),omega6(n2),'k-','LineWidth',1.5);title('各杆角速度线图');xlabel('原动件1\theta_1/\circ');ylabel('角速度/rad\cdots^{-1}');grid on;hold on;%%%%%%subplot(2,2,3)%绘制角加速度线图plot((n1-1),alph2(n2),'r-',(n1-1),alph3(n2),'g-',(n1-1),alph5(n2),'y-',(n1-1 ),alph6(n2),'k-','LineWidth',1.5);title('各杆角加速度线图');xlabel('原动件1\theta_1/\circ');ylabel('角加速度/rad\cdots^{-2}');grid on;hold on;%%%%%%%%求E点的位移figure(2)subplot(2,2,1)plot(xe(n1),ye(n1),'r-','LineWidth',1.5);title('E的位移线图');xlabel('E在x方向位移');ylabel('E在y方向位移');grid on;hold on;%求E点角速度与角加速度subplot(2,2,2)%绘制E点角速度plot((n1-1),V(n1),'r-','LineWidth',1.5);title('E点角速度');xlabel('原动件1\theta_1/\circ');ylabel('E点角速度/rad\cdots^{-1}');grid on;hold on;subplot(2,2,3)%绘制E点角加速度plot((n1-1),a(n1),'r-','LineWidth',1.5);title('E点角加速度');xlabel('原动件1\theta_1/\circ');ylabel('E点角加速度/rad\cdots^{-2}');grid on;hold on;%将数据输出到Exel表shuju1.xls中xlswrite('E:\机械原理大作业\平面六杆机构\Matlab程序\shuju3.xls',t1(n1)','sheet1','A1');xlswrite('E:\机械原理大作业\平面六杆机构\Matlab程序\shuju3.xls',theta2(n1)'*du,'sheet1','B1'); xlswrite('E:\机械原理大作业\平面六杆机构\Matlab程序\shuju3.xls',theta3(n1)'*du,'sheet1','C1'); xlswrite('E:\机械原理大作业\平面六杆机构\Matlab程序\shuju3.xls',theta5(n1)'*du,'sheet1','D1'); xlswrite('E:\机械原理大作业\平面六杆机构\Matlab程序\shuju3.xls',theta6(n1)'*du,'sheet1','E1'); xlswrite('E:\机械原理大作业\平面六杆机构\Matlab程序\shuju3.xls',omega2(n1)','sheet1','F1'); xlswrite('E:\机械原理大作业\平面六杆机构\Matlab程序\shuju3.xls',omega3(n1)','sheet1','G1'); xlswrite('E:\机械原理大作业\平面六杆机构\Matlab程序\shuju3.xls',omega5(n1)','sheet1','H1'); xlswrite('E:\机械原理大作业\平面六杆机构\Matlab程序\shuju3.xls',omega6(n1)','sheet1','I1'); xlswrite('E:\机械原理大作业\平面六杆机构\Matlab程序\shuju3.xls',alph2(n1)','sheet1','J1');xlswrite('E:\机械原理大作业\平面六杆机构\Matlab程序\shuju3.xls',alph3(n1)','sheet1','K1');xlswrite('E:\机械原理大作业\平面六杆机构\Matlab程序\shuju3.xls',alph5(n1)','sheet1','L1');xlswrite('E:\机械原理大作业\平面六杆机构\Matlab程序\shuju3.xls',alph6(n1)','sheet1','M1');xlswrite('E:\机械原理大作业\平面六杆机构\Matlab程序\shuju3.xls',V(n1)','sheet1','N1');xlswrite('E:\机械原理大作业\平面六杆机构\Matlab程序\shuju3.xls',a(n1)','sheet1','O1');4.2从动件角位移，角速度，角加速度function [omega,alph ] = Fun_jixie( theta1,omega1,l1,l2,l3,l5,l6,l22,theta) %从动件角位移theta2=theta(1);theta3=theta(2);theta5=theta(3);theta6=theta(4);%%%%%%%计算从动件角速度A=[ -l2*sin(theta2), l3*sin(theta3), 0, 0;l2*cos(theta2), -l3*cos(theta3), 0, 0;-l22*sin(theta2 - pi/3), -l3*sin(theta3), -l5*sin(theta5),l6*sin(theta6);l22*cos(theta2 - pi/3), l3*cos(theta3), l5*cos(theta5),-l6*cos(theta6)];B=[l1*sin(theta1);-l1*cos(theta1);0;0];omega=A\(omega1*B);omega2=omega(1);omega3=omega(2);omega5=omega(3);omega6=omega(4);%%%%%%计算角从动件角加速度A=[ -l2*sin(theta2), l3*sin(theta3), 0, 0;l2*cos(theta2), -l3*cos(theta3), 0, 0;-l22*sin(theta2 - pi/3), -l3*sin(theta3), -l5*sin(theta5),l6*sin(theta6);l22*cos(theta2 - pi/3), l3*cos(theta3), l5*cos(theta5),-l6*cos(theta6)];At=[-l2*omega2*cos(theta2),l3*omega3*cos(theta3), 0, 0;-l2*omega2*sin(theta2),l3*omega3*sin(theta3), 0, 0;-l22*omega2*cos(theta2 -pi/3),-l3*omega3*cos(theta3),-l5*omega5*cos(theta5),l6*omega6*cos(theta6);-l22*omega2*sin(theta2 -pi/3),-l3*omega3*sin(theta3),-l5*omega5*sin(theta5),l6*omega6*sin(theta6)]; Bt=[omega1*l1*cos(theta1);omega1*l1*sin(theta1);0;0;];alph=A\(-At*omega+omega1*Bt);end4.3 E≠® ƒ ® ƒfunction [V,a]=sudu_jasudu_E(omega,alph,theta,theta1,omega1,l1,l2,l22,alph1) %求E点角速度A=[-l1*sin(theta1),-l2*sin(theta(2))+l22*sin(pi/3-theta(1));l1*cos(theta1),l 2*cos(theta(1))-l22*cos(pi/3-theta(1))];B=[omega1;omega(1)];Vx=-l1*sin(theta1)*omega1-l2*sin(theta(2))+l22*sin(pi/3-theta(1))*omega(1); Vy=l1*cos(theta1)*omega1+l2*cos(theta(1))-l22*cos(pi/3-theta(1))*omega(1);V=sqrt(Vx^2+Vy^2);%求E点角加速度D1=[alph1;alph(1)];D2=[-l1*cos(theta1)*omega1,-l2*cos(theta(1))*omega(1)-l22*cos(pi/3-theta(1)) *omega(1);-l1*sin(theta1)*omega1,-l2*sin(theta(2))*omega(1)+l22*sin(pi/3-the ta(1))*omega(1)];a1=A*D1+D2*B;a=sqrt(a1(1)^2+a1(2)^2);end4.4 E点位移function [ xe,ye ] = weiyi_E( theta1,theta,l1,l2,l22)xe=l1*cos(theta1)+l2*cos(theta(1))+l22*cos(pi/3-theta(1));ye=l1*sin(theta1)+l2*sin(theta(2))+l22*sin(pi/3-theta(1));end五、计算结果1-C1- A各杆角位移变化：主动杆1 从动杆2 从动杆3 从动杆5 从动杆6 角速度变化：主动杆1 从动杆2 从动杆3 从动杆5 从动杆6 角加速度变化：从动杆2 从动杆3 从动杆5 从动杆6 E点速度 E点加速度0 37.5874 73.3953 132.3244 -249.1610 -0.4173 -0.4173 -2.9518 -3.9210 0.1853 0.7684 11.4966 12.2492 0.1750 0.066210 