按两连架杆预定的对应位置设计_铰链四杆机构的设计

1.机构特征参数：

◇机构参数：连架杆a=100mm, 连杆b=178.3023mm, 连架杆c=153.304mm, 机架d=144.2395mm, 连杆BC上E点LenBE=50mm, δ=0°。

◇机构类型：曲柄摇杆机构。杆a的转角范围:φ1=0～360°

◇曲柄AB角速度:1°/s

◇φ1=0°(杆a与机架重叠共线)时∠BCD=12.67476°

◇φ1=180°(杆a与机架拉直共线)时∠BCD=94.5734° (γ=85.4266°) ◇杆a驱动时最小传动角γmin=12.67476°

◇φ1=21.38847°时,杆a与连杆拉直共线(摇杆c右极限),φ

3=41.45593°,∠BCD=20.06746°

◇φ1=261.25532°时,杆a与连杆重叠共线(摇杆c左极限),φ

3=149.68007°,∠BCD=68.42474

◇杆a驱动时工作行程(慢行程)的最小传动角γmin=20.06746°

◇摇杆摆角(行程)ψ=108.22413°,极位夹角θ=59.86685°,行程速比系数K=1.996675

2.机构位置角φ1，φ2，传动角γ，E点位置坐标（Ex,Ey），位置角φ3及其角速度ω、角加速度α：

i

φ

1(°)

φ

2(°)

γ

(°)

Ex(mm) Ey(mm)

φ

3(°)

ω

(°

/s)

α

(°

/s2)

