牛头刨床运动仿真matlab程序.docx

1、牛头刨床运动仿真matlab程序_main 和子函数角加速度附录牛头刨床主运动机构MATLAB程序由主程序six six_bar两部分组成。1.主程序six_bar_main文件%1.输入已知数据 clear;11=0.125;13=0.600;14=0.150;16=0.275;161=0.575;omega1=1;alpha 仁0;hd=pi/180;du=180/pi;%2.调用子函数six_bar计算牛头刨床机构位移，角速度,for n1=1:459;theta1( n1)=-2*pi+5.8199+( n1-1)*hd;II=I1,I3,I4,I6,I61;theta,omega,a

2、lpha=six_bar(theta1( n1),omega1,alpha1,ll);s3( n1)=theta(1);theta3( n1)=theta(2);theta4( n1)=theta(3);sE( n1)=theta(4);v2( n1)=omega(1);omega3( n1)=omega(2);omega4 (n 1)=omega(3);vE( n1)=omega(4);a2( n1)=alpha(1);alpha3( n1)=alpha(2);alpha4( n1)=alpha(3);aE( n1)=alpha(4);end%3.位移、角速度、角加速度、和牛头刨床图形输出f

3、igure);n1=1:459;t=( n1-1)*2*pi/360;subplot(2,2,1); %绘角位移及位移线图 plot(t,theta3*du,r-.);grid on;hold on;axis auto;haxes,hli ne1,hli ne2=plotyy(t,theta4*du,t,sE);grid on;hold on;xlabel(时间/s)axes(haxes(1);ylabel(角位移八circ)axes(haxes(2);ylabel(位移/m)hold on;grid on;text(1.15,-0.15,theta_3)text(3.40,0.27,thet

4、a_4)text(2.25,-0.15,s_E)subplot(2,2,2); %绘角速度及速度线图plot(t,omega3,r-.);grid on;hold on;axis auto;haxes,hli ne1,hli ne2=plotyy(t,omega4,t,vE);grid on;hold on;xlabel(时间/s)axes(haxes(1);ylabel(角速度 /radcdotsA-1)axes(haxes(2);ylabel(速度/mcdotsA-1)hold on;grid on;text(3.1,0.35,omega_3)text(2.1,0.1,omega_4)te

5、xt(5.5,0.45,v_E)subplot(2,2,3); %绘角加速度及加速度线图plot(t,alpha3,r-.);grid on;hold on;axis auto;haxes,hli ne1,hli ne2=plotyy(t,alpha4,t,aE); grid on;hold on;xlabel(时间/s)axes(haxes(1);ylabel(角加速度 /radcdotsA-2)axes(haxes(2);ylabel(加速度 /mcdotsA-2)hold on;grid on;text(1.5,0.3,alpha_3)text(3.5,0.51,alpha_4)text

6、(1.5,-0.11,a_E)subplot(2,2,4); %牛头刨床机构n1=20;x(1)=0;y(i)=0;x(2)=(s3( n1)*1000-50)*cos(theta3( n1);y(2)=(s3( n1)*1000-50)*si n(theta3( n1);x(3)=0;y(3)=16*1000;x(4)=l1*1000*cos(theta1( n1);y=s3( n1)*1000*si n(theta3( n1);x(5)=(s3( n1)*1000+50)*cos(theta3( n1);y(5)=(s3( n1)*1000+50)*si n(theta3( n1);x(6

7、)=13*1000*cos(theta3( n1);y(6)=13*1000*si n(theta3( n1);x(7)=13*1000*cos(theta3( n1)+14*1000*cos(theta4( n1);y(7)=13*1000*si n(theta3( n1)+14*1000*si n(theta4( n1);x(8)=13*1000*cos(theta3( n1)+14*1000*cos(theta4( n1)-900;y(8)=161*1000;x(9)=13*1000*cos(theta3( n1)+14*1000*cos(theta4( n1)+600;y(9)=161

8、*1000;x(10)=(s3( n1)*1000-50)*cos(theta3( n1);y(10)=(s3( n1)*1000-50)*si n(theta3( n1);x(11)=x(10)+25*cos(pi/2-theta3( n1);y(11)=y(10)-25*si n(pi/2-theta3( n1);x(12)=x(11)+100*cos(theta3( n1);y(12)=y(11)+100*si n(theta3( n1);x(13)=x(12)-50*cos(pi/2-theta3( n1);y(13)=y(12)+50*si n(pi/2-theta3( n1); x

9、(14)=x(10)-25*cos(pi/2-theta3( n1); y(14)=y(10)+25*si n(pi/2-theta3( n1); x(15)=x(10);y(15)=y(10);x(16)=0;y(16)=0;x(17)=0;y(17)=16*1000;k=1:2;plot(x(k),y(k);hold on;k=3:4;plot(x(k),y(k);hold on;k=5:9;plot(x(k),y(k);hold on;k=10:15;plot(x(k),y(k);hold on;k=16:17;plot(x(k),y(k);hold on;grid on;axis(-5

