平面六杆机构的运动分析Word格式.docx
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l6=39.0;
l7=41.7;
a=pi/3;
th1=0:
pi/18:
2*pi;
th2356=zeros(length(th1),4);
options=optimset('
display'
'
off'
);
form=1:
length(th1)
th2356(m,:
)=fsolve('
function1'
[0.6561.2672.3091.934],options,th1(m),l1,l2,l20,l3,l4,l40,l5,l6,l7,a);
end
disp(th2356);
th2=th2356(:
1);
th3=th2356(:
2);
th5=th2356(:
3);
th6=th2356(:
4);
holdon
plot(th1,th2,'
r:
'
LineWidth'
2.5)
plot(th1,th3,'
b'
plot(th1,th5,'
g-.'
plot(th1,th6,'
k--'
holdoff
gridon
title('
从动件的角位移'
)
xlabel('
{\theta}_{1}(rad)'
ylabel('
{\theta}_{2}{\theta}_{3}{\theta}_{5}{\theta}_{6},(rad)'
legend('
{\theta}_{2}'
{\theta}_{3}'
{\theta}_{5}'
{\theta}_{6}'
Location'
NorthWest'
axis([0,2*pi,-2,2*pi])
b.求从动件的角速度
第三个脚本文件(function3.m)
w1=1;
37
A=[-l2*sin(th2(m)),l3*sin(th3(m)),0,0;
...
l2*cos(th2(m)),-l3*cos(th3(m)),0,0;
-l2*sin(th2(m))+l20*sin(a-th2(m)),0,-l5*sin(th5(m)),l6*sin(th6(m));
l2*cos(th2(m))+l20*cos(a-th2(m)),0,l5*cos(th5(m)),-l6*cos(th6(m))];
B=[l1*sin(th1(m)),-l1*cos(th1(m)),l1*sin(th1(m)),-l1*cos(th1(m))]'
;
W=A\(w1*B);
w2(m)=W
(1);
w3(m)=W
(2);
w5(m)=W(3);
w6(m)=W(4);
disp(W)
W(m,1)=w2(m);
W(m,2)=w3(m);
W(m,3)=w5(m);
W(m,4)=w6(m);
plot(th1,w2,'
plot(th1,w3,'
plot(th1,w5,'
plot(th1,w6,'
从动件的角速度'
{\omega}_{2}{\omega}_{3}{\omega}_{5}{\omega}_{6}(rad/s)'
{\omega}_{2}'
{\omega}_{3}'
{\omega}_{5}'
{\omega}_{6}'
SouthWest'
axis([0,2*pi,-2,5])
c.求从动件的角加速度
第四个脚本文件(function4.m)
A=[-l2*sin(th2(m)),l3*sin(th3(m)),0,0;
B1=-[-l2*cos(th2(m))*w2(m),l3*cos(th3(m))*w3(m),0,0;
-l2*sin(th2(m))*w2(m),l3*sin(th3(m))*w3(m),0,0;
-l2*cos(th2(m))*w2(m)-l20*cos(a-th2(m))*w2(m),0,-l5*cos(th5(m))*w5(m),l6*cos(th6(m))*w6(m);
-l2*sin(th2(m))*w2(m)+l20*sin(a-th2(m))*w2(m),0,-l5*sin(th5(m))*w5(m),l6*sin(th6(m))*w6(m)];
B2=[w2(m),w3(m),w5(m),w6(m)]'
B3=[l1*cos(th1(m))*w1;
l1*sin(th1(m))*w1;
l1*cos(th1(m))*w1;
l1*sin(th1(m))*w1];
K=A\(B1*B2)+A\(w1*B3);
k2(m)=K
(1);
k3(m)=K
(2);
k5(m)=K(3);
k6(m)=K(4);
disp(K)
AA(m,1)=k2(m);
AA(m,2)=k3(m);
AA(m,3)=k5(m);
AA(m,4)=k6(m);
plot(th1,k2,'
plot(th1,k3,'
plot(th1,k5,'
plot(th1,k6,'
从动件的角加速度'
{\alpha}_{2}{\alpha}_{3}{\alpha}_{5}{\alpha}_{6}(rad/s^{2})'
{\alpha}_{2}'
{\alpha}_{3}'