0 0.000 49.495 12.675 132.476 38.017 62.170 -2.260 0.110

1 3.000 43.068 12.86

2 136.390 39.377 55.930 -1.886 0.136

2 6.000 37.486 13.409 139.127 40.881 50.895 -1.469 0.139

3 9.000 32.825 14.272 140.785 42.747 47.098 -1.069 0.126

4 12.000 29.031 15.399 141.533 45.056 44.430 -0.719 0.106

5 15.000 25.985 16.734 141.538 47.788 42.719 -0.432 0.086

6 18.000 23.552 18.231 140.941 50.880 41.782 -0.202 0.068

7 21.000 21.610 19.850 139.844 54.251 41.460 -0.020 0.053

8 24.000 20.057 21.564 138.322 57.822 41.621 0.122 0.042

9 27.000 18.814 23.348 136.429 61.524 42.162 0.234 0.033

10 30.000 17.818 25.185 134.204 65.300 43.004 0.323 0.026

11 33.000 17.021 27.064 131.677 69.100 44.085 0.395 0.021

12 36.000 16.386 28.972 128.871 72.883 45.358 0.452 0.017

13 39.000 15.883 30.903 125.806 76.616 46.786 0.499 0.014

14 42.000 15.491 32.850 122.498 80.268 48.341 0.537 0.011

15 45.000 15.193 34.807 118.963 83.814 50.000 0.568 0.009

16 48.000 14.973 36.771 115.215 87.233 51.744 0.594 0.008

17 51.000 14.822 38.737 111.268 90.506 53.559 0.615 0.006

18 54.000 14.731 40.702 107.135 93.615 55.433 0.633 0.005

19 57.000 14.691 42.664 102.829 96.548 57.355 0.648 0.004

20 60.000 14.698 44.619 98.364 99.289 59.317 0.660 0.004

21 63.000 14.747 46.567 93.752 101.828 61.313 0.670 0.003

22 66.000 14.833 48.503 89.007 104.155 63.337 0.678 0.002

23 69.000 14.955 50.428 84.143 106.261 65.382 0.685 0.002

24 72.000 15.108 52.337 79.173 108.138 67.445 0.690 0.002

25 75.000 15.292 54.231 74.112 109.779 69.522 0.694 0.001

26 78.000 15.503 56.106 68.972 111.180 71.609 0.697 0.001

27 81.000 15.742 57.961 63.768 112.334 73.703 0.699 0.000

28 84.000 16.007 59.794 58.514 113.240 75.802 0.700 0.000

29 87.000 16.297 61.604 53.224 113.894 77.901 0.700 0.000

30 90.000 16.612 63.388 47.913 114.295 80.000 0.699 0.000

31 93.000 16.951 65.145 42.594 114.441 82.095 0.698 -0.001

32 96.000 17.314 66.872 37.282 114.332 84.185 0.696 -0.001

33 99.000 17.700 68.568 31.990 113.971 86.268 0.693 -0.001

34 102.000 18.110 70.231 26.732 113.357 88.341 0.689 -0.001

35 105.000 18.545 71.858 21.522 112.495 90.403 0.685 -0.001

36 108.000 19.003 73.448 16.373 111.386 92.451 0.680 -0.002

37 111.000 19.486 74.999 11.299 110.037 94.484 0.675 -0.002

38 114.000 19.993 76.507 6.313 108.450 96.501 0.669 -0.002

39 117.000 20.526 77.972 1.426 106.633 98.499 0.663 -0.002

40 120.000 21.085 79.391 -3.348 104.590 100.476 0.656 -0.002

41 123.000 21.671 80.761 -7.998 102.331 102.432 0.648 -0.003

42 126.000 22.283 82.080 -12.513 99.861 104.364 0.640 -0.003

43 129.000 22.924 83.346 -16.881 97.190 106.270 0.631 -0.003

44 132.000 23.593 84.557 -21.092 94.326 108.149 0.622 -0.003

45 135.000 24.291 85.709 -25.137 91.279 110.000 0.612 -0.003

46 138.000 25.019 86.801 -29.006 88.059 111.820 0.601 -0.004

47 141.000 25.778 87.830 -32.690 84.676 113.608 0.591 -0.004

48 144.000 26.569 88.794 -36.182 81.142 115.363 0.579 -0.004

49 147.000 27.391 89.691 -39.473 77.467 117.082 0.567 -0.004

50 150.000 28.247 89.482 -42.557 73.664 118.765 0.555 -0.004

51 153.000 29.137 88.727 -45.428 69.744 120.410 0.542 -0.004

52 156.000 30.060 88.045 -48.080 65.719 122.015 0.528 -0.005

53 159.000 31.019 87.439 -50.508 61.603 123.580 0.515 -0.005

54 162.000 32.013 86.910 -52.709 57.407 125.103 0.501 -0.005

55 165.000 33.042 86.459 -54.679 53.145 126.583 0.486 -0.005

56 168.000 34.108 86.089 -56.416 48.829 128.019 0.471 -0.005

57 171.000 35.210 85.800 -57.916 44.472 129.410 0.456 -0.005

58 174.000 36.348 85.593 -59.180 40.087 130.755 0.441 -0.005

59 177.000 37.522 85.468 -60.207 35.687 132.054 0.425 -0.005

60 180.000 38.732 85.427 -60.996 31.284 133.306 0.409 -0.005

61 183.000 39.978 85.468 -61.549 26.891 134.510 0.394 -0.005

62 186.000 41.260 85.593 -61.866 22.521 135.667 0.378 -0.005

63 189.000 42.576 85.800 -61.950 18.185 136.776 0.362 -0.005

64 192.000 43.926 86.089 -61.803 13.896 137.837 0.346 -0.005