33.9922 70.5461 112.3625 83.0629 -0.3725 -0.2752 -1.6190 -2.3483 0.3312 0.8861 5.4435 7.2001 0.1771 0.069820 30.8938 68.3522 100.7887 66.3895 -0.3099 -0.1240 -1.0223 -1.4183 0.3947 0.8748 2.2858 4.2935 0.1769 0.065230 28.3939 68.8217 92.8061 56.3457 -0.2421 0.0176 -0.7802 -0.8393 0.3918 0.7725 0.7957 2.6200 0.1756 0.056540 26.4980 68.0969 86.1429 50.4847 -0.1776 0.1386 -0.7120 -0.4874 0.35250.6300 0.0186 1.3992 0.1737 0.047150 25.1553 70.3847 79.6002 46.9508 -0.1203 0.2355 -0.7470 -0.3233 0.3016 0.4844 -0.5568 0.2390 0.1717 0.038860 24.2950 73.9013 72.3014 44.0020 -0.0710 0.3093 -0.8813 -0.3641 0.2533 0.3542 -1.2895 -1.2162 0.1695 0.032370 23.8476 75.1559 63.1407 39.4490 -0.0289 0.3627 -1.1655 -0.6919 0.2131 0.2447 -2.4793 -3.4059 0.1670 0.027680 23.7541 78.6178 50.5946 30.3211 0.0074 0.3991 -1.6505 -1.4058 0.1823 0.1547 -3.5724 -5.7645 0.1640 0.024490 23.9684 82.3428 33.3226 13.5585 0.0393 0.4213 -2.1120 -2.2571 0.1598 0.0808 -1.6008 -4.2438 0.1604 0.0224100 24.4557 86.2130 14.0722 351.3272 0.0679 0.4315 -2.0322 -2.5206 0.1440 0.0194 2.3723 0.6473 0.1560 0.0210110 25.1910 90.1287 357.8431 329.7360 0.0942 0.4316 -1.5207 -2.1913 0.1332 -0.0326 3.5937 2.8204 0.1509 0.0199120 26.1562 94.0046 346.5251 311.9913 0.1188 0.4229 -0.9979 -1.7317 0.1258 -0.0774 2.9022 2.6888 0.1450 0.0190130 27.3381 97.7660 339.3348 298.1684 0.1421 0.4065 -0.6212 -1.3498 0.1203 -0.1166 1.9341 2.0410 0.1384 0.0179140 28.7259 101.3476 334.8721 287.2791 0.1642 0.3833 -0.3835 -1.0652 0.1154 -0.1510 1.1653 1.4750 0.1312 0.0168150 30.3094 104.6913 332.0658 278.6109 0.1852 0.3541 -0.2503 -0.8573 0.1096 -0.1812 0.6238 1.0709 0.1237 0.0156160 32.0769 107.7461 330.1164 271.5735 0.2048 0.3196 -0.1901 -0.7032 0.1019 -0.2074 0.2498 0.7872 0.1161 0.0145170 34.0134 110.4673 328.4700 265.7510 0.2225 0.2806 -0.1804 -0.5877 0.0910 -0.2297 -0.0073 0.5761 0.1086 0.0136180 36.0993 112.8168 326.7451 260.8343 0.2377 0.2377 -0.2052 -0.5024 0.0762 -0.2485 -0.1801 0.4041 0.1015 0.0131190 38.3086 114.7624 324.6851 256.5725 0.2496 0.1915 -0.2526 -0.4427 0.0567 -0.2641 -0.2889 0.2529 0.0949 0.0132200 40.6082 116.2773 322.1285 252.7450 0.2575 0.1426 -0.3135 -0.4061 0.0318 -0.2774 -0.3478 0.1167 0.0893 0.0140210 42.9568 117.3387 318.9886 249.1546 0.2603 0.0914 -0.3804 -0.3899 0.0013 -0.2895 -0.3685 0.0004 0.0847 0.0157220 45.3047 117.9264 315.2360 245.6335 0.2571 0.0380 -0.4480 -0.3900 -0.0353 -0.3017 -0.3620 -0.0853 0.0813 0.0181230 47.5932 118.0211 310.8823 242.0595 0.2470 -0.0175 -0.5127 -0.4004 -0.0782 -0.3151 -0.3403 -0.1278 0.0794 0.0211240 49.7540 117.6023 305.9627 238.3738 0.2288 -0.0754 -0.5729 -0.4132 -0.1278 -0.3310 -0.3164 -0.1187 0.0791 0.0247250 51.7094 116.6472 300.5166 234.5934 0.2014 -0.1360 -0.6293 -0.4199 -0.1843 -0.3501 -0.3049 -0.0572 0.0803 0.0288260 53.3719 115.1293 294.5668 230.8117 0.1639 -0.1997 -0.6848 -0.4124 -0.2475-0.3721 -0.3194 0.0467 0.0834 0.0333270 54.6447 113.0192 288.1003 227.1842 0.1152 -0.2668 -0.7443 -0.3852 -0.3165 -0.3955 -0.3688 0.1726 0.0882 0.0379280 55.4237 110.2873 281.0562 223.8989 0.0548 -0.3369 -0.8133 -0.3370 -0.3886 -0.4161 -0.4543 0.2910 0.0949 0.0419290 55.6019 106.9102 273.3252 221.1329 -0.0173 -0.4090 -0.8967 -0.2718 -0.4578 -0.4262 -0.5690 0.3631 0.1034 0.0442300 55.0787 102.8823 264.7607 218.9966 -0.0997 -0.4800 -0.9979 -0.2008 -0.5135 -0.4125 -0.7072 0.3318 0.1136 0.0430310 53.7760 98.2358 255.1855 217.4477 -0.1886 -0.5444 -1.1213 -0.1481 -0.5388 -0.3560 -0.9028 0.0758 0.1253 0.0358320 51.6630 93.0677 244.3304 216.0976 -0.2772 -0.5934 -1.2883 -0.1739 -0.5122 -0.2347 -1.4134 -0.8402 0.1379 0.0210330 48.7870 87.5711 231.3350 213.4091 -0.3551 -0.6148 -1.6460 -0.5258 -0.4142 -0.0335 -4.1473 -5.1606 0.1504 0.0016340 45.3000 82.0541 210.8268 201.0289 -0.4101 -0.5961 -3.3535 -2.9018 -0.2419 0.2382 -21.6876 -31.2573 0.1615 0.0280350 41.4594 76.9211 168.4185 155.7385 -0.4319 -0.5293 -5.0122 -5.8883 -0.0235 0.5314 8.8888 5.4742 0.1699 0.0516360 37.5877 72.6042 132.2974 110.8020 -0.4173 -0.4173 -2.9504 -3.9199 0.1853 0.7684 11.4947 12.2491 0.1750 0.06621-B0 35.6084 60.6281 114.9568 35.1604 (0.4138) (0.4138) (1.3994) (2.4028) 0.2650 0.8169 4.9187 6.0195 0.1719 0.067410 30.8924 61.5362 102.5057 52.3535 (0.3491) (0.2488) (0.7314) (1.4428) 