机械原理课程设计—颚式破碎机设计说明书(共25页)

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1、目 录 一 设计题目1二 已知条件及设计要求12.1已知条件12.2设计要求2三. 机构的结构分析23.1六杆铰链式破碎机23.2四杆铰链式破碎机2四. 机构的运动分析24.1六杆铰链式颚式破碎机的运动分析24.2四杆铰链式颚式破碎机的运动分析6五.机构的动态静力分析75.1六杆铰链式颚式破碎机的静力分析75.2四杆铰链式颚式破碎机的静力分析12六. 工艺阻力函数及飞轮的转动惯量函数 176.1工艺阻力函数程序 176.2飞轮的转动惯量函数程序17七 .对两种机构的综合评价21八 . 主要的收获和建议22九 . 参考文献22一.设计题目：铰链式颚式破碎机方案分析二.已知条件及设计要求2.1 已

2、知条件 图1.1 六杆铰链式破碎机 图1.2 工艺阻力 图1.3 四杆铰链式破碎机图(a)所示为六杆铰链式破碎机方案简图。主轴1的转速为n1 = 170r/min，各部尺寸为：lO1A = 0.1m, lAB = 1.250m, lO3B = 1m, lBC = 1.15m, lO5C = 1.96m, l1=1m, l2=0.94m, h1=0.85m, h2=1m。各构件质量和转动惯量分别为：m2 = 500kg, Js2 = 25.5kgm2, m3 = 200kg, Js3 = 9kgm2, m4 = 200kg, Js4 = 9kgm2, m5=900kg, Js5=50kgm2,

3、构件1的质心位于O1上，其他构件的质心均在各杆的中心处。D为矿石破碎阻力作用点，设LO5D = 0.6m，破碎阻力Q在颚板5的右极限位置到左极限位置间变化，如图(b)所示，Q力垂直于颚板。图(c)是四杆铰链式颚式破碎机方案简图。主轴1 的转速n1=170r/min。lO1A = 0.04m, lAB = 1.11m, l1=0.95m, h1=2m, lO3B=1.96m，破碎阻力Q的变化规律与六杆铰链式破碎机相同，Q力垂直于颚板O3B，Q力作用点为D，且lO3D = 0.6m。各杆的质量、转动惯量为m2 = 200kg, Js2=9kgm2，m3 = 900kg, Js3=50kgm2。曲柄

4、1的质心在O1 点处，2、3构件的质心在各构件的中心。2.2 设计要求试比较两个方案进行综合评价。主要比较以下几方面：1. 进行运动分析，画出颚板的角位移、角速度、角加速度随曲柄转角的变化曲线。2. 进行动态静力分析，比较颚板摆动中心运动副反力的大小及方向变化规律，曲柄上的平衡力矩大小及方向变化规律。3. 飞轮转动惯量的大小。三.机构的结构分析3.1六杆铰链式破碎机六杆铰链式粉碎机拆分为机架和主动件，构件组成的RRR杆组，构件组成的RRR杆组。+ +3.2四杆铰链式破碎机四杆铰链式破碎机拆分为机架和主动件，构件组成的RRR杆组。+ 四.机构的运动分析4.1六杆铰链式颚式破碎机的运动分析。4.1

5、.1 杆件的运动参数。1) 调用bark函数求主动件的运动参数。形式参数n1n2n3kr1r2gametwepvpap实 值1201r120.00.0twepvpap2）调用rrrk函数求、构件组成的RRR杆组进行运动分析。形式参数mn1n2n3k1k2r1r2twepvpap实 值-124323R23R34twepvpap3） 调用rrrk函数对、构件组成的RRR杆组进行运动分析。形式参数mn1n2n3k1k2r1r2t wepvpap实 值136545r35R56twepvpap4.1.2 写主程序并运行。按一定的步长，改变主动件的位置角度，使其在0-360变化，便可求出机构各点在整个运动

6、循环内的运动参数并打印输出。（1） 主程序。#includesubk.c#includedraw.cmain()static double p202,vp202,ap202,del;static double t10,w10,e10,pdraw370,vpdraw370,apdraw370;static int ic;double r12,r23,r34,r35,r56,r611;double pi,dr;int i;FILE *fp;r12=0.1;r23=1.250;r34=1.0;r35=1.15;r56=1.96;r611=0.6;pi=4.0*atan(1.0);dr=pi/180.

