四连杆计算表
X Y Z 两点距离
P1 25.495 41.694 l1(P2-P1) 50.00056 mm
P2 -21.472 58.845 l2(P3-P2) 199.9997 mm
P3 -220.334 80.147 l3(P4-P3) 150.0005 mm
P4 -74.44 45.289 l4(P4-P1) 99.99964 mm
O(gravity center) -538.067 120 l5(O-P2) 520.2022 mm
θ1-initial 18 l6(C-P2) 229.3068 mm
θ1-final 78 l7(P-P2) 999.4432 mm
C(on hood ) -245 0 110 l(c-d)min 365.1368 mm
D(on lower body) -610 30 100 l(c-d)max 433.2883 mm
P(hand operate point
-1015.783 160
500
G(m*g) 150
F1 180
FR 45
K 1.2
N 2
结果 中间数据
i θ1 F-OPEN F-CLOSE P2-X P2-Z P3-X
0 18 -45.33307 22.88004909 -21.47215 58.84458 -220.334
1 19 -43.04317 19.87349041 -21.16568 59.66166 -219.942
2 20 -40.76752 16.90476328 -20.84499 60.47327 -219.533
3 21 -38.50849 13.97424457 -20.51019 61.27915 -219.106
4 22 -36.26823 11.08246934 -20.16138 62.07907 -218.662
5 23 -34.04865 8.230083936 -19.79866 62.87278 -218.201
6 24 -31.85153 5.417810624 -19.42214 63.66004 -217.722
7 25 -29.67845 2.646420478 -19.03194 64.4406 -217.227
8 26 -27.53091 -0.08328754 -18.62817 65.21424 -216.716
9 27 -25.41027 -2.77050295 -18.21097 65.98071 -216.187
10 28 -23.31779 -5.41441667 -17.78045 66.73979 -215.642
11 29 -21.25465 -8.01423125 -17.33675 67.49123 -215.08
12 30 -19.22193 -10.569169 -16.88 68.23482 -214.503
13 31 -17.22063 -13.0784787 -16.41034 68.97033 -213.908
14 32 -15.2517 -15.5414406 -15.92792 69.69752 -213.298
15 33 -13.31598 -17.9573707 -15.43289 70.41619 -212.672
16 34 -11.41429 -20.3256242 -14.92538 71.1261 -212.03
17 35 -9.547347 -22.6455979 -14.40557 71.82705 -211.373
18 36 -7.715825 -24.9167326 -13.87359 72.51882 -210.7
19 37 -5.920338 -27.1385142 -13.32963 73.2012 -210.011
20 38 -4.16144 -29.3104752 -12.77384 73.87399 -209.308
21 39 -2.439632 -31.4321955 -12.20639 74.53697 -208.589
22 40 -0.755363 -33.5033023 -11.62746 75.18995 -207.855
23 41 0.8909719 -35.5234712 -11.03722 75.83272 -207.107
24 42 2.4990249 -37.4924256 -10.43586 76.4651 -206.344
25 43 4.068498 -39.4099366 -9.823546 77.08688 -205.566
注：绿色坐标需手动输入，黄色的为自动生成数据。该算法采用，解析法求出四连杆运动过程中个点坐标，然后利用虚功原理求解手动操作力，将
四连杆铰链轴的摩擦力矩也考虑再内
M(friction torque:
N*MM)
1
5
9
13
17
21
25
29
33
37
41
45
49
53
57
61
65
69
-100
-80
-60
-40
-20
0
20
40
60
F-OPEN
F-CLOSE
26 44 5.5991394 -41.2758225 -9.200475 77.69789 -204.774
27 45 7.0907427 -43.0899488 -8.566837 78.29792 -203.969
28 46 8.5431455 -44.8522268 -7.922822 78.88681 -203.149
29 47 9.9562279 -46.5626133 -7.268629 79.46437 -202.315
30 48 11.329911 -48.2211097 -6.604455 80.03042 -201.468
31 49 12.664156 -49.8277607 -5.930503 80.58479 -200.608
32 50 13.958963 -51.3826536 -5.246979 81.12732 -199.734
33 51 15.214367 -52.8859171 -4.55409 81.65783 -198.847
34 52 16.430442 -54.3377199 -3.852049 82.17618 -197.948
35 53 17.607293 -55.7382699 -3.141068 82.68219 -197.036
36 54 18.745062 -57.0878125 -2.421364 83.17571 -196.111