0.4055 0.9214 1.8880 3.9732 0.1722 0.066520 27.0862 59.5197 95.1924 39.9378 (0.2697) (0.0818) (0.5036) (0.8102) 0.4334 0.8595 0.5233 2.7968 0.1705 0.057730 24.2472 59.4280 89.3810 31.1071 (0.1938) 0.0619 (0.4624) (0.3856) 0.3926 0.7106 (0.0275) 1.9043 0.1684 0.047340 22.2711 140.9068 83.5433 28.1206 (0.1299) 0.1734 (0.4953) (0.1313) 0.3304 0.5471 (0.2483) 1.1174 0.1668 0.038350 21.0007 63.5668 77.0508 28.9672 (0.0788) 0.2548 (0.5661) (0.0309) 0.2720 0.4034 (0.4096) 0.3728 0.1656 0.031560 20.2899 67.0707 69.4300 27.5319 (0.0384) 0.3117 (0.6815) (0.0875) 0.2257 0.2872 (0.6704) (0.4521) 0.1645 0.026770 20.0246 71.1528 59.9933 25.8948 (0.0059) 0.3497 (0.8738) (0.3374) 0.1915 0.1952 (1.1162) (1.5252) 0.1633 0.023480 20.1229 75.6089 47.5321 18.8230 0.0211 0.3732 (1.1685) (0.8300) 0.1673 0.1216 (1.5023) (2.6442) 0.1615 0.021190 20.5287 80.2819 31.3070 3.1795 0.0444 0.3855 (1.4432) (1.4342) 0.1505 0.0613 (0.7095) (2.2750) 0.1590 0.0194100 21.2050 85.0474 13.4384 343.3043 0.0653 0.3886 (1.3945) (1.7156) 0.1392 0.0103 1.1740 (0.0114) 0.1556 0.0181110 22.1289 89.8033 358.3468 322.8561 0.0848 0.3841 (1.0340) (1.5613) 0.1316 (0.0341) 1.9259 1.3830 0.1511 0.0170120 23.2870 94.4630 348.1012 305.4924 0.1035 0.3731 (0.6457) (1.2608) 0.1263 (0.0736) 1.5727 1.4852 0.1457 0.0160130 24.6719 98.9508 342.0222 291.7128 0.1218 0.3562 (0.3633) (0.9917) 0.1222 (0.1093) 1.0026 1.1989 0.1394 0.0150140 26.2796 103.1990 338.7246 280.8735 0.1398 0.3342 (0.1907) (0.7861) 0.1181 (0.1414) 0.5346 0.9222 0.1324 0.0141150 28.1066 107.1472 337.0058 272.1948 0.1574 0.3075 (0.1002) (0.6314) 0.1130 (0.1702) 0.1940 0.7220 0.1249 0.0134160 30.1477 110.7413 336.0186 265.1882 0.1745 0.2767 (0.0684) (0.5128) 0.1058 (0.1953) (0.0484) 0.5816 0.1172 0.0128170 32.3934 113.9345 335.1552 259.4739 0.1906 0.2424 (0.0776) (0.4204) 0.0957 (0.2167) (0.2185) 0.4726 0.1095 0.0125180 34.8277 116.6874 333.9947 254.7617 0.2051 0.2051 (0.1149) (0.3496) 0.0820 (0.2344) (0.3316) 0.3726 0.1021 0.0124190 37.4267 118.9678 332.2590 250.7928 0.2173 0.1656 (0.1697) (0.2996) 0.0640 (0.2485) (0.3968) 0.2695 0.0953 0.0128200 40.1568 120.7503 329.7869 247.3079 0.2263 0.1242 (0.2334) (0.2710) 0.0415 (0.2597) (0.4221) 0.1623 0.0893 0.0136210 42.9741 122.0147 326.5127 244.0423 0.2314 0.0813 (0.2992) (0.2638) 0.0142 (0.2689) (0.4160) 0.0599 0.0844 0.0149220 45.8240 122.7435 322.4443 240.7458 0.2315 0.0370 (0.3619) (0.2754) (0.0179) (0.2774) (0.3882) (0.0229) 0.0807 0.0168230 48.6401 122.9190 317.6404 237.2170 0.2257 (0.0088) (0.4185) (0.3004) (0.0551) (0.2865) (0.3487) (0.0700) 0.0783 0.0191240 51.3440 122.5200 312.1854 233.3408 0.2130 (0.0565) (0.4679) (0.3304) (0.0975) (0.2975) (0.3093) (0.0696) 0.0775 0.0219250 53.8440 121.5184 306.1608 229.1163 0.1923 (0.1070) (0.5117) (0.3554) (0.1456) (0.3113) (0.2837) (0.0185) 0.0782 0.0252260 56.0339 119.8763 299.6105 224.6626 0.1623 (0.1609) (0.5545) (0.3662) (0.1998) (0.3288) (0.2867) 0.0751 0.0805 0.0290270 57.7910 117.5442 292.5046 220.1994 0.1217 (0.2194) (0.6036) (0.3562) (0.2602) (0.3495) (0.3303) 0.1914 0.0845 0.0332280 58.9751 114.4610 284.7079 215.9974 0.0689 (0.2832) (0.6685) (0.3240) (0.3261) (0.3717) (0.4196) 0.2997 0.0904 0.0374290 59.4298 110.5579 275.9639 212.3007 0.0028 (0.3527) (0.7594) (0.2760) (0.3941) (0.3903) (0.5541) 0.3545 0.0982 0.0407300 58.9895 105.7702 265.8876 209.2070 (0.0767) (0.4268) (0.8875) (0.2308) (0.4565) (0.3950) (0.7431) 0.2768 0.1079 0.0416310 57.4975 100.0632 253.9196 206.4448 (0.1677) (0.5013) (1.0725) (0.2342) (0.4980) (0.3666) (1.0676) (0.1314) 0.1196 0.0371320 54.8443 93.4792 239.0430 202.7655 (0.2641) (0.5674) (1.3812) (0.4193) (0.4928) (0.2761) (1.9610) (1.6144) 0.1328 0.0243330 51.0310 86.2118 218.3537 193.4778 (0.3539) (0.6096) (2.1083) (1.2930) (0.4088)(0.0908) (5.3673) (7.3843) 0.1466 0.0020340 46.2458 78.6793 183.1568 163.4391 (0.4189) (0.6068) (3.6292) (3.7627) (0.2266)0.1995 (4.3728) (10.1287) 0.1589 0.0281350 40.9100 71.5539 140.2853 112.7881 (0.4411) (0.5414) (2.8607) (3.8254) 0.02620.5421 8.5057 7.1362 0.1678 0.0542360 35.6084 65.6281 114.9501 74.8328 (0.4138) (0.4138) (1.3993) (2.4028) 0.26500.8169 4.9188 6.0200 0.1719 0.0674六、运动线图及分析本作业通过MATLAB软件进行机构动力学建模，并输出了机构E点的运动轨迹曲线；从动件的角位移线图、角速度线图，以及角加速度线图。

