第5章刚性构件组成的机械系统0423课件.pptx

1、()iiidLLFdtqq()0iidLLdtqq质点所有的惯性力之和作用在系统的主动力rmkk细杆不可伸长，不计质量。弹簧质量不计，小球由一定的角度释放系统的自系统的自由度，系由度，系统的动能，统的动能，势能以及势能以及广义坐标？广义坐标？222112cos2Tm xrxr2211(1 cos )22Vkxkxmgr222212cos(1 cos )2LTVm xrxrkxmgr系统的自由度数目为2，选取滑块的水平位移x和细杆摆角作为广义坐标很小时，1cos=2sin2(/2) 2/222222112cos22LTVm xrxrkxmgrcosLmxmrx22222112cos22LTVm

2、xrxrkxmgr()0iidLLdtqq2Lkxx2cosLmrmrxsinLmrxmgr 2cossindLmxmrmrdtx2cossindLmrmrxmrxdt2cossinsin0mrmrxmrxmrxmg0limcos1x0rxg2cossin20mxmrmrkx20mxmrkx0limsin0 x2mgxk20022mgkgrgkkrmg22kgkrmgsinsinrl3coscosxrlcoscosrldddtdt3sin1xr 1111cos,sin22xryr2211coscos,sin22xrlyl3coscosxrl111sin21cos2xryr 221sin121c

3、os2xryr 3sin1xr 211112Jm r222112Jm l()iiidLLFdtqqLTV22222222211222222221 1111sin1cos2 422411sin122Tm rJmrrJMr 111sin2Vm gr 22211sinsin22Vm glm gr 2222222221122222222121 1111sin1cos2 4224111sin1sin222Lm rJmrrJMrmmgr 1dLLMdt22222211222222111sin1cos424sin1dLm rJmrrdtJMr 221222222222222222222111cos2sinc

4、os122211sin1cossin22sincos1sin1Lmmgrm rJMrMr 22222211122222212222222111sin1cos4241sin1cos211112sincos1sin1cossin2222Mm rJmrrJMrmmgrm r2222222222sincos1sin1JMrMr1q2q13421212321232()()()()HR RR RqqRRRRRRRR1442123232RRqqRRRR2222221122124411111()22222HHHTJJm RRJJ111222()()dTTFdtqqdTTFdtqq112233441122334

5、45sinsinsinsincoscoscoscoslllllllll32112233113211223311coscoscossinsinsinllllll 13121232sinsinll 12131332sinsinll 44324232sinsinll 44234332sinsinll 22214143331414111111cos,sinssxlyl2112221122coscos,sinsinssxllyll35443334433coscos,sinsinssxlllyll4544444cos,sinssxllyl442221112iiiiiiiiTTmxyJ4411iiiiiVVm gy 442221112iiiiiiiiiLTVmxyJm gy111244dLLMdtdLLMdtCADFEMControlProgramerIEFatigueProEUgSolidWorkANSYSNastranMarcMatlabnCodeEasy5C+FortranSpringContact凸轮的相轨迹阀门与连杆的Y方向位移恒加速时变力势能与势能之和xy滑块上的力谢谢大家！谢谢大家！