1、精選優(yōu)質(zhì)文檔-傾情為你奉上 沈陽航空航天大學鉸鏈四桿機構(gòu)設計報告 學院：機電工程學院班級：姓名：學號：Dim a, b, c, d, e, f, l1, l2, l3, l4, w1, w2, w3, a2, a3#, p, m, dc, bjj, n%Private Sub Command1_Click() 桿長賦值l1 = Val(Text1(0).Text)l2 = Val(Text1(1).Text)l3 = Val(Text1(2).Text)l4 = Val(Text1(3).Text)a = Val(Text3.Text) * 3.979 / 180 初始 角度轉(zhuǎn)弧度Call b

2、j(bjj)If bjj = 1 Then Exit Subw1 = 0Call jsg w1 = Val(Text2.Text) 公式計算角速度，角加速度 w2 = -w1 * l1 * Sin(a - c) / (l3 * Sin(b - c)w3 = w1 * l1 * Sin(a - b) / (l2 * Sin(c - b)Text4.Text = w2Text6.Text = w3a2 = (l3 * w3 * w3 - l1 * w1 * w1 * Cos(a - c) - l2 * w2 * w2 * Cos(b - c) / (l2 * Sin(b - c)a3 = (l2

3、* w2 * w2 + l1 * w1 * w1 * Cos(a - b) - l3 * w3 * w3 * Cos(c - b) / (l3 * Sin(c - b)Text5.Text = a2Text7.Text = a3End SubFunction jsg()If p = 0 Then p = -1On Error GoTo ela = a + 0.01 * w1 角度隨時間增加d = l4 - l1 * Cos(a)e = -l1 * Sin(a)f = (d 2 + e 2 + l3 2 - l2 2) / (2 * l3)c = 2 * Atn(e + Sqr(d 2 + e

4、2 - f 2) * p) / (d - f)b = Atn(e + l3 * Sin(c) / (d + l3 * Cos(c)w1 = -w1el: w1 = -w1Line1(0).Y1 = Picture1.Height / 2 定義各個線段端點的坐標Line1(0).X1 = Picture1.Width / 2Line1(0).X2 = l1 * Cos(a) + Line1(0).X1Line1(0).Y2 = Line1(0).Y1 - l1 * Sin(a)Line1(3).X2 = Line1(0).X1 + l4Line1(3).Y2 = Line1(0).Y1Line1

5、(3).X1 = Line1(0).X1Line1(3).Y1 = Line1(0).Y1Line1(2).X1 = Line1(3).X2 + l3 * Cos(c)Line1(2).Y1 = Line1(3).Y2 - l3 * Sin(c)Line1(2).X2 = Line1(3).X2Line1(2).Y2 = Line1(3).Y2Line1(1).X1 = Line1(0).X2Line1(1).Y1 = Line1(0).Y2Line1(1).X2 = Line1(2).X1Line1(1).Y2 = Line1(2).Y1Shape1(i).Left = Line1(i).X

6、1 - 50 連接兩桿轉(zhuǎn)動副的中心坐標 Shape1(i).Top = Line1(i).Y1 - 50Next iPicture1.PSet (Line1(1).X1, Line1(1).Y1), vbRed 畫出主動件和連架桿的軌跡Picture1.PSet (Line1(2).X1, Line1(2).Y1), vbGreenEnd FunctionFunction bj(x) 桿長條件的判斷x = 0xld = Val(Text1(0).Text)xlx = Val(Text1(0).Text) For i = 1 To 3 If xld < Val(Text1(i).Text)

7、 Then xld = Val(Text1(i).Text)If xlx > Val(Text1(i).Text) Then xlx = Val(Text1(i).Text)Next iFor i = 0 To 3zh = Val(Text1(i).Text) + zhNext iIf (xlx + xld) > (zh - (xlx + xld) ThenMsgBox ("不滿足桿長要求")x = 1End IfEnd Function。 Picture2.Scale (-8, 4)-(8, -4) 畫出角速度w2函數(shù)圖像 Picture2.Line (-7.