.JIUJIANG UNIVERSITY毕业设计题目电风扇摇头机构设计英文题目 design head of electric fan院系机械与材料工程学院专业机械设计制造及自动化二零一四年六月摘要电风扇摇头装置设计是从电风扇设计开始的，也是电风扇设计中最重要的部分，对于电风扇的研究，国内外已有不少的研究成果，但在创新这一块做的还不够, 还有待进一步完善。

本文首先对摇头电风扇的历史和发展现状以及其类型和特点进行了介绍，然后介绍了设计准则, 提出方案拟定, 并选择最优方案,主要是现有的电风扇摇头装置中平面摇杆机构，包括平面摇杆机构的结构、工作原理、设计原理、设计原则；其次根据已知原动机的转速, 分配传动比，选择合适的机构, 如蜗轮蜗杆机构以及齿轮机构, 根据传动比确定它们的基本参数，设计计算几何尺寸,再次采用图解法, 根据已知条件(极位夹角, 摇杆速度等)设计平面四杆机构, 然后在实验室组建仿真机构模型, 观察所设计的尺寸是否满足所需的运动轨迹，再就制作台式电风扇摇头平面机构的计算机动态演示, 通过图解法研究各杆件的运动, 进行运动分析, 最后总结并讲述了电风扇的未来展望。