7、0;w1=-170*2*pi/60;e1=0.0;del=15.0;p11=0.0;p12=0.0;p41=0.94;p42=-1;p61=-1;p62=0.85;printf(n The Kinematic Parameters of Point 5n);printf(No THETA1 S5 V5 A5n);printf( deg rad rad/s rad/s/sn);if(fp=fopen(sgy,w)=NULL)printf(cant open this file.n);exit(0);fprintf(fp,n The Kinematic Parameters of Point 5n

8、);fprintf(fp,No THETA1 S5 V5 A5n);fprintf(fp, deg rad rad/s rad/s/sn);ic=(int)(360.0/del);for(i=0;i=ic;i+)t1=(-i)*del*dr;bark(1,2,0,1,r12,0.0,0.0,t,w,e,p,vp,ap);rrrk(-1,2,4,3,2,3,r23,r34,t,w,e,p,vp,ap);rrrk(1,3,6,5,4,5,r35,r56,t,w,e,p,vp,ap);bark(2,0,7,2,0.0,r23/2,0.0,t,w,e,p,vp,ap);bark(4,0,8,3,0.0

9、,r34/2,0.0,t,w,e,p,vp,ap);bark(3,0,9,4,0.0,r35/2,0.0,t,w,e,p,vp,ap);bark(6,0,10,5,0.0,r56/2,0.0,t,w,e,p,vp,ap);bark(6,0,11,5,0.0,r611,0.0,t,w,e,p,vp,ap);printf(n%2d%12.3f%12.3f%12.3f%12.3f,i+1,t1/dr,t5,w5,e5);fprintf(fp,n%2d%12.3f%12.3f%12.3f%12.3f,i+1,t1/dr,t5,w5,e5);pdrawi=t5;vpdrawi=w5;apdrawi=e5

10、;if(i%16)=0)getch();fclose(fp);getch();draw1(del,pdraw,vpdraw,apdraw,ic);（2）运行结果。 件5的运动参数：The Kinematic Parameters of Point 5No THETA1 S5 V5 A5 deg rad rad/s rad/s/s1 0.000 -1.658 0.346 3.956 2 -15.000 -1.653 0.392 2.002 3 -30.000 -1.647 0.400 -0.932 4 -45.000 -1.641 0.362 -4.355 5 -60.000 -1.637 0.

11、274 -7.506 6 -75.000 -1.633 0.146 -9.612 7 -90.000 -1.632 -0.001 -10.183 8 -105.000 -1.633 -0.145 -9.165 9 -120.000 -1.637 -0.265 -6.90410 -135.000 -1.641 -0.345 -3.98111 -150.000 -1.646 -0.382 -1.00812 -165.000 -1.652 -0.377 1.51913 -180.000 -1.657 -0.341 3.29714 -195.000 -1.662 -0.284 4.23715 -210

12、.000 -1.666 -0.220 4.43616 -225.000 -1.668 -0.156 4.12117 -240.000 -1.670 -0.10 3.58418 -255.000 -1.671 -0.051 3.10519 -270.000 -1.672 -0.007 2.89820 -285.000 -1.672 0.036 3.06321 -300.000 -1.671 0.085 3.57122 -315.000 -1.669 0.142 4.24723 -330.000 -1.667 0.209 4.79124 -345.000 -1.663 0.281 4.81725