{\alpha}_{5}'
{\alpha}_{6}'
axis([0,2*pi,-15,20])
d.求E点的轨迹
第五个脚本文件(function5.m)
X(m)=l40+l6*cos(th6(m))-l5*cos(th5(m));
Y(m)=l7+l6*sin(th6(m))-l5*sin(th5(m));
disp(X(m));
disp(Y(m));
plot(X,Y,'
axis([110,190,-30,40])
E点的轨迹'
Xe(mm)'
Ye(mm)'
e.求E点的速度
第六个脚本文件(function6.m)
A=[-l6*sin(th6(m)),l5*sin(th5(m));
l6*cos(th6(m)),-l5*cos(th5(m))];
B=[w6(m),w5(m)]'
V=A*B;
vx(m)=V
(1);
vy(m)=V
(2);
disp(vx(m));
disp(vy(m));
V=(vx.^2+vy.^2).^(1/2);
disp(V);
holdon
plot(th1,vx,'
r'
plot(th1,vy,'
plot(th1,V,'
g'
E点的速度'
VexVeyV(mm/s)'
Vex'
Vey'
V'
axis([0,2*pi,-70,75])
f.求E点的加速度
第七个脚本文件(function7.m)
A1=[-l6*sin(th6(m)),l5*sin(th5(m));
A2=[k6(m),k5(m)]'
B1=[-l6*cos(th6(m)),l5*cos(th5(m));
-l6*sin(th6(m)),l5*sin(th5(m))];
B2=[w6(m)^2,w5(m)^2]'
J=A1*A2+B1*B2;
jx(m)=J
(1);
jy(m)=J
(2);
disp(jx(m));
disp(jy(m));
J=[(jx.^2+jy.^2).^(1/2)]'
disp(J);
plot(th1,jx,'
plot(th1,jy,'
plot(th1,J,'
E点的加速度'
{a}_{ex}{a}_{ey}{a}_{e}(mm/s^{2})'
{a}_{ex}'
{a}_{ey}'
{a}_{e}'
axis([0,2*pi,-100,170])
5、计算结果和曲线图:
a.各从动件的角位移与θ1的关系曲线和计算数据:
θ1
θ2
θ3
θ5
θ6
0.2535
0.5711
1.2563
-0.4095
10
0.174533
0.1928
0.5315
1.2624
-0.5317
20
0.349066
0.1590
0.5540
1.2268
-0.5623
30
0.523599
0.1435
0.6170
1.1609
-0.5391
40
0.698132
0.1392
0.7031
1.0780
-0.4976
50
0.872665
0.1417
0.8018
0.9851
-0.4595
60
1.047198
0.1487
0.9071
0.8846
-0.4371
70
1.22173
0.1592
1.0156
0.7778
-0.4376
80
1.396263
0.1723
1.1248
0.6660
-0.4646
90
1.570796
0.1879
1.2330
0.5524
-0.5178
100
1.745329
0.2059
1.3388
0.4416
-0.5927
110
1.919862
0.2262
1.4409
0.3393
-0.6817
120
2.094395
0.2490
1.5383
0.2501
-0.7752
130
2.268928
0.2744
1.6297
1.9059
2.9469
140
2.443461
0.3025
1.7141
1.8349
2.8963
150
2.617994
0.3336
1.7903
1.7768
2.8569
160
2.792527
0.3675
1.8574
1.7313
2.8229
170
2.96706
0.4042
1.9144
1.6974
2.7888
180
3.141593
0.4436
1.9606
1.6731
2.7503
190
3.316126
0.4852
1.9954
1.6564
2.7038
200
3.490659
0.5284
2.0183
1.6446
2.6470
210
3.665191
0.5723
2.0291
1.6350
2.5783
220
3.839724
0.6160
2.0275
1.6248
2.4968
230
4.014257
0.6580
2.0133
1.6116
2.4023
240
4.18879
0.6969
1.9862
1.5938
2.2949
250
4.363323
0.7310
1.9457
1.5710
2.1755
260
4.537856
0.7581
1.8910
1.5450
2.0468
270
4.712389
0.7760
1.8211
1.5224
1.9152
280
4.886922