关键词：平面摇杆机构，传动比, 蜗轮蜗杆, 齿轮传动, 运动分析 ,动态演示AbstractThe design of the shaking equipment of fans is the beginning of the design of electric fans, and it is the most important part of the electric fans design at home and abroad, there are many research results, but in this one innovation has not done enough and has yet to be further improved.In this paper, shaking equipment on the history and development of electric fans and the status of its type and characteristics were first introduced, and then introduced the design for the proposed programming, and choose the best, mainly the existing fans installed in the plane shook his head rocker agencies, including Rocker plane the structure, working principle, design principles, design principles; Secondly choosing the appropriate agencies on the basis of known motive of the original speed, the distribution of transmission ratio, such as the worm gear worm agencies and institutions, according to the transmission ratio to determine their basic parameters, design and calculation geometry, again using graphic method, in accordance with the known conditions ( A-angle, rocker speed, etc.) designed plane four bodies, and then set up in the laboratory simulation model agencies to observe whether the size of the design to meet the required trajectory, and desktop fans on the production of the plane shook his head dynamic computer Demonstration, through the preparation of ICC procedures on the movement of the bar, exercise analysis. At last conclude and introduce about the future prospects of the fans.Key words:Plane rocker; transmission ratio; Worm Gear; Gear;sports analysis; dynamic demo目录摘要 (i)Abstract (ii)第一章引言 (1)1.1 电风扇发展现状和前景展望 (1)1.2 台扇的结构与工作原理 (1)第二章电风扇摇头装置机构的设计 (3)2.1 电风扇摇头装置机构设计概述 (3)2.2 电风扇摇头装置机构设计原则 (3)2.3 方案拟定 (3)2.3.1方案Ⅰ (离合式摇头机构) (3)2.3.2方案Ⅱ (锨拨式摇头机构) (4)2.3.3 方案Ⅲ (平面连杆摇头机构) (5)2.3.4 方案Ⅳ (另一种平面连杆摇头机构) (5)2.3.5 对比分析并选择方案 (6)第三章机构的尺寸设计 (7)3.1 铰链四杆机构的设计 (7)3.1.1 铰链四杆机构的组成和基本形式 (7)3.1.2 平面双摇杆机构的分类和极限位置分析 (7)3.1.3 四杆位置和尺寸的确定 (8)3.2 原动机的选择和传动比的分配 (9)3.2.1 原动机的选择 (9)3.2.2 传动比的分配 (10)3.3 蜗轮蜗杆机构 (10)3.3.1 蜗轮蜗杆机构的结构特点 (10)3.3.2 蜗轮蜗杆机构的几何尺寸计算 (11)3.4 齿轮机构 (12)3.4.1 齿轮机构的结构特点 (12)3.4.2 齿轮机构的几何尺寸计算 (13)第四章平面双摇杆机构的运动分析 (14)4.1 概述 (14)4.2 平面摇杆机构的运动分析 (14)第五章机构运动仿真的总体分析 (17)5.1 计算机动态演示 (17)5.2 组建机构运动仿真模型 (21)第六章总结与展望 (23)参考文献 (25)致谢 (26)第一章引言1.1 电风扇发展现状和前景展望近年来，相较人们对空调的普遍关注，电风扇市场就有点门庭冷落。

