基于谐波合成与分解的曲柄摇杆机构运动学程序化研究  

A Study on the Kinematic Programing of the Crank Rocker Mechanism Based on Harmonic Composition and Decomposition

作　　者：尹晓丽[1,2] 李春明[1,2] Yin Xiaoli;Li Chunming(School of Mechanical and Electronic Engineering,China University of Petroleum(East China),Qingdao 266580,China;Shengli College of China University of Petroleum,China University of Petroleum(East China),Dongying 257061,China)

机构地区：[1]中国石油大学(华东)机电工程学院,山东青岛266580 [2]中国石油大学(华东)中国石油大学胜利学院,山东东营257061

出　　处：《甘肃科学学报》2021年第1期26-30,35,共6页Journal of Gansu Sciences

基　　金：山东省自然科学基金(ZR2018PEE009);山东省高等学校科技计划(J17KA044);中国石油大学胜利学院教学改革研究基金(JG201725)。

摘　　要：曲柄摇杆机构的从动件位置角须通过多元三角函数方程组获得,其准确程序化研究值得重视。为了求解上述方程组并实现程序化,综述了位置角的求解方法。根据几何关系提出了求取从动件位置角的铰接点坐标法;基于谐波合成与分解的原理与方法提出了直接求解三角函数方程而获得角度的方法;分析了反三角函数的取值条件,从而可实现运动学参数的程序化求解。然后以CYJ10-3-53HB游梁式抽油机的主机构为例,令曲柄作为主动体匀速转动,进行了程序化运动学仿真。仿真结果验证了所提出的2个方法正确可靠。The follower position angle of the crank rocker mechanism must be obtained by solving a set of trigonometric function equations.It is worth paying attention to do the research on the accurate procedural solution.In order to solve the above equations and realize programming,the solving methods of the position angle are summarized.According to the geometric relationship,a method of calculating the follower angle by the hinge points coordinates is proposed.Based on the principle and method of harmonic composition and decomposition,an angle obtaining method by solving trigonometric function equation directly is proposed.The value condition of the inverse trigonometric function is analyzed,so that the programmed solution of kinematics analysis can be realized.Then,the main mechanism of CYJ10-3-53HB beam pumping unit is taken as an example.The program kinematics simulation is carried out by making the crank as an active body rotating at a uniform speed.The proposed two methods are verified by the simulation results.

关 键 词：平面四体机构运动学 曲柄摇杆机构 多元三角函数方程 谐波合成与分解原理 铰接点坐标法 

分 类 号：O311[理学—一般力学与力学基础] TH113[理学—力学]