8、5, 0)-(7.5, 0) Picture2.Line (0, 3.8)-(0, -3.8) Picture2.CurrentX = 7.5: Picture2.CurrentY = 0.2: Picture2.Print "x" Picture2.CurrentX = 0.3: Picture2.CurrentY = 4: Picture2.Print "y" For i = -7 To 7 Picture2.Line (i, 0)-(i, 0.1) Picture2.CurrentX = i - 0.1: Picture2.CurrentY = -

9、0.01: Picture2.Print i Next i For i = 3.2 To -3.2 Step -0.2 If i > -0.01 And i < 0.01 Then i = 0 Picture2.CurrentX = -0.3: Picture2.CurrentY = i + 0.03: Picture2.Print i Picture2.Line (0.3, i)-(0, i)Next iDim a1, b1, c1, d1, e1, f1, w11#w11 = 0.001For x = -6.283 To 6.283 Step 0.001If p = 0 The

10、n p = -1On Error GoTo el a1 = a1 + w11 d1 = l4 - l1 * Cos(a1) e1 = -l1 * Sin(a1) f1 = (d1 2 + e1 2 + l3 2 - l2 2) / (2 * l3) c1 = 2 * Atn(e1 + Sqr(d1 2 + e1 2 - f1 2) * p) / (d1 - f1) b1 = Atn(e1 + l3 * Sin(c1) / (d1 + l3 * Cos(c1) w11 = -w11el: w11 = -w11w111 = Val(Text2.Text)w21 = -w111 * l1 * Sin

11、(a1 - c1) / (l3 * Sin(b1 - c1)w31 = w1 * l1 * Sin(a1 - b1) / (l2 * Sin(c1 - b1)a21 = (l3 * w31 * w31 - l1 * w111 * w111 * Cos(a1 - c1) - l2 * w21 * w21 * Cos(b1 - c1) / (l2 * Sin(b1 - c1)a31 = (l2 * w21 * w21 + l1 * w111 * w111 * Cos(a1 - b1) - l3 * w31 * w31 * Cos(c1 - b1) / (l3 * Sin(c1 - b1)Pictu

12、re2.PSet (x, w21)Next xEnd IfEnd Sub Picture3.Scale (-8, 3.5)-(8, -3.5) 畫出角速度w3函數(shù)圖像 Picture3.Line (-7.5, 0)-(7.5, 0) Picture3.Line (0, 3.4)-(0, -3.4) Picture3.CurrentX = 7.5: Picture3.CurrentY = 0.2: Picture3.Print "x" Picture3.CurrentX = 0.3: Picture3.CurrentY = 3.5: Picture3.Print "

13、y" For i = -7 To 7 Picture3.Line (i, 0)-(i, 0.1) Picture3.CurrentX = i - 0.1: Picture3.CurrentY = -0.01: Picture3.Print i Next i For i = 3.2 To -3.2 Step -0.2 If i > -0.01 And i < 0.01 Then i = 0 Picture3.CurrentX = -0.3: Picture3.CurrentY = i + 0.03: Picture3.Print i Picture3.Line (0.3,

14、i)-(0, i)Next iDim a1, b1, c1, d1, e1, f1, w11#w11 = 0.001For x = -6.283 To 6.283 Step 0.001If p = 0 Then p = -1On Error GoTo el a1 = a1 + w11 d1 = l4 - l1 * Cos(a1) e1 = -l1 * Sin(a1) f1 = (d1 2 + e1 2 + l3 2 - l2 2) / (2 * l3) c1 = 2 * Atn(e1 + Sqr(d1 2 + e1 2 - f1 2) * p) / (d1 - f1) b1 = Atn(e1

15、+ l3 * Sin(c1) / (d1 + l3 * Cos(c1) w11 = -w11el: w11 = -w11w111 = Val(Text2.Text)w21 = -w111 * l1 * Sin(a1 - c1) / (l3 * Sin(b1 - c1)w31 = w1 * l1 * Sin(a1 - b1) / (l2 * Sin(c1 - b1)a21 = (l3 * w31 * w31 - l1 * w111 * w111 * Cos(a1 - c1) - l2 * w21 * w21 * Cos(b1 - c1) / (l2 * Sin(b1 - c1)a31 = (l2

16、 * w21 * w21 + l1 * w111 * w111 * Cos(a1 - b1) - l3 * w31 * w31 * Cos(c1 - b1) / (l3 * Sin(c1 - b1)Picture3.PSet (x, w31)Next xEnd IfEnd SubPrivate Sub Picture4_DblClick() 畫出角加速度a2Picture3.Clsd Picture4.Scale (-8, 8)-(8, -8) Picture4.Line (-7.5, 0)-(7.5, 0) Picture4.Line (0, 7.5)-(0, -7.5) Picture4.