平面六杆机构的运动分析摘要：本论文首先对平面四杆机构进行运动分析，再对平面六杆机构进行运动分析，进而分析了平面六杆机构的动力性能，最后运用运动仿真软件Visual Basic6.0对平面四杆机构和平面六杆机构进行运动模拟仿真。

我们通过对平面四杆机构和平面六杆机构连杆的运动进行系统地深入分析，从而获得平面连杆机构运动性能，进而达到对平面连杆机构的动力性能分析的目的。

为了使研究结果更加形象生动，我们运用Visual Basic6.0来模拟平面四杆机构和平面六杆机构的运动的过程，并且得出连杆的运动曲线图及其它相关结果。

本文的主要特色是在各个设计进度中将会大量应用计算机高级语言Visual Basic编程来模拟平面四杆机构和六杆机构平面连杆机构的运动学分析的过程，包括建立运动约束方程和解方程两部分。

模拟的原理是借助于连杆机构设计的解析法，利用时钟控件来循环改变直线或圆的坐标，实现动画仿真功能，同时我们可以进一步分析和检查平面连杆机构的位移、速度和加速度等运动特性的正确性。

通过这些我们便可以得到平面连杆机构的力学性能，从而达到本文的目的。

关键词：连杆机构运动分析动力性能 Visual Basic仿真指导老师签名：The Dynamic Behavior Analysis of Planar LinkageAbstract: This paper analyzes the motion of planar four-bar linkage at first, then it analyzes the motion of planar six-bar linkage. After that ,it does analysis of the dynamic performance of plane six-bar linkage. Finally, it simulates the campaign of planar four-bar linkage and plane six-bar agencies, using a simulation software -- visual basic 6.0.After systematically and analyzed plane four-bar and plane six-bar linkage in depth, we obtained the campaign performance of planar linkage mechanism. By this we achieved the purpose of analyzing the dynamic behavior of planar linkage mechanism. In order to make the study results more vivid and to obtain the linkage’s campaign curves and ot her related results ,we use visual basic 6.0 to simulate the campaign process of plane four-bar and plane six-bar linkage mechanism. The main special features in each design progress lieutenant general and will apply deluxe language Microsoft Visual Basic of calculator in great quantities, to imitate planar four-bar linkage mechanism and planar six-bar linkage mechanism to get analytical process of the kinetics of the linkage mechanism, include the establishment move control formula and reach agreement formula two parts. Principle of imitate is ask for help from linkage mechanism design of resolution method, make use of clock to control a piece to come to circulating change straight line or sit a mark roundly, carry out an animation to imitate true function。

RRP平面连杆机构的动态仿真摘要：机构的运动分析，主要获得机构中某些构件的位移，角速度和角加速度，以及某些点的轨迹，速度和加速度。

机构的动力分析，主要是在运动学的基础上，由已知工作阻力，求出运动副的约束反力和驱动力，为选择和设计轴承，零件强度的计算及选择原动机提供原理。

本文以机构的组成原理为出发点，主要以RRPⅡ组连杆机构为分析对象，用复数向量推导出曲柄，RRPⅡ级杆组的矩阵数学模型，并编制了用于MATLAB/Simulink仿真的函数，这样以MATLAB/Simulink为平面连杆机构运动分析和动力分析的平台，可以搭建RRPⅡ级杆组组成的平面连杆机构的运动学和动力学的仿真模型并进行仿真，并观察参数是如何变化的。