13、-360.000 -1.658 0.346 3.956 动图形：4.2杆铰链式颚式破碎机的运动分析。4.2.1运动参数。1）调用bark函数求主动件的运动参数。形式参数n1n2n3kr1r2gametwepvpap实 值1201r120.00.0twepvpap2）调用rrrk函数求、构件组成的RRR杆组进行运动分析。形式参数mn1n2n3k1k2r1r2t wepvpap实 值124323r23r34twepvpap4.2.2 写主程序并运行。按一定的步长，改变主动件的位置角度，使其在0-360变化，便可求出机构各点在整个运动循环内的运动参数并打印输出。(1)主程序。#includesubk

14、.c#includedraw.cmain()static double p202,vp202,ap202,del;static double t10,w10,e10,pdraw370,vpdraw370,apdraw370;static int ic;double r12,r23,r34,r47;double pi,dr;int i;FILE *fp;r12=0.04;r23=1.11;r34=1.96;r47=0.6;pi=4.0*atan(1.0);dr=pi/180.0;w1=-170*2*pi/60;e1=0.0;del=15.0;p11=0.0;p12=0.0;p41=-0.95;p

15、42=2.0;printf(n The Kinematic Parameters of Point 5n);printf(No THETA1 S5 V5 A5n);printf( deg rad rad/s rad/s/sn);if(fp=fopen(sgy1,w)=NULL)printf(cant open this file.n);exit(0);fprintf(fp,n The Kinematic Parameters of Point 5n);fprintf(fp,No THETA1 S5 V5 A5n);fprintf(fp, deg rad rad/s rad/s/sn);ic=(

16、int)(360.0/del);for(i=0;i=ic;i+)t1=(-i)*del*dr;bark(1,2,0,1,r12,0.0,0.0,t,w,e,p,vp,ap);rrrk(1,2,4,3,2,3,r23,r34,t,w,e,p,vp,ap);bark(2,0,5,2,0.0,r23/2,0.0,t,w,e,p,vp,ap);bark(4,0,6,3,0.0,r34/2,0.0,t,w,e,p,vp,ap);bark(4,0,7,3,0.0,0.6,0.0,t,w,e,p,vp,ap);printf(n%2d%12.3f%12.3f%12.3f%12.3f,i+1,t1/dr,t3,

17、w3,e3);fprintf(fp,n%2d%12.3f%12.3f%12.3f%12.3f,i+1,t1/dr,t3,w3,e3);pdrawi=t3;vpdrawi=w3;apdrawi=e3;if(i%16)=0)getch();fclose(fp);getch();draw1(del,pdraw,vpdraw,apdraw,ic); (2)运行结果。杆件3的运动参数：The Kinematic Parameters of Point 5No THETA1 S5 V5 A5 deg rad rad/s rad/s/s1 0.000 -1.632 0.014 -6.232 2 -15.00

18、0 -1.632 -0.077 -6.098 3 -30.000 -1.634 -0.163 -5.591 4 -45.000 -1.637 -0.240 -4.731 5 -60.000 -1.641 -0.301 -3.553 6 -75.000 -1.646 -0.343 -2.117 7 -90.000 -1.651 -0.362 -0.501 8 -105.000 -1.656 -0.357 1.192 9 -120.000 -1.661 -0.327 2.84810 -135.000 -1.666 -0.274 4.33911 -150.000 -1.669 -0.201 5.54

19、412 -165.000 -1.671 -0.113 6.35813 -180.000 -1.672 -0.016 6.70314 -195.000 -1.672 0.082 6.54515 -210.000 -1.670 0.174 5.89416 -225.000 -1.667 0.253 4.80717 -240.000 -1.663 0.313 3.38418 -255.000 -1.658 0.351 1.74619 -270.000 -1.653 0.364 0.03020 -285.000 -1.647 0.352 -1.63921 -300.000 -1.642 0.317 -