37 55 19.843918 -58.3866296 -1.693156 83.6566 -195.174
38 56 20.904066 -59.6350382 -0.956667 84.12471 -194.225
39 57 21.925736 -60.833389 -0.21212 84.57989 -193.264
40 58 22.909186 -61.9820651 0.5402572 85.02201 -192.292
41 59 23.854705 -63.0814807 1.300236 85.45093 -191.308
42 60 24.762601 -64.1320795 2.0675848 85.86653 -190.313
43 61 25.633212 -65.1343338 2.8420697 86.26866 -189.306
44 62 26.466894 -66.0887425 3.623455 86.65722 -188.289
45 63 27.26403 -66.9958301 4.4115026 87.03209 -187.262
46 64 28.025018 -67.8561456 5.2059724 87.39314 -186.224
47 65 28.75028 -68.6702606 6.0066225 87.74027 -185.175
48 66 29.440253 -69.4387682 6.8132089 88.07338 -184.117
49 67 30.095393 -70.1622821 7.625486 88.39235 -183.049
50 68 30.716172 -70.8414346 8.4432062 88.69711 -181.972
51 69 31.303075 -71.476876 9.2661207 88.98754 -180.885
52 70 31.856604 -72.0692728 10.093979 89.26357 -179.789
53 71 32.377271 -72.6193069 10.926528 89.52511 -178.684
54 72 32.865602 -73.1276743 11.763515 89.77208 -177.57
55 73 33.322132 -73.5950839 12.604684 90.00441 -176.449
56 74 33.747408 -74.0222564 13.44978 90.22202 -175.318
57 75 34.141986 -74.4099231 14.298546 90.42485 -174.18
58 76 34.506428 -74.7588251 15.150722 90.61283 -173.034
59 77 34.841305 -75.0697118 16.006048 90.78591 -171.881
60 78 35.147194 -75.3433405 16.864265 90.94404 -170.72
61 79 35.424679 -75.580475 17.725112 91.08716 -169.553
62 80 35.674347 -75.7818846 18.588325 91.21525 -168.378
63 81 35.896791 -75.9483437 19.453641 91.32824 -167.197
64 82 36.092606 -76.0806302 20.320799 91.42612 -166.009
65 83 36.26239 -76.1795253 21.189532 91.50885 -164.816
66 84 36.406745 -76.2458123 22.059576 91.5764 -163.616
67 85 36.526271 -76.280276 22.930668 91.62876 -162.411
68 86 36.621573 -76.2837017 23.80254 91.66591 -161.2
69 87 36.693253 -76.256875 24.674928 91.68783 -159.984
70 88 36.741914 -76.2005805 25.547565 91.69453 -158.763
71 89 36.768157 -76.1156014 26.420187 91.686 -157.537
72 90 36.772585 -76.0027189 27.292527 91.66224 -156.307
73 91 36.755796 -75.8627117 28.164319 91.62326 -155.072
74 92 36.718386 -75.6963551 29.035298 91.56907 -153.834
75 93 36.66095 -75.5044206 29.905199 91.49968 -152.591
76 94 36.584078 -75.2876757 30.773756 91.41513 -151.345
77 95 36.488358 -75.0468827 31.640705 91.31543 -150.096
78 96 36.374372 -74.782799 32.505783 91.20061 -148.843
θ(O-P2) -0.11783 rad
θ(C-P2) -0.22498 rad
θ(P-P2) -0.10138 rad
θ(P4-P1) -0.03596 rad
Amax Bmax Cmax θ2max θ3max
89.60394051 -48.9079 -23.59619 0.318241007 0.837908
Cx Cz P2x P2z
-187.321591 195.2979 16.864265 90.94403869
P3-Z O-X O-Z C-X C-Z P-X P-Z la1=z1-z2
80.14618553 -538.067 119.99958 -245.000152 109.9996 -1015.7831519 159.999584 -17.150584
81.74850834 -537.515 122.85649 -244.489898 111.6991 -1015.0694101 164.7429321 -17.967662