65 195.000 45.310 86.459 -61.429 9.664 138.851 0.330 -0.005

66 198.000 46.726 86.910 -60.831 5.503 139.816 0.314 -0.005

67 201.000 48.173 87.439 -60.014 1.422 140.735 0.298 -0.005

68 204.000 49.651 88.045 -58.982 -2.568 141.606 0.283 -0.005

69 207.000 51.157 88.727 -57.741 -6.456 142.430 0.267 -0.005

70 210.000 52.690 89.482 -56.296 -10.232 143.208 0.252 -0.005

71 213.000 54.249 89.691 -54.654 -13.886 143.940 0.236 -0.005

72 216.000 55.832 88.794 -52.821 -17.409 144.627 0.221 -0.005

73 219.000 57.438 87.830 -50.804 -20.792 145.268 0.206 -0.005

74 222.000 59.064 86.801 -48.611 -24.026 145.865 0.192 -0.005

75 225.000 60.709 85.709 -46.249 -27.103 146.419 0.177 -0.005

76 228.000 62.371 84.557 -43.726 -30.016 146.928 0.163 -0.005

77 231.000 64.048 83.346 -41.051 -32.757 147.395 0.148 -0.005

78 234.000 65.737 82.080 -38.233 -35.318 147.818 0.134 -0.005

79 237.000 67.437 80.761 -35.279 -37.694 148.198 0.120 -0.005

80 240.000 69.145 79.391 -32.200 -39.878 148.536 0.105 -0.005

81 243.000 70.859 77.972 -29.004 -41.865 148.831 0.091 -0.005

82 246.000 72.576 76.507 -25.702 -43.649 149.083 0.077 -0.005

83 249.000 74.293 74.999 -22.301 -45.225 149.292 0.062 -0.005

84 252.000 76.009 73.448 -18.813 -46.589 149.457 0.048 -0.005

85 255.000 77.719 71.858 -15.247 -47.737 149.577 0.033 -0.005

86 258.000 79.421 70.231 -11.612 -48.665 149.652 0.017 -0.005

87 261.000 81.112 68.568 -7.918 -49.369 149.680 0.001 -0.005

88 264.000 82.788 66.872 -4.176 -49.848 149.660 -0.015 -0.006

89 267.000 84.445 65.145 -0.393 -50.098 149.589 -0.032 -0.006

90 270.000 86.079 63.388 3.419 -50.117 149.466 -0.050 -0.006

91 273.000 87.685 61.604 7.253 -49.904 149.289 -0.069 -0.006

92 276.000 89.259 59.794 11.100 -49.456 149.053 -0.089 -0.007

93 279.000 90.795 57.961 14.950 -48.774 148.756 -0.110 -0.007

94 282.000 92.287 56.106 18.796 -47.855 148.393 -0.133 -0.008

95 285.000 93.728 54.231 22.631 -46.698 147.959 -0.157 -0.009

96 288.000 95.110 52.337 26.448 -45.304 147.448 -0.184 -0.009

97 291.000 96.426 50.428 30.241 -43.672 146.853 -0.213 -0.010

98 294.000 97.664 48.503 34.006 -41.801 146.167 -0.245 -0.011

99 297.000 98.814 46.567 37.738 -39.691 145.380 -0.280 -0.012 100 300.000 99.862 44.619 41.436 -37.341 144.481 -0.320 -0.014 101 303.000 100.793 42.664 45.100 -34.752 143.457 -0.364 -0.016 102 306.000 101.591 40.702 48.732 -31.921 142.293 -0.413 -0.018 103 309.000 102.234 38.737 52.337 -28.850 140.970 -0.469 -0.020 104 312.000 102.698 36.771 55.923 -25.537 139.468 -0.533 -0.023 105 315.000 102.954 34.807 59.502 -21.983 137.761 -0.606 -0.026 106 318.000 102.969 32.850 63.093 -18.189 135.819 -0.690 -0.030 107 321.000 102.704 30.903 66.719 -14.156 133.607 -0.787 -0.035 108 324.000 102.109 28.972 70.413 -9.891 131.082 -0.899 -0.040 109 327.000 101.130 27.064 74.215 -5.404 128.194 -1.029 -0.047 110 330.000 99.702 25.185 78.177 -0.715 124.887 -1.179 -0.054 111 333.000 97.748 23.348 82.360 4.145 121.095 -1.352 -0.062 112 336.000 95.185 21.564 86.836 9.122 116.748 -1.549 -0.070 113 339.000 91.925 19.850 91.678 14.135 111.775 -1.769 -0.077 114 342.000 87.885 18.231 96.950 19.064 106.116 -2.005 -0.080 115 345.000 83.007 16.734 102.680 23.746 99.741 -2.243 -0.077 116 348.000 77.281 15.399 108.823 27.982 92.680 -2.456 -0.063 117 351.000 70.795 14.272 115.216 31.574 85.068 -2.604 -0.033 118 354.000 63.760 13.409 121.559 34.395 77.169 -2.639 0.012

119 357.000 56.520 12.862 127.445 36.471 69.383 -2.525 0.064

120 360.000 49.495 12.675 132.476 38.017 62.170 -2.260 0.110

设计信息

类型：铰链四杆机构的设计

设计人：单位：

日期：2015/5/25 时间：13:40:41

一、两连架杆的对应角位置

位置1：φ1=45°，ψ1=50°

位置2：φ2=90°，ψ2=80°

位置3：φ3=135°，ψ3=110°

位置0：φ0=0°，ψ0=0°二、计算P0、P1、P2值

P0=1.53304

P1=-1.06284

P2=0.78049

三、计算m、n及l的值

m=1.78302

n=1.53304

l=1.44239

四、选择并输入已知杆的长度

已知曲柄(AB)长度为:100 mm 五、设计结果

AB杆长度为：100 mm

BC杆长度为：178.302 mm

CD杆长度为：153.304 mm

AD杆长度为：144.239 mm