20、3.14922 -315.000 -1.638 0.261 -4.41523 -330.000 -1.635 0.189 -5.37524 -345.000 -1.632 0.105 -5.98825 -360.000 -1.632 0.014 -6.232运动图形：五.机构的动态静力分析5.1六杆铰链式颚式破碎机的动态静力分析。5.1.1 质点7，8，9，10及矿石破碎产生阻力的作用点11的运动参数；调用bark函数对质点7进行运动分析： 形式参数n1n2n3kr1r2gametwepvpap实 值20720.0R23/20.0twepvpap调用bark函数对质点8进行运动分析： 形式参数

21、n1n2n3kr1r2gametwepvpap实 值40830.0R34/20.0twepvpap调用bark函数对质点9进行运动分析： 形式参数n1n2n3kr1r2gametwepvpap实 值30940.0R35/20.0twepvpap调用bark函数对质点10进行运动分析： 形式参数n1n2n3kr1r2gametwepvpap实 值601050.0R56/20.0twepvpap调用bark函数对质点11进行运动分析： 形式参数n1n2n3kr1r2gametwepvpap实 值601150.0r6110.0twepvpap（2）调用rrrf函数对、构件构成的RRR杆组进行动态静力

22、分析：形式参数n1n2n3ns1ns2nn1nn2nexfk1实 值365910011114形式参数k2pvpaptwefr实 值5pvpaptwefr（3）调用rrrf函数对、构件构成的RRR杆组进行动态静力分析：形式参数n1n2n3ns1ns2nn1nn2nexfk1实 值243780302形式参数k2pvpaptwefr实 值3pvpaptwefr（4）调用barf函数对主动件1进行动态静力分析：形式参数n1ns1nn1k1papefrtb 实 值1121papefr&tb5.1.2程序并运行。按一定的步长，改变主动件的位置角度，使其在0-360变化，便可求出机构各运动副反力及作用在主动

23、件上的平衡力矩。（1）主程序。#include graphics.h#includesubk.c#includesubf.c#includedraw.cmain()static double p202,vp202,ap202,del;static double t10,w10,e10,fr202,fe202;static double sita1370,fr1draw370,sita2370,fr2draw370,sita3370,fr3draw370,tbdraw370,tb1draw370;static double tb,tb1,fr1,bt1,fr4,bt4,fr6,bt6,we1,w

24、e2,we3,we4,we5;static int ic;double r12,r23,r34,r35,r56,r611;double pi,dr;int i;FILE *fp;sm1=0.0;sm2=500.0;sm3=200.0;sm4=200.0;sm5=900.0;sj1=0.0;sj2=25.5;sj3=9.0;sj4=9.0;sj5=50.0;r12=0.1;r23=1.250;r34=1.0;r35=1.15;r56=1.96;r611=0.6;pi=4.0*atan(1.0);dr=pi/180.0;w1=-170*2*pi/60;e1=0.0;del=10.0;p11=0.0

25、;p12=0.0;p41=0.94;p42=-1.0;p61=-1.0;p62=0.85;printf(n The Kineto-static Analysis of a six-bar Linkasen);printf(No HETAL fr1 sita1 fr4 sita4 tb tb1n);printf( deg N radian N radian N.m N.m );printf(n The Kineto-static Analysis of a Six-bar Linkasen);printf( NO THETA1 fr6 bt6 tb tb1n);printf( (deg.) (N

26、) (deg.) (N.m) (N.m)n);if(fp=fopen(sgy2,w)=NULL)printf(Cant open this file./n);exit(0);fprintf(fp,n The Kineto-static Analysis of a Six-bar Linkasen);fprintf(fp,NO THETA1 FR6 BT6 TB TB1n );fprintf(fp, (deg.) (N) (deg.) (N.m) (N.m)n );ic=(int)(360.0/del);for(i=0;i=ic;i+)t1=(-i)*del*dr;bark(1,2,0,1,r1

27、2,0.0,0.0,t,w,e,p,vp,ap);rrrk(-1,2,4,3,2,3,r23,r34,t,w,e,p,vp,ap);rrrk(1,3,6,5,4,5,r35,r56,t,w,e,p,vp,ap);bark(2,0,7,2,0.0,r23/2,0.0,t,w,e,p,vp,ap);bark(4,0,8,3,0.0,r34/2,0.0,t,w,e,p,vp,ap);bark(3,0,9,4,0.0,r35/2,0.0,t,w,e,p,vp,ap);bark(6,0,10,5,0.0,r56/2,0.0,t,w,e,p,vp,ap);bark(6,0,11,5,0.0,r611,0.