关键词：运动学动力学 RRP 仿真 MATLAB/Simulink指导老师签名：Dynamic Simulation of RRP Planar LinkageAbstract:Analyzing the movement of institutions, mainly obtain displacement, velocity and Angle acceleration, and some points trajectory, speed and acceleration in some institutions of displacement。

Organization of the dynamic analysis of kinematics, mainly in, on the basis of the known by the work resistance, the motion pair constraint force and driving force for the selection and design of bearings, strength calculation, and select engine provide principle.This is Based on the principles of the institution as a starting point,with RRP Ⅱgroup of linkage mechanism mainly,use the plural vector derivation the Matrix mathematic model of Ⅱlevel. RRP pole ,crank.And prepare the Simulation of function of MATLAB/Simulink .So ,MATLAB/Simulink is used for platform of planar linkage mechanism.This can build RRP Ⅱ level rod group composed of planar linkage mechanism of the kinematics and dynamics simulation model and simulation.And observed how is the change of parameters.Keyword:kinematics dynamic RRP simulation MATLAB/SimulinkSignature of Supervisor:目录RRP平面连杆机构的动态仿真 ........................... 错误！未定义书签。

e题目平面多连杆机构的动力学特性分析学生姓名 e 学号 e所在学院机械工程学院专业班级 e指导教师 e ____完成地点校内 __ _2009 年 6 月 8 日平面多连杆机构的动力学特性分析e（e）指导老师：e【摘要】本文根据设计要求，利用机构学理论，完成了该六杆机构各杆的尺寸计算及校核。

利用ADAMS的建模功能，建立该杆机构的三维模型，然后对该模型进行了运动学分析，得到了位移、速度、加速度、约束力等参数的变化曲线。

以机构惯性力为优化目标，完成了动力学仿真及优化，改善了该机构的振动状况。

研究方法为实际的生产应用中提供理论依据，对提高机床效率和质量探索了新的方法。

【关键词】：动力学仿真六杆机构 ADAMSStudy on Dynamics for Planar multi-link mechanisme(e)Tutor：eAbstract:Based on the design requirements, according to the agency theory, completed the size calculation and checking each of the six-bar linkage rod. Use ADAMS modeling capabilities to create a three-dimensional model of the lever mechanism, and the model was kinematic analysis, the curve of displacement, velocity, acceleration, and other parameters binding. Institutional inertia force in order to optimize the objective to complete the dynamic simulation and optimization, to improve the vibration of the agency. Methods actual production applications provide a theoretical basis for improving the efficiency and explore a new way to quality of the machine .Keywords: dynamics simulation six agencies ADAMS目录1绪论 (1)1.1本课题的的及研究背景及意义 (1)1.2国内外的研究现状 (1)2压床机构的总体设计 (3)2.1机构的简介及原始数据..................... 错误！未定义书签。

本科生毕业设计（论文）任务书2011年2 月13日至2011年6月日题目：平面杆组的综合和Ⅳ级杆组的运动分析姓名：学号：学院：专业：年级：指导教师：（签章）系主任（或教研室主任）：（签章）设计（论文）任务（包括原始数据、技术要求、工作要求）一、课题背景平面连杆机构作为低副机构，具有以下一些传动特点：1)其运动副为低副，两运动副元素为面接触，压强较小，故可承受较大的载荷；且有利于润滑，磨损较小；此外，运动副元素的几何形状较简单，便于加工制造。

2)当原动件的运动规律不变，可用改变各构件的相对长度来使从动件得到不同的运动规律。

3)连杆机构中的连杆上各点的轨迹是不同形状的曲线，可以利用这些曲线来满足不同轨迹的设计要求。

4)连杆机构还可以很方便地用来达到增力、扩大行程和实现远距离传动。

所以平面连杆机构的应用越来越广泛。

平面连杆机构的运动分析是平面连杆机构的研究中的一个很重要的内容。

杆组法是平面连杆机构运动分析方法中的一种重要的方法。

杆组法对平面连杆机构进行运动分析时首先要对平面连杆机构进行结构分析。

而对平面连杆机构进行结构分析就要先熟悉各种连杆杆组。

所以我们有必要研究各种平面连杆杆组，即进行平面连杆杆组的类型综合。

在对平面连杆杆组进行类型综合之后，只要能够完成各类平面连杆杆组的运动分析，进而即可完成相应的各种平面连杆机构的运动分析。

平面Ⅱ级杆组的运动分析在很多文献中已经实现。

而Ⅲ级及Ⅲ级以上高级连杆杆组的构型较多,不同运动副组成的结构形式更多,并且其解析解很复杂,难以象Ⅱ级杆组那样求解出全部分析模块对高级连杆杆组进行运动分析。

对高级连杆杆组分析困难,大大制约了对平面高级连杆机构的研究和应用.可见,对高级连杆杆组进行运动分析不仅具有理论意义,也具有较高的实用价值.二、设计任务：平面连杆杆组的类型综合；Ⅳ级杆组的运动分析；运用软件实现Ⅳ级杆组的运动分析；阅读并翻译20000字符外文专业文献；撰写毕业设计论文（20000字以上）和开题报告；准备答辩。

