平面连杆机构运动分析的子程序.doc

SUBROUTINE CRANK(N1,N2,R,TH,W,A,P,VP,AP,NP)IMPLICIT REAL*8(A-H,O-Z)REAL*8 P(NP,2),VP(NP,2),AP(NP,2)W2=W*WVP(N1,1)=0.0D0VP(N1,2)=0.0D0AP(N1,1)=0.0D0AP(N1,2)=0.0D0RX=R*DCOS(TH)RY=R*DSIN(TH)P(N2,1)=P(N1,1)+RXP(N2,2)=P(N1,2)+RYVP(N2,1)= -RY*WVP(N2,2)= RX*WAP(N2,1)= -RY*A-RX*W2AP(N2,2)= RX*A-RY*W2RETURNENDSUBROUTINE CRANK2(N1,N2,N3,R,S,PHI,TH,W,A,P,VP,AP,NP)IMPLICIT REAL*8 (A-H,O-Z)REAL*8 P(NP,2),VP(NP,2),AP(NP,2)W2=W*WVP(N1,1)=0.0D0VP(N1,2)=0.0D0AP(N1,1)=0.0D0AP(N1,2)=0.0D0RX=R*DCOS(TH)RY=R*DSIN(TH)SX=S*DCOS(TH+PHI)SY=S*DSIN(TH+PHI)P(N2,1)=P(N1,1)+RXP(N2,2)=P(N1,2)+RYP(N3,1)=P(N1,1)+SXP(N3,2)=P(N1,2)+SYVP(N2,1)= -RY*WVP(N2,2)= RX*WVP(N3,1)= -SY*WVP(N3,2)= SX*WAP(N2,1)= -RY*A-RX*W2AP(N2,2)= RX*A-RY*W2AP(N3,1)= -SY*A-SX*W2AP(N3,2)= SX*A-SY*W2RETURNENDSUBROUTINE PAYAD(M,N1,N2,N3,R1,R2,TH1,TH2,P,NP)IMPLICIT REAL*8(A-H,O-Z)REAL*8 P(NP,2)LOGICAL PRNTPRNT=.FALSE.IF(N1.LT.0)PRNT=.FALSE.DELX=P(N2,1)-P(N1,1)IF(DABS(DELX).LT.1.0D-10) DELX=1.0D-10DELY=P(N2,2)-P(N1,2)PHI=DATAN2(DELY,DELX)SSQ=(P(N2,1)-P(N1,1)*2+(P(N2,2)-P(N1,2)*2S=DEQRT(SSQ)TEST=S-(R1+R2)IF(TEST)40,40,50040 TEST=DABS(R1-R2)-SIF(TEST)50,50,50050 CONTINUECOSIN=(R1*2-R2*2+SSQ)/(2.0D0*R1*S)ALF=DATAN2(DSQRT(1.0D0-COSIN*2),COSIN)IF(M)200,100,100100 TH=PHI+ALFGOTO 300200 TH=PHI-ALF300 CONTINUERC=R1*DCOS(TH)RS=R1*DSIN(TH)P(N3,1)=P(N1,1)+RCP(N3,2)=P(N1,2)+RSTH1=DATAN2(RS,RC)PS=P(N3,2)-P(N2,2)PC=P(N3,1)-P(N2,1)TH2=DATAN2(PS,PC)RETURN500 IF(PRNT)WRITE(*,600)600 FORMAT(3X,DYAD CANNOT BE ASSEMBLED./)ENDSUBROUTINE VDYAD(M,N1,N2,N3,R1,R2,TH1,TH2,P,W1,W2,VP,NP)IMPLICIT REAL*8 (A-H,O-Z)REAL*8 P(NP,2),VP(NP,2)CALL PDYAD(M,N1,N2,N3,R1,R2,TH1,TH2,P,NP)R2X=P(N3,1)-P(N2,1)R2Y=P(N3,2)-P(N2,2)A1=(VP(N2,1)-VP(N1,1)*R2XA2=(VP(N2,2)-VP(N1,2)*R2YR1X=P(N3,1)-P(N1,1)R1Y=P(N3,2)-P(N1,2)C1=R1Y*R2XC2=R2Y*R1XDET=C1-C2B1=(VP(N2,2)-VP(N1,2)*R1YB2=(VP(N2,1)-VP(N1,1)*R1XW1=-(A1+A2)/DETW2=-(B1+B2)/DETVP(N3,1)=VP(N1,1)-W1*R1YVP(N3,2)=VP(N1,2)+W1*R1XRETURNENDSUBROUTINE