28、0,t,w,e,p,vp,ap);rrrf(3,6,5,9,10,0,11,11,4,5,p,vp,ap,t,w,e,fr);rrrf(2,4,3,7,8,3,0,0,2,3,p,vp,ap,t,w,e,fr);barf(1,1,2,1,p,ap,e,fr,&tb);fr1=sqrt(fr11*fr11+fr12*fr12);bt1=atan2(fr12,fr11);fr4=sqrt(fr41*fr41+fr42*fr42);bt4=atan2(fr42,fr41);fr6=sqrt(fr61*fr61+fr62*fr62);bt6=atan2(fr62,fr61);we1=-(ap11*vp

29、11+(ap12+9.81)*vp12)*sm1-e1*w1*sj1;we2=-(ap71*vp71+(ap72+9.81)*vp72)*sm2-e2*w2*sj2;we3=-(ap81*vp81+(ap82+9.81)*vp82)*sm3-e3*w3*sj3;we4=-(ap91*vp91+(ap92+9.81)*vp92)*sm4-e4*w4*sj4;extf(p,vp,ap,t,w,e,11,fe);we5=-(ap101*vp101+(ap102+9.81)*vp102)*sm5-e5*w5*sj5+fe111*vp111+fe112*vp112;tb1=-(we1+we2+we3+w

30、e4+we5)/w1;printf(%3d %10.3f %10.3f %10.3f %10.3f %10.3fn,i+1,t1/dr,fr6,bt6/dr,tb,tb1);fprintf(fp,%3d %10.3f %10.3f %10.3f %10.3f %10.3fn,i+1,t1/dr,fr6,bt6/dr,tb,tb1);tbdrawi=tb;tb1drawi=tb1;fr1drawi=fr1;sita1i=bt1;fr2drawi=fr4;sita2i=bt4; fr3drawi=fr6;sita3i=bt6;if(i%16)=0)getch();fclose(fp);getch(

31、);draw2(del,tbdraw,tb1draw,ic);draw3(del,sita1,fr1draw,sita2,fr2draw,sita3,fr3draw,ic);#include math.hextf(p,vp,ap,t,w,e,nexf,fe)double p202,vp202,ap202,t10,w10,e10,fe202;double pi,dr;pi=4.0*atan(1.0);dr=pi/180.0;if(w50)fenexf1=(-t1/dr-90.0)*(85000.0/182.0)*cos(-t5-pi/2);fenexf2=(-t1/dr-90.0)*(85000

32、.0/182.0)*sin(-t5-pi/2);elsefenexf1=0;fenexf2=0;（2）运行结果： The Kineto-static Analysis of a Six-bar LinkaseNO THETA1 FR6 BT6 TB TB1 (deg.) (N) (deg.) (N.m) (N.m) 1 0.000 9904.580 77.690 534.273 534.273 2 -15.000 10248.086 82.670 1038.104 1038.104 3 -30.000 10522.852 89.576 1434.513 1434.513 4 -45.000 1

33、0757.314 97.329 1547.760 1547.760 5 -60.000 10967.175 104.339 1270.987 1270.987 6 -75.000 11112.158 109.009 644.228 644.228 7 -90.000 11132.496 110.330 -144.608 -144.608 8 -105.000 12694.785 130.968 -883.503 -883.503 9 -120.000 15067.304 144.368 -1406.751 -1406.751 10 -135.000 17747.445 153.528 -162

