平面六杆机构的运动分析Word格式.docx

1、l6=39.0;l7=41.7;a=pi/3;th1=0:pi/18:2*pi;th2356=zeros（length（th1）,4）;options=optimset（display,off）;for m=1:length（th1） th2356（m,:）=fsolve（function1,0.656 1.267 2.309 1.934,options,th1（m）,l1,l2,l20,l3,l4,l40,l5,l6,l7,a）;enddisp（th2356）;th2=th2356（:,1）;th3=th2356（:,2）;th5=th2356（:,3）;th6=th2356（:,4）;ho

2、ld onplot（th1,th2,r:LineWidth,2.5）plot（th1,th3,bplot（th1,th5,g-.plot（th1,th6,k-hold offgrid ontitle（从动件的角位移）xlabel（theta_1（rad）ylabel（theta_2theta_3theta_5theta_6,（rad）legend（theta_2theta_3theta_5theta_6LocationNorthWestaxis（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;37A=-l2*sin（th2（m）,l3*sin（

3、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

4、）=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_2omega_3omega_5omega_6（rad/s）omega_2omega_3omega_5omega_6SouthWestaxis（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）*

5、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; l

6、1*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_2alpha_3alpha_5alpha_6（rad/s2）alpha_2alpha_3alpha_5alpha_6axis（0,2*p

7、i,-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

8、（m）=V（2）;disp（vx（m）;disp（vy（m）;V=（vx.2+vy.2）.（1/2）;disp（V）; hold onplot（th1,vx,rplot（th1,vy,plot（th1,V,gE点的速度Vex Vey V （mm/s）VexVeyVaxis（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

9、,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/s2）a_ex a_eya_eaxis（0,2*pi,-100,170）5、计算结果和曲线图：a.各从动件的角位移与1的关系曲线和计算数据：123560.25350.57111.2563-0.4095100.1745330.19280.53151.2624-0.5317200.3490660

10、.15900.55401.2268-0.5623300.5235990.14350.61701.1609-0.5391400.6981320.13920.70311.0780-0.4976500.8726650.14170.80180.9851-0.4595601.0471980.14870.90710.8846-0.4371701.221730.15921.01560.7778-0.4376801.3962630.17231.12480.6660-0.4646901.5707960.18791.23300.5524-0.51781001.7453290.20591.33880.4416-0.

11、59271101.9198620.22621.44090.3393-0.68171202.0943950.24901.53830.2501-0.77521302.2689280.27441.62971.90592.94691402.4434610.30251.71411.83492.89631502.6179940.33361.79031.77682.85691602.7925270.36751.85741.73132.82291702.967060.40421.91441.69742.78881803.1415930.44361.96061.67312.75031903.3161260.48

12、521.99541.65642.70382003.4906590.52842.01831.64462.64702103.6651910.57232.02911.63502.57832203.8397240.61602.02751.62482.49682304.0142570.65802.01331.61162.40232404.188790.69691.98621.59382.29492504.3633230.73101.94571.57102.17552604.5378560.75811.89101.54502.04682704.7123890.77601.82111.52241.91522

13、804.8869220.78231.73481.80132905.0614550.77401.63041.61981.79583005.2359880.74831.50672.09502.26563105.4105210.70271.36282.71493.30363205.5850540.63571.19961.11710.58283305.7595870.54841.02191.14220.34073405.9341190.44650.84161.17570.07123506.1086520.34240.68111.2188-0.19433606.283185 -0.4095 b.各从动件

14、角速度与1的关系曲线和计算结果：2356-0. 4344-0.43440.1474-0.9924-0.2639-0.0297-0.0883-0.4110-0.13270.2665-0.30690.0191-0.05130.4400-0.43690.2125-0.00230.5366-0.50770.24330.02900.5888-0.55540.18210.05900.6152-0.59480.06770.06800.6254-0.6283-0.07710.08260.6242-0.6495-0.23180.09620.6143-0.6481-0.37320.10960.5969-0.615

15、7-0.47820.12340.5727-0.5521-0.53160.13790.5419-0.46780.15330.5047-0.4428-0.33250.16940.4611-0.3701-0.25230.18600.4115-0.2958-0.20510.20260.3564-0.2260-0.19050.21840.2964-0.1648-0.20430.2325-0.1151-0.24080.24360.1656-0.0792-0.29390.25060.0968-0.0587-0.35830.25200.0266-0.0543-0.24950.2468-0.0449-0.064

16、9-0.50410.2335-0.1179-0.0876-0.57910.2108-0.1932-0.1170-0.65110.1773-0.2719-0.1432-0.71420.1316-0.3557-0.1488-0.75530.0719-0.4462-0.0950-0.7362-0.0033-0.54490.1470-0.5051-0.0948-0.65221.25940.8061-0.2023-0.76664.01924.4993-0.3221-0.88192.53983.6258-0.4446-0.98350.1479-1.2540-0.5501-1.04140.1588-1.49

17、16-0.6055-1.00370.2257-1.5689-0.5702-0.80440.2542-1.4272-0.2644c.各从动件角加速度与1的关系曲线和计算结果23560.96992.4050-1.08353.202140.90422.0767-1.43933.11940.59561.3094-0.99181.74540.35610.7360-0.53730.55800.21960.4026-0.3188-0.13670.2130-0.2422-0.52940.10870.0984-0.2133-0.76170.08890.0224-0.1655-0.87850.0797-0.033

18、5-0.0674-0.87160.0767-0.07910.0918-0.72520.0776-0.11950.2804-0.46200.0809-0.15770.4378-0.14860.0855-0.19490.51230.13840.0903-0.23160.39570.54740.0942-0.26720.42850.36710.0958-0.30070.41710.17440.0937-0.33070.3783-0.00270.0866-0.35590.3204-0.14990.0733-0.37550.2473-0.26240.0531-0.38940.1626-34150.0255-0.39890.0713-0.3922-0.0095-0.4060-0.0193-0.4206-0.0519-0.4133-0.0995-0.4313