ADYAD(M,N1,N2,N3,R1,R2,TH1,TH2,P,W1,W2,VP,A1,A2,AP,NP)IMPLICIT REAL*8 (A-H,O-Z)REAL*8 P(NP,2),VP(NP,2),AP(NP,2)CALL VDYAD(M,N1,N2,N3,R1,R2,TH1,TH2,P,W1,W2,VP,NP)R1X=P(N3,1)-P(N1,1)R1Y=P(N3,2)-P(N1,2)R2X=P(N3,1)-P(N2,1)R2Y=P(N3,2)-P(N2,2)C1=R1Y*R2XC2=R2Y*R1XDET=C1-C2W1S=W1*W1W2S=W2*W2E=AP(N2,1)-AP(N1,1)+W1S*R1X-W2S*R2XF=AP(N2,2)-AP(N1,2)+W1S*R1Y-W2S*R2YA1=-(E*R2X+F*R2Y)/DETA2=-(F*R1Y+E*R1X)/DETAP(N3,1)=AP(N1,1)-W1S*R1X-A1*R1YAP(N3,2)=AP(N1,2)-W1S*R1Y+A1*R1XRETURNENDSUBROUTINE PGUIDE(M,N1,N2,N3,R1,R2,TH,BETA,P,NP)DIMENSION P(NP,2)LOGICAL PRNTPRNT=.TRUE.IF(N1.LT.0) PRNT=.FALSE.N1=IABS(N1)SSQ=(P(N1,1)-P(N2,1)*2+(P(N1,2)-P(N2,2)*2E=2.*(P(N2,1)-P(N1,1)*DCOS(BETA)+(P(N2,2)-P(N1,2)*DSIN(BETA)F=SSQ-R1*2TEST=E*2-4.0*FIF(TEST)500,50,5050 SQROOT=SQRT(TEST)MODE=MRSQ=R1*R1IF(RSQ.GE.SSQ) MODE=+1IF(MODE) 200,100,100100 R2=ABS(-E+SQROOT)/2.GO TO 300200 R2=ABS(-E-SQROOT)/2.300 CONTINUEP(N3,1)=P(N2,1)+R2*DCOS(BETA)P(N3,2)=P(N2,2)+R2*DSIN(BETA)TH=ATAN2(P(N3,2)-P(N1,2),(P(N3,1)-P(N1,1)RETURN500 IF(PRNT) WRITE(6,600)600 FORMAT(/*ROTATING GUIDE CANNOT BE ASSEMBLED*/)RETURNENDSUBROUTINE VGUIDE(M,N1,N2,N3,R1,R2,TH,BETA,P,W,VBETA,VR2,VP,NP)DIMENSION P(NP,2),VP(NP,2)CALL PGUIDE(M,N1,N2,N3,R1,R2,TH,BETA,P,NP)CB=DCOS(BETA)SB=DSIN(BETA)CT=DCOS(TH)ST=DSIN(TH)E1=(VP(N2,1)-VP(N1,1)-R2*VBETA*SBF1=(VP(N2,2)-VP(N1,2)+R2*VBETA*CBDET=ST*SB+CT*CBW=(F1*CB-E1*SB)/(R1*DET)VR2=-(E1*CT+F1*ST)/DETVP(N3,1)=VP(N1,1)-R1*W*STVP(N3,2)=VP(N1,2)+R1*W*CTRETURNENDSUBROUTINE AGUIDE(M,N1,N2,N3,R1,R2,TH,BETA,P,W,VBETA,VR2,A,ABETA,AR2,AP,NP)DIMENSION P(NP,2),VP(NP,2),AP(NP,2)CALL VGUIDE(M,N1,N2,N3,R1,R2,TH,BETA,P,W,VBETA,VR2,VP,NP)CB=DCOS(BETA)SB=DSIN(BETA)CT=DCOS(TH)ST=DSIN(TH)E2=AP(N2,1)-AP(N1,1)+W*2*R1*CT-ABETA*R2*SB-VBETA*2*R2*CB-2.*VBETA*VR2*SBF2=AP(N2,2)-AP(N1,2)+W*2*R1*ST+ABETA*R2*CB-VBETA*2*R2*SB+2.