本科毕业设计（论文）通过答辩RRR平面连杆机构的动态仿真摘要：平面连杆机构的动态仿真分为机构的运动分析和动力分析两种。

机构的运动分析，主要获得机构中某些构件的位移、角速度和角加速度，以及某些点的轨迹、速度和加速度，它是机械设计及评价机械运动和动力性能的基础，也是分析现有机械优化综合新机械的基本手段；机构的动力分析，主要是在运动学分析的基础上，由已知工作阻力，求出运动副的约束反力和驱动力（或力矩），为选择和设计轴承、零部件强度的计算及选择原动机提供理论依据。

本文用矢量和矩阵理论建立了适用于MATLAB／SIMULINK仿真的曲柄、RRRⅡ级杆组运动学和动力学数学模型，以该数学模型编制了M函数仿真模块，对给定的RRR四杆机构和RRR-RRR六杆机构进行了建模和仿真，通过仿真得到各转动副的反力及驱动力矩．其主要目的是以构成机构的基本杆组为仿真模块，搭建杆组MATLAB／SIMULINK 仿真模型，可以对不同类型平面连杆机构进行运动学和动力学仿真和分析。

关键词：连杆机构运动学动力学 MATLAB/SIMULINK 仿真指导老师签名：本科毕业设计（论文）通过答辩Dynamic Simulation of RRR Planar LinkageAbstract: Dynamic simulation of planar linkage is divided into two types of kinematic analysis and dynamic analysis. The Kinematic analysis, which is the basis of the mechanical design, evaluation of mechanical motion and the dynamic performance, and it is the basic of Analyze Optimal Synthesis of new machinery of existing machinery. the main access to institutions of certain components of the displacement, angular velocity and angular acceleration, and some points of track, speed and acceleration. The Dynamic Analysis, which provides a theoretical basis for Selecting and designing of bearings, parts strength calculation and selection of the original motivation, Constraints derived anti-vice campaign and the drive force (or torque) based on the analysis of kinematics and the Working resistance.In this paper, using vector and matrix theory applicable to the MATLAB / SIMULINK simulation of the crank, RRR Ⅱ class bar group mathematical model of kinematics and dynamics, and using this mathematical model draw up M Function Simulation Module, a RRR four -bar linkage and a RRR-RRR six institutions were taken as example ,the procedures of modeling and simulating. Obtain the deputy of the anti-rotation force and driving torque through the simulation. Its main purpose is to constitute the body of the bar group Simulation Module, building the MATLAB / SIMULINK simulation model for the bar group, to do the kinematic and dynamic simulation and analysis for different types of planar linkage.Keyword: Linkage Kinematics Dynamics MATLAB/SIMULINK SimulationSignature of Supervisor:目录1 绪论1.1选题的依据及意义 (3)1.2国内外研究概况及发展趋势 (3)1.3研究内容及实验方案 (6)2 曲柄、RRRⅡ级杆组的MTALAB运动学仿真2.1用MATLAB实现牛顿-辛普森求解 (7)2.2用MATLAB进行速度分析 (6)2.3曲柄、RRRⅡ级杆组MATLAB运动学仿真模块 (7)2.4四杆机构的MATLAB运动学仿真 (12)2.5四杆机构MATLAB运动学仿真结果 (13)3 曲柄、RRRⅡ级杆组的MTALAB动力学仿真3.1曲柄、RRRⅡ级杆组MATLAB动力学仿真模块 (17)3.2四杆机构的MATLAB动力学仿真 (19)3.3四杆机构MATLAB仿真模型的初值确定 (23)3.4四杆机构MATLAB动力学仿真结果 (23)4 RRR-RRR六杆机构的MTALAB运动学仿真4.1 RRR-RRR六杆机构 (26)4.2 RRR-RRR六杆机构MATLAB仿真模型 (26)4.3 RRR-RRR六杆机构MATLAB真模块 (28)4.4 RRR-RRR六杆机构MATLAB仿真模块中初值的确定 (29)4.5 RRR-RRR六杆机构MATLAB运动学仿真结果 (29)5 RRR-RRR六杆机构的MTALAB动力学仿真5.1 RRR-RRR六杆机构 (35)5.2 RRR-RRR六杆机构MATLAB仿真模型 (35)5.3 RRR-RRR六杆机构MATLAB仿真模块 (37)5.4 RRR-RRR六杆机构MATLAB仿真模块中初值的确定 (38)5.5 RRR-RRR六杆机构MATLAB运动学仿真结果 (38)总结 (41)参考文献 (43)致谢 (45)1 绪论1.1选题的依据及意义平面连杆机构是许多构建用低副（转动副和移动副）连接组成的平面机构。