10、00 600 0 650); title(牛头刨床运动仿真); grid on;xlabel(mm)ylabel(mm) plot(x(1),y(1),o); plot(x (3),y (3) ,o); plot(x(4),y(4),o); plot(x(6),y(6),o);plot(x ,y(7),o);hold on;grid on;xlabel(mm)ylabel(mm)axis(-400 600 0 650);%4牛头刨床机构运动仿真figure(2)m=movie in( 20);j=0；for n仁 1:5:360j=j+1；elf;x(1)=0;y(i)=0;x(2)=(s3(

11、 n1)*1000-50)*cos(theta3( n1);y(2)=(s3( n1)*1000-50)*si n(theta3( n1);x(3)=0;y(3)=l6*1000x=l1*1000*cos(theta1( n1);y=s3( n1)*1000*si n(theta3( n1);x(5)=(s3( n1)*1000+50)*cos(theta3( n1);y(5)=(s3( n1)*1000+50)*si n(theta3( n1);x(6)=l3*1000*cos(theta3( n1);y(6)=l3*1000*si n(theta3( n1);x(7)=l3*1000*co

12、s(theta3( n1)+l4*1000*cos(theta4( n1);x(7)=l3*1000*cos(theta3( n1)+l4*1000*cos(theta4( n1); y(7)=l3*1000*si n(theta3( n1)+l4*1000*si n(theta4( n1);x(8)=l3*1000*cos(theta3( n1)+l4*1000*cos(theta4( n1)-900;y(8)=l61*1000;x(9)=l3*1000*cos(theta3( n1)+l4*1000*cos(theta4( n1)+600;y(9)=l61*1000;x(10)=(s3(

13、n1)*1000-50)*cos(theta3( n1);y(10)=(s3( n1)*1000-50)*si n(theta3( n1);x(11)=x(10)+25*cos(pi/2-theta3( n1);y(11)=y(10)-25*si n(pi/2-theta3( n1);x(12)=x(11)+100*cos(theta3( n1);y(12)=y(11)+100*si n(theta3( n1);x(13)=x(12)-50*cos(pi/2-theta3( n1);y(13)=y(12)+50*si n(pi/2-theta3( n1);x(14)=x(10)-25*cos(

14、pi/2-theta3( n1);y(14)=y(10)+25*si n(pi/2-theta3( n1);x(15)=x(10);y(15)=y(10);x(16)=0;y(16)=0;x(17)=0;y(17)=l6*1000;k=1:2;plot(x(k),y(k);hold on;k=3:4plot(x(k),y(k);hold on;k=5:9;plot(x(k),y(k);hold on;k=10:15;plot(x(k),y(k);hold on;k=16:17;plot(x(k),y(k);hold on;grid on;axis(-500 600 0 650);title(牛

15、头刨床运动仿真); grid on;xlabel(mm);ylabel(mm);plot(x(1),y(1),o);plot(x (3),y (3) ,o);plot(x(4),y(4),o);plot(x(6),y(6),o);plot(x ,y(7),o);axis equal;m(j)=getframe;endmovie(m)2.子函数six_bar文件fun ctio ntheta,omega,alpha=six_bar(theta1,omega1,alpha1,ll)11=11(1);l3=ll(2);14=11(3);16=11(4);161=11(5);%1计算角位移和线位移s3

16、=sqrt(l1*cos(theta1)*(l1*cos(theta1)+(l6+l1*si n(theta1)*(l6+l1*si n(theta1);theta3=acos(l1*cos(theta1)/s3);theta4=pi-asi n(l61-l3*si n(theta3)/l4);sE=l3*cos(theta3)+l4*cos(theta4);theta(1)=s3;theta(2)=theta3;theta(3)=theta4;theta (4)=sE;%2计算角速度和线速度%从动件位置参数矩阵A=s in (theta3),s3*cos(theta3),0,0; -cos(

17、theta3),s3*s in (theta3),0,0;0,l3*si n(theta3),l4*(theta4),1;0,l3*cos(theta3),l4*cos(theta4),0;%3计算角加速度和加速度A=s in (theta3),s3*cos(theta3),0,0; % 从动件位置参数矩阵cos(theta3),-s3*s in (theta3),0,0;0,l3*si n( theta3),l4*(theta4),1;0,l3*cos(theta3),l4*cos(theta4),0;At=omega3*cos(theta3),(v2*cos(theta3)-s3*omeg

18、a3*si n(theta3),0,0;-omega3*si n( theta3),(-v2*si n(theta3)-s3*omega3*cos(theta3),0,0;0,l3*omega3*cos(theta3),l4*omega4*cos(theta4),0;0,-l3*omega3*si n(theta3),-l4*omega4*si n( theta4),0;Bt=-l1*omega1*si n(theta1);-l1*omega1*cos(theta1);0;0;alpha=A(-At*omega+omega1*Bt);a2=alpha(1);alpha3=alpha (2);alpha4=alpha (3);aE=alpha(4);%机构从动件的加速度矩阵%a2表示滑块2的加速度%alpha3表示杆件3的角加速度%alpha4表示杆件4的角加速度%构件5的加速度