83.34559742 -536.941 125.70846 -243.961792 113.393 -1014.3256308 169.4820876 -18.779266
84.93722419 -536.344 128.55528 -243.415918 115.081 -1013.5518658 174.2168968 -19.585151
86.52316157 -535.725 131.39677 -242.852364 116.7629 -1012.7481688 178.9472064 -20.385069
88.10318407 -535.083 134.23271 -242.271224 118.4386 -1011.9145956 183.6728638 -21.178778
89.67706786 -534.42 137.06293 -241.672591 120.1077 -1011.0512042 188.3937172 -21.966036
91.2445909 -533.734 139.88723 -241.056568 121.77 -1010.1580544 193.1096158 -22.746602
92.80553296 -533.026 142.7054 -240.423256 123.4254 -1009.2352082 197.8204098 -23.52024
94.35967577 -532.297 145.51727 -239.772763 125.0736 -1008.2827294 202.5259508 -24.286713
95.90680303 -531.546 148.32264 -239.105199 126.7144 -1007.3006837 207.2260915 -25.045788
97.44670051 -530.773 151.12132 -238.42068 128.3476 -1006.2891387 211.9206858 -25.797235
98.9791561 -529.978 153.91314 -237.719322 129.9729 -1005.2481639 216.6095892 -26.540823
100.5039599 -529.162 156.6979 -237.001247 131.5903 -1004.1778306 221.2926585 -27.276326
102.0209044 -528.325 159.47542 -236.266579 133.1993 -1003.0782116 225.9697523 -28.003521
103.5297842 -527.466 162.24553 -235.515448 134.7999 -1001.9493818 230.6407303 -28.722185
105.0303964 -526.586 165.00804 -234.747984 136.3919 -1000.7914174 235.3054543 -29.432101
106.5225406 -525.685 167.76279 -233.964322 137.975 -999.60439636 239.9637872 -30.133051
108.0060189 -524.763 170.50959 -233.164601 139.5491 -998.38839834 244.6155941 -30.824823
109.4806359 -523.82 173.24828 -232.348962 141.1139 -997.14350436 249.2607416 -31.507205
110.9461991 -522.857 175.97869 -231.517549 142.6693 -995.86979701 253.899098 -32.179989
112.4025183 -521.873 178.70065 -230.670511 144.215 -994.56736028 258.5305335 -32.842971
113.8494063 -520.869 181.414 -229.807998 145.751 -993.23627956 263.15492 -33.495949
115.2866787 -519.844 184.11857 -228.930164 147.2769 -991.8766416 267.7721315 -34.138724
116.7141538 -518.799 186.81421 -228.037166 148.7926 -990.48853442 272.3820436 -34.7711
118.1316531 -517.734 189.50075 -227.129164 150.298 -989.0720473 276.984534 -35.392884
注：绿色坐标需手动输入，黄色的为自动生成数据。该算法采用，解析法求出四连杆运动过程中个点坐标，然后利用虚功原理求解手动操作力，将
直线与X轴夹角
1
5
9
13
17
21
25
29
33
37
41
45
49
53
57
61
65
69
-100
-80
-60
-40
-20
0
20
40
60
F-OPEN
F-CLOSE
摘要：
展开>>
收起<<
XYZ两点距离P125.49541.694l1(P2-P1)50.00056mmP2-21.47258.845l2(P3-P2)199.9997mmP3-220.33480.147l3(P4-P3)150.0005mmP4-74.4445.289l4(P4-P1)99.99964mmO(gravitycenter)-538.067120l5(O-P2)520.2022mmθ1-initial18l6(C-P2)229.3068mmθ1-final78l7(P-P2)999.4432mmC(onhood)-2450110l(c-d)min365.1368mmD(onlowerbody)-6103...
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作者：闻远设计
分类：课程设计课件资料
价格：5光币
属性：20 页
大小：154.75KB
格式：XLS
时间：2025-02-27