*VBETA*VR2*CBDET=ST*SB+CT*CBA=(F2*CB-E2*SB)/(R1*DET)AR2=-(E2*CT+F2*ST)/DETAP(N3,1)=AP(N1,1)-R1*A1*ST-R1*W*2*CTAP(N3,2)=AP(N1,2)+R1*A*CT-R1*W*2*STRETURNENDSUBROUTINE POSC(M,N1,N2,N3,E,R2,R3,TH,P,NP)DIMENSION P(NP,2)LOGICAL PRNTPRNT=.TRUE.IF(N1.LT.0) PRNT=.FALSE.N1=IABS(N1)TEST=(P(N2,1)-P(N1,1)*2+(P(N2,2)-P(N1,2)*2-E*2)IF(TEST)500,50,5050 R2=SQRT(TEST)ALPHA=ATAN2(P(N2,2)-P(N1,2),(P(N2,1)-P(N1,1)BETA=ATAN(E/R2)IF (M) 200,100,100100 TH=ALPHA+BETAGO TO 300200 TH=ALPHA-BETA300 CONTINUEP(N3,1)=P(N2,1)+(R3-R2)*DCOS(TH)P(N3,2)=P(N2,2)+(R3-R2)*DSIN(TH)RETURN500 IF(PRNT) WRITE(6,600)600 FORMAT(/*OSCILLATING SLIDER CANNOT BE ASSEMBLED*/)RETURNENDSUBROUTINE VOSC(M,N1,N2,N3,E,R2,R3,TH,P,W,VR2,VP,NP)DIMENSION P(NP,2),VP(NP,2)CALL POSC(M,N1,N2,N3,E,R2,R3,TH,P,NP)C=DCOS(TH)S=DSIN(TH)SX=R2*C+E*SSY=R2*S-E*CW=(VP(N2,1)-VP(N1,1)*S-(VP(N2,2)-VP(N1,2)*C)/(-SX*C-SY*S)VR2=(-(VP(N2,2)-VP(N1,2)*SY-(VP(N2,1)-VP(N1,1)*SX)/(-SY*S-SX*C)VP(N3,1)=VP(N1,1)-W*(R3*S-E*C)VP(N3,2)=VP(N1,2)+W*(R3*C+E*S)RETURNENDSUBROUTINE AOSC(M,N1,N2,N3,E,R2,R3,TH,P,W,VR2,VP,A,AR2,AP,NP)DIMENSION P(NP,2),VP(NP,2),AP(NP,2)CALL VOSC(M,N1,N2,N3,E,R2,R3,TH,P,W,VR2,VP,NP)C=DCOS(TH)S=DSIN(TH)SX=R2*C+E*SSY=R2*S-E*CE2=(AP(N2,1)-AP(N1,1)+W*2*SX+2.*W*VR2*SF2=(AP(N2,2)-AP(N1,2)+W*2*SY-2.*W*VR2*CA=(F2*C-E2*S)/(SX*C+SY*S)AR2=(E2*SX+F2*SY)/(SX*C+SY*S)R3X=R3*C+E*SR3Y=R3*S-E*CAP(N3,1)=AP(N1,1)-W*2*R3X-A*R3YAP(N3,2)=AP(N1,2)-W*2*R3Y+A*R3XRETURNENDSUBROUTINE DISP(N1,N2,TH,P,PI,NP)IMPLICIT REAL*8 (A-H,O-Z)REAL*8 P(NP,2),PI(NP,2)C=DCOS(TH)S=DSIN(TH)RX=PI(N2,1)-PI(N1,1)RY=PI(N2,2)-PI(N1,2)P(N2,1)=P(N1,1)+RX*C-RY*SP(N2,2)=P(N1,2)+RX*S+RY*CRETURNENDSUBROUTINE VEL(N1,N2,W,P,VP,NP)IMPLICIT REAL*8 (A-H,O-Z)REAL*8 P(NP,2),VP(NP,2)VP(N2,1)=VP(N1,1)-W*(P(N2,2)-P(N1,2)VP(N2,2)=VP(N1,2)+W*(P(N2,1)-P(N1,1)RETURNENDSUBROUTINE ACC(N1,N2,W,A,P,VP,AP,NP)IMPLICIT REAL*8 (A-H,O-Z)REAL*8 P(NP,2),VP(NP,2),AP(NP,2)RX=P(N2,1)-P(N1,1)RY=P(N2,2)-P(N1,2)CALL VEL(N1,N2,W,P,VP,NP)W2=W*WAP(N2,1)=AP(N1,1)-W2*RX-A*RYAP(N