17、CurrentX = 7.5: Picture4.CurrentY = 0.2: Picture4.Print "x" Picture4.CurrentX = 0.3: Picture4.CurrentY = 8: Picture4.Print "y" For i = -7 To 7 Picture4.Line (i, 0)-(i, 0.1) Picture4.CurrentX = i - 0.1: Picture4.CurrentY = -0.01: Picture4.Print i Next i For i = 7 To -7 Step -0.5 I

18、f i > -0.01 And i < 0.01 Then i = 0 Picture4.CurrentX = -0.3: Picture4.CurrentY = i + 0.03: Picture4.Print i Picture4.Line (0.3, i)-(0, i)Next iDim a1, b1, c1, d1, e1, f1, w11#w11 = 0.001For x = -6.283 To 6.283 Step 0.001If p = 0 Then p = -1On Error GoTo elell: a1 = a1 + w11 d1 = l4 - l1 * Cos

19、(a1) If IsEmpty(d1) Then GoTo ell e1 = -l1 * Sin(a1) If IsEmpty(e1) Then GoTo ell f1 = (d1 2 + e1 2 + l3 2 - l2 2) / (2 * l3) If IsEmpty(f1) Then GoTo ell c1 = 2 * Atn(e1 + Sqr(d1 2 + e1 2 - f1 2) * p) / (d1 - f1) If IsEmpty(c1) Then GoTo ell End If b1 = Atn(e1 + l3 * Sin(c1) / (d1 + l3 * Cos(c1) If

20、 IsEmpty(b1) Then GoTo ell w11 = -w11el: w11 = -w11w111 = Val(Text2.Text)If b1 = Null Then GoTo ellw21 = -w111 * l1 * Sin(a1 - c1) / (l3 * Sin(b1 - c1)w31 = w1 * l1 * Sin(a1 - b1) / (l2 * Sin(c1 - b1)a21 = (l3 * w31 * w31 - l1 * w111 * w111 * Cos(a1 - c1) - l2 * w21 * w21 * Cos(b1 - c1) / (l2 * Sin(

21、b1 - c1)a31 = (l2 * w21 * w21 + l1 * w111 * w111 * Cos(a1 - b1) - l3 * w31 * w31 * Cos(c1 - b1) / (l3 * Sin(c1 - b1)Picture4.PSet (x, a21) Picture5.Scale (-8, 8)-(8, -8) 畫出角加速度a3 Picture5.Line (-7.5, 0)-(7.5, 0) Picture5.Line (0, 7.5)-(0, -7.5) Picture5.CurrentX = 7.5: Picture5.CurrentY = 0.2: Pictu

22、re5.Print "x" Picture5.CurrentX = 0.3: Picture5.CurrentY = 8: Picture5.Print "y" For i = -7 To 7 Picture5.Line (i, 0)-(i, 0.1) Picture5.CurrentX = i - 0.1: Picture5.CurrentY = -0.01: Picture5.Print i Next i For i = -7 To 7 Step 0.5 If i > -0.01 And i < 0.01 Then i = 0 Pictu

23、re5.CurrentX = -0.3: Picture5.CurrentY = i + 0.03: Picture5.Print i Picture5.Line (0.3, i)-(0, i) Next iDim a1, b1, c1, d1, e1, f1, w11#w11 = 0.001For x = -6.283 To 6.283 Step 0.001If p = 0 Then p = -1On Error GoTo el a1 = a1 + w11 d1 = l4 - l1 * Cos(a1) e1 = -l1 * Sin(a1) f1 = (d1 2 + e1 2 + l3 2 -

24、 l2 2) / (2 * l3) c1 = 2 * Atn(e1 + Sqr(d1 2 + e1 2 - f1 2) * p) / (d1 - f1) b1 = Atn(e1 + l3 * Sin(c1) / (d1 + l3 * Cos(c1) w11 = -w11el: w11 = -w11w111 = Val(Text2.Text)w21 = -w111 * l1 * Sin(a1 - c1) / (l3 * Sin(b1 - c1)w31 = w1 * l1 * Sin(a1 - b1) / (l2 * Sin(c1 - b1)a21 = (l3 * w31 * w31 - l1 *

25、 w111 * w111 * Cos(a1 - c1) - l2 * w21 * w21 * Cos(b1 - c1) / (l2 * Sin(b1 - c1)a31 = (l2 * w21 * w21 + l1 * w111 * w111 * Cos(a1 - b1) - l3 * w31 * w31 * Cos(c1 - b1) / (l3 * Sin(c1 - b1)Picture5.PSet (x, a31) Picture6.Scale (-8, 3.5)-(8, -3.5) 角位移s2,s3函數(shù)的輸出 Picture6.Line (-7.5, 0)-(7.5, 0) Picture6.Line (0, 3.2)-(0, -3.2) Picture6.CurrentX = 7.5: Picture6.CurrentY = 0.2: Picture6.Print "x" Picture6.CurrentX = 0.3: Picture6.CurrentY = 3.5: Picture6.Print "y" For i = -7 To 7 Step 0.5 Picture6.Line (i, 0)-(i, 0.1) Picture6.CurrentX = i - 0.1: Picture6.Curre