k=40800; %k为弹簧的弹性系数
l0=0.18; %l0为弹簧的初始长度,并考虑弹簧的安装
R=0.1; %R为摆杆的长度
T=37.5; %T为输出的扭矩值
theta0=80/180*pi; %初始情况时的夹角
fi=-30/180*pi; %初始的fi
%lstr=l0+2*T/(k*R*cos(theta0)); %lstr为弹簧初始的安装长度
alpha=[0:5:360]./360*2*pi;
theta=acos(1./(sqrt(2*k*R^2.*alpha*(sin(fi))^2/T+(1./cos(theta0))^2)));
l=l0+abs(T./(k*R*cos(theta)*sin(fi)));
s=[5:.5:41];
c=[.1:.005:.46];
rx=R*cos(alpha);
ry=R*sin(alpha);
rz=ones(size(alpha))-1;
ex=rx+sin(fi)*l.*sin(theta+alpha);
ey=ry-sin(fi)*l.*cos(theta+alpha);
ez=rz+cos(fi)*l;
ex1=sin(fi)*l.*sin(theta+alpha);
ey1=sin(fi)*l.*cos(theta+alpha);
ez1=rz+cos(fi)*l;
roh=sqrt((rx(30)-ex1).^2+(ry(30)-ey1).^2+(rz(30)-ez1).^2);
scatter3(rx,ry,rz,s,c)
hold on
scatter3(ex,ey,ez,s,c)
axis equal
%view(0,90)
l1=R*cos(theta)/2; %l1为力臂长度
f=T./l1; %f为弹簧弹力的大小
delta=f/k; %delta为弹簧的压缩量
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