34、3.932 -1623.932 11 -150.000 20694.648 160.499 -1555.124 -1555.124 12 -165.000 24022.489 166.115 -1286.981 -1286.981 13 -180.000 27824.537 170.602 -923.989 -923.989 14 -195.000 32106.137 174.034 -557.444 -557.444 15 -210.000 36785.996 176.536 -253.496 -253.496 16 -225.000 41731.070 178.304 -51.307 -5

35、1.307 17 -240.000 46795.855 179.558 36.912 36.912 18 -255.000 51853.137 -179.507 26.634 26.634 19 -270.000 56814.061 -178.745 -39.410 -39.410 20 -285.000 8481.823 78.617 -205.306 -205.306 21 -300.000 8583.465 77.292 -338.729 -338.729 22 -315.000 8793.293 75.658 -361.459 -361.459 23 -330.000 9113.158

36、 74.602 -227.576 -227.576 24 -345.000 9506.210 75.059 80.824 80.824 25 -360.000 9904.580 77.690 534.273 534.273 （3）平衡力矩曲线：(4)反力的矢端图曲线：5.2杆铰链式颚式破碎机的动态静力分析。5.2.1 质点5，6及矿石破碎产生阻力的作用点7的运动参数；调用bark函数对质点5进行运动分析： 形式参数n1n2n3kr1r2gamtwepvpap实 值20520.0r250.0twepvpap调用bark函数对质点6进行运动分析： 形式参数n1n2n3kr1r2gamtwepvpa

37、p实 值40630.0r460.0twepvpap调用bark函数对质点7进行运动分析： 形式参数n1n2n3kr1r2gamtwepvpap实 值40730.0r470.0twepvpap（2）调用rrrf函数对，构件构成的RRR杆组进行动态静力分析：形式参数n1n2n3ns1ns2nn1nn2nexfk1实 值243560772形式参数k2pvpaptwefr实 值3pvpaptwefr（3）调用barf函数对主动件1进行动态静力分析：形式参数n1ns1nn1k1papefrtb 实 值1121papefr&tb5.22主程序并运行。按一定的步长，改变主动件的位置角度，使其在0-360变化

38、，便可求出机构各运动副反力及作用在主动件上的平衡力矩。（1）主程序。#include graphics.h#include subk.c#include subf.c#include draw.cmain()static double p202,vp202,ap202,del;static double t10,w10,e10;static double sita1370,fr1draw370,sita2370,fr2draw370,sita3370,fr3draw370,tbdraw370,tb1draw370;static double fr202,fe202;static int ic;

39、double r12,r23,r34,r47;int i;double pi,dr;double fr1,fr4,bt1,bt4,we1,we2,we3,tb,tb1;FILE*fp;sm1=0.0;sm2=200.0;sm3=900.0;sj1=0.0;sj2=9.0;sj3=50.0;r12=0.04; r23=1.11; r34=1.96,r47=0.6;pi=4.0*atan(1.0);w1=-170*2*pi/60; e1=0.0; del=15.0;dr=pi/180.0;p11=0.0;p12=0.0;p41=-0.95;p42=2.0;printf(n The Kineto-s

40、tatic Analysis of a four-bar Linkasen);printf( NO THETA1 FR4 BT4 TB TB1n);printf( (deg.) (N) (deg.) (N.m) (N.m)n);if(fp=fopen(sgy3,w)=NULL)printf(Cant open this file./n);exit(0);fprintf(fp,n The Kineto-static Analysis of a four-bar Linkasen);fprintf(fp,NO THETA1 FR4 BT4 TB TB1n );fprintf(fp, (deg.)