0.7823
1.7348
1.8013
290
5.061455
0.7740
1.6304
1.6198
1.7958
300
5.235988
0.7483
1.5067
2.0950
2.2656
310
5.410521
0.7027
1.3628
2.7149
3.3036
320
5.585054
0.6357
1.1996
1.1171
0.5828
330
5.759587
0.5484
1.0219
1.1422
0.3407
340
5.934119
0.4465
0.8416
1.1757
0.0712
350
6.108652
0.3424
0.6811
1.2188
-0.1943
360
6.283185
-0.4095
b.各从动件角速度与θ1的关系曲线和计算结果:
ω2
ω3
ω5
ω6
-0.4344
-0.4344
0.1474
-0.9924
-0.2639
-0.0297
-0.0883
-0.4110
-0.1327
0.2665
-0.3069
0.0191
-0.0513
0.4400
-0.4369
0.2125
-0.0023
0.5366
-0.5077
0.2433
0.0290
0.5888
-0.5554
0.1821
0.0590
0.6152
-0.5948
0.0677
0.0680
0.6254
-0.6283
-0.0771
0.0826
0.6242
-0.6495
-0.2318
0.0962
0.6143
-0.6481
-0.3732
0.1096
0.5969
-0.6157
-0.4782
0.1234
0.5727
-0.5521
-0.5316
0.1379
0.5419
-0.4678
0.1533
0.5047
-0.4428
-0.3325
0.1694
0.4611
-0.3701
-0.2523
0.1860
0.4115
-0.2958
-0.2051
0.2026
0.3564
-0.2260
-0.1905
0.2184
0.2964
-0.1648
-0.2043
0.2325
-0.1151
-0.2408
0.2436
0.1656
-0.0792
-0.2939
0.2506
0.0968
-0.0587
-0.3583
0.2520
0.0266
-0.0543
-0.2495
0.2468
-0.0449
-0.0649
-0.5041
0.2335
-0.1179
-0.0876
-0.5791
0.2108
-0.1932
-0.1170
-0.6511
0.1773
-0.2719
-0.1432
-0.7142
0.1316
-0.3557
-0.1488
-0.7553
0.0719
-0.4462
-0.0950
-0.7362
-0.0033
-0.5449
0.1470
-0.5051
-0.0948
-0.6522
1.2594
0.8061
-0.2023
-0.7666
4.0192
4.4993
-0.3221
-0.8819
2.5398
3.6258
-0.4446
-0.9835
0.1479
-1.2540
-0.5501
-1.0414
0.1588
-1.4916
-0.6055
-1.0037
0.2257
-1.5689
-0.5702
-0.8044
0.2542
-1.4272
-0.2644
c.各从动件角加速度与θ1的关系曲线和计算结果
α2
α3
α5
α6
0.9699
2.4050
-1.0835
3.20214
0.9042
2.0767
-1.4393
3.1194
0.5956
1.3094
-0.9918
1.7454
0.3561
0.7360
-0.5373
0.5580
0.2196
0.4026
-0.3188
-0.1367
0.2130
-0.2422
-0.5294
0.1087
0.0984
-0.2133
-0.7617
0.0889
0.0224
-0.1655
-0.8785
0.0797
-0.0335
-0.0674
-0.8716
0.0767
-0.0791
0.0918
-0.7252
0.0776
-0.1195
0.2804
-0.4620
0.0809
-0.1577
0.4378
-0.1486
0.0855
-0.1949
0.5123
0.1384
0.0903
-0.2316
0.3957
0.5474
0.0942
-0.2672
0.4285
0.3671
0.0958
-0.3007
0.4171
0.1744
0.0937
-0.3307
0.3783
-0.0027
0.0866
-0.3559
0.3204
-0.1499
0.0733
-0.3755
0.2473
-0.2624
0.0531
-0.3894
0.1626
-3415
0.0255
-0.3989
0.0713
-0.3922
-0.0095
-0.4060
-0.0193
-0.4206
-0.0519
-0.4133
-0.0995
-0.4313