【机械结构】基于matlab的杆件机构运动分析.rar

transform = pi/180; l1 = 100; l2 = 250; l3 = 200; l4 = 200; AD = get_AD(l1,l2,l3); display(AD); xA = 0; yA = 100; vAx = 0; vAy = 0; aAx = 0; aAy = 0; omega1 = 5; epsilon1 = 0; xd = 250; yd = 0; vdx = 0; vdy = 0; adx = 0; ady = 0; M = 1;% 位置模式系数 phi4 = 0; % 滑块和x正方向夹角 omega4 = 0; epsilon4 = 0; phi3_MAX = -inf; phi3_MIN = inf; A3 = zeros(360,4);%输出四列信息：phi1 phi3 omega3 epsilon3 for phi1 = 1:360 phi1Rad = phi1 * transform; [xb,yb,vbx,vby,abx,aby] = SingleRod(l1,xA,yA,vAx,vAy,aAx,aAy,phi1Rad,omega1,epsilon1); %RRR杆组模型调用 [phi2,phi3,omega2,omega3,epsilon2,epsilon3,xc,yc,vcx,vcy,acx,acy] = RRR(xb,yb,xd,yd,vbx,vby,vdx,vdy,abx,aby,adx,ady,l2,l3,M); %保证phi3的范围以便运用反正切三角函数（考虑到反正切三角函数的值域在-pi/2到pi/2之间） if phi3 < 0 phi3 = phi3 + pi; end if phi3 < phi3_MIN phi3_MIN = phi3; omega2_MIN = omega2; epsilon2_MIN = epsilon2; end if phi3 > phi3_MAX phi3_MAX = phi3; omega2_MAX = omega2; epsilon2_MAX = epsilon2; end A3(phi1,:) = [phi1,phi3,omega3,epsilon3]; fprintf('phi1=%f,',phi1); fprintf('phi3=%f,',phi3); fprintf('omega3=%f,',omega3); fprintf('epsilon3=%f,',epsilon3); fprintf('phi1Rad=%f,phi3=%f,phi3_MIN=%f,phi3_MAX=%f\n',phi1Rad,phi3,phi3_MIN,phi3_MAX); end %输出2*4的图表 subplot(2,4,1); plot(A3(:,1),A3(:,2)); grid on; xlabel('phi1'); ylabel('phi3'); title('CD杆角位移图像'); subplot(2,4,2); plot(A3(:,1),A3(:,3)); grid on; xlabel('phi1'); ylabel('omega3'); title('CD杆角速度图像'); subplot(2,4,3); plot(A3(:,1),A3(:,4)); grid on; xlabel('phi1'); ylabel('epsilon3'); title('CD杆角加速度图像'); %解方程求DE DE = fsolve('get_DE',[1.2],optimset('Display','off')); display(DE); F = zeros(360,6);% phi1 F位移 速度 加速度 压力角 %for 循环求F的位移，速度，加速度 for phi1 = 1:360 % SingleRod子程序调用 [xe2,ye2,vex2,vey2,aex2,aey2] = SingleRod(DE,xd,yd,vdx,vdy,adx,ady,A3(phi1,2),A3(phi1,3),A3(phi1,4)); % RRP子程序调用 [phi2_2,omega2_2,epsilon2_2,xc2,yc2,vcx2,vcy2,acx2,acy2,sr2,vr2,ar2] = RRP(l4,xe2,ye2,vex2,vey2,aex2,aey2,0,0,0,0,0,0,phi4,omega4,epsilon4,M); %求压力角 theta = asin(DE * sin(A3(phi1,2)) / 200) ; gamma = pi/2 - theta; F(phi1,:) = [phi1,xc2,vcx2,acx2,theta,gamma]; fprintf('phi1=%f,',phi1); fprintf('xc2=%f,',xc2); fprintf('vcx2=%f,',vcx2); fprintf('acx2=%f,',acx2); fprintf('theta=%f,',theta); fprintf('gamma=%f\n,',gamma); end %输出2*4的图表 subplot(2,4,4); plot(F(:,1),F(:,2)); grid on xlabel('phi1') ylabel('xc2') title('滑块位移图像') subplot(2,4,5); plot(F(:,1),F(:,3)); grid on; xlabel('phi1'); ylabel('vc2'); title('滑块速度图像'); subplot(2,4,6); plot(F(:,1),F(:,4)); grid on; xlabel('phi1'); ylabel('ac2'); title('滑块加速度图像'); subplot(2,4,7); plot(F(:,1),F(:,5)); grid on; xlabel('phi1'); ylabel('theta2'); title('压力角图像'); subplot(2,4,8); plot(F(:,1),F(:,6)); grid on; xlabel('phi1'); ylabel('gamma2'); title('传动角图像');