41、(N) (deg.) (N.m) (N.m)n );ic=(int)(360.0/del);for(i=0;i=ic;i+)t1=(-i)*del*dr;bark(1,2,0,1,r12,0.0,0.0,t,w,e,p,vp,ap);rrrk(1,2,4,3,2,3,r23,r34,t,w,e,p,vp,ap);bark(2,0,5,2,0.0,r23/2,0.0,t,w,e,p,vp,ap);bark(4,0,6,3,0.0,r34/2,0.0,t,w,e,p,vp,ap);bark(4,0,7,3,0.0,0.6,0.0,t,w,e,p,vp,ap);rrrf(2,4,3,5,6,0,7,

42、7,2,3,p,vp,ap,t,w,e,fr);barf(1,1,2,1,p,ap,e,fr,&tb);fr1=sqrt(fr11*fr11+fr12*fr12);bt1=atan2(fr12,fr11);fr4=sqrt(fr41*fr41+fr42*fr42);bt4=atan2(fr42,fr41);we1=-(ap11*vp11+(ap12+9.81)*vp12)*sm1-e1*w1*sj1; we2=-(ap51*vp51+(ap52+9.81)*vp52)*sm2-e2*w2*sj2;extf(p,vp,ap,t,w,e,7,fe);we3=-(ap61*vp61+(ap62+9.

43、81)*vp62)*sm3-e3*w3*sj3+fe71*vp71+fe72*vp72;tb1=-(we1+we2+we3)/w1;printf(%3d %10.3f %10.3f %10.3f %10.3f %10.3f n,i+1,t1/dr,fr4,bt4/dr,tb,tb1);fprintf(fp,%3d %10.3f %10.3f %10.3f %10.3f %10.3f n,i+1,t1/dr,fr4,bt4/dr,tb,tb1);tbdrawi=tb;tb1drawi=tb1;fr1drawi=fr1;sita1i=bt1;fr2drawi=fr4;sita2i=bt4;fr3d

44、rawi=fr4;sita3i=bt4;if(i%16)=0)getch();fclose(fp);getch();draw2(del,tbdraw,tb1draw,ic);draw3(del,sita1,fr1draw,sita2,fr2draw,sita3,fr3draw,ic);#include math.hextf(p,vp,ap,t,w,e,nexf,fe)double p202,vp202,ap202,t10,w10,e10,fe202;double pi,dr;pi=4.0*atan(1.0);dr=pi/180.0;if(w30)fenexf1=(-t1/dr-3/dr)*(8

45、5000.0/181.0)*cos(-t3-pi/2);fenexf2=(-t1/dr-3/dr)*(85000.0/181.0)*sin(-t3-pi/2);elsefenexf1=0;fenexf2=0;(2)运行结果： The Kineto-static Analysis of a four-bar LinkaseNO THETA1 FR4 BT4 TB TB1 (deg.) (N) (deg.) (N.m) (N.m) 1 0.000 10261.396 102.685 47.546 47.546 2 -15.000 51448.370 17.786 186.094 186.094 3

46、 -30.000 46996.739 19.370 316.446 316.446 4 -45.000 42725.338 21.193 402.027 402.027 5 -60.000 38603.813 23.247 446.798 446.798 6 -75.000 34590.628 25.540 455.194 455.194 7 -90.000 30637.112 28.117 431.327 431.327 8 -105.000 26695.709 31.108 379.118 379.118 9 -120.000 22733.412 34.813 303.360 303.36

47、0 10 -135.000 18753.920 39.876 211.317 211.317 11 -150.000 14843.055 47.694 114.117 114.117 12 -165.000 11289.242 61.310 27.042 27.042 13 -180.000 8894.730 85.799 -32.028 -32.028 14 -195.000 9702.566 70.652 -75.371 -75.371 15 -210.000 9538.373 72.140 -106.622 -106.622 16 -225.000 9408.540 74.864 -112.809 -112.809 17 -240.000 9336.371 78.581 -90.324 -90.324 18 -255.000 9335.572 82.915 -43.909 -43.909 19 -270.000 9405.058 87.439 15.069 15.069 20 -285.000 9529.828 91.754 72.279 72.279 21 -300.000 9687.086 95.554 114.547