起重机课程设计运动分析图及程序

运动分析图及程序主程序：clc,clear,clf;%已知参数：O1x=5200; %臂架下铰点O1的横坐标O1y=0; %臂架下铰点O1的纵坐标O3x=-1200; %象鼻架鼻尖A点的横坐标O3y=5300; %象鼻架鼻尖A点的纵坐标X0=sqrt(O1x-O3x)2+O3y2); %O1O3间的距离X1=19300; %臂架O1B的长度X2=6500; %象鼻架后臂BC的长度X3=14700; %后摇杆O3C的长度X4=16000; %象鼻架前臂AB的长度AC=22300; %象鼻梁AC的长度q=16000; %象鼻架鼻尖起吊货物最大质量为16000kg g=9.8; %重力加速度，取g=9.8m/s2Q=q*g; %最大起重量（N）omega1=1/60; %假设臂架的驱动角速度1=1rad/s%求象鼻梁中间较链点B的下垂距离CC=2000;options=optimset(Display,off);C=fsolve(xia_cui_ju_li_C,C,options);%求解象鼻架鼻尖A的运动轨迹angleABC=acos(C/X4)+acos(C/X2); theta1=(120:-0.1:60)*pi/180; %theta1表示臂架与x+的夹角即angleBO1X theta0=atan(O3y/(O1x-O3x); %theta0表示O1O3两铰点连线与x轴负方向的夹角 %即angleO3O1-X%给相关变量预先分配空间，以便节省程序运行时间n=length(theta1); theta=zeros(1,n); %theta表示angleO3O1Btheta3=zeros(1,n); X=zeros(1,n);Ax=zeros(1,n);Ay=zeros(1,n);gamma=zeros(1,n); %gamma表示angleO1BCalpha=zeros(1,n); %alpha表示象鼻梁前臂与x+的夹角%即angleABX;anglePCB=zeros(1,n);anglePBC=zeros(1,n);angleBPC=zeros(1,n);PC=zeros(1,n);PB=zeros(1,n);PO1=zeros(1,n);Px=zeros(1,n);Py=zeros(1,n);PD=zeros(1,n);DA=zeros(1,n);Vax=zeros(1,n);MQ=zeros(1,n);%求出象鼻架鼻尖A点的横、纵坐标：Ax、Ayfor t=1:ntheta(t)=pi-theta1(t)-theta0;X(t)=sqrt(X12+X02-2*X1*X0*cos(theta(t); %L表示O3B之间的距离theta3(t)=acos(X(t)2+X32-X22)/(2*X(t)*X3)+acos(X(t)2+X02-X12)/(2*X(t)*X0)-theta0;gamma(t)=asin(X0/X(t)*sin(theta(t)+acos(X22+X(t)2-X32)/(2*X2*X(t); alpha(t)=pi+theta1(t)-angleABC-gamma(t); Ax(t)=X1*cos(theta1(t)+X4*cos(alpha(t)+O1x;Ay(t)=X1*sin(theta1(t)+X4*sin(alpha(t);end%绘制描述象鼻梁鼻尖高度Ay随幅度Ax的变化关系曲线图figure(2)plot(Ax,Ay,b-);grid on;xlabel(Ax/(mm);ylabel(Ay/(mm);title(象鼻架鼻尖A点的运动轨迹);%求变幅过程中，象鼻梁尖的水平速度Vax及臂架对铰点O1的力矩MQ随幅度x的变化关系for t=1:nif theta1(t)=theta3(t) anglePCB(t)=acos(X22+X32-X(t)2)/(2*X2*X3);anglePBC(t)=gamma(t);angleBPC(t)=pi-anglePCB(t)-anglePBC(t);PC(t)=X2*sin(anglePBC(t)/sin(angleBPC(t);PB(t)=X2*sin(anglePCB(t)/sin(angleBPC(t);PO1(t)=PB(t)-X1;Px(t)=PO1(t)*cos(pi-theta1(t)+O1x;Py(t)=-PO1(t)*sin(pi-theta1(t); PD(t)=Ay(t)-Py(t);DA(t)=Ax(t)-Px(t);Vax(t)=omega1*X1*PD(t)/PB(t);MQ(t)=Q*X1*DA(t)/PB(t)/1000; else anglePCB(t)=pi-acos(X22+X32-X(t)2)/(2*X2*X3);anglePBC(t)=pi-gamma(t);angleBPC(t)=pi-anglePCB(t)-anglePBC(t);PC(t)=X2*sin(anglePBC(t)/sin(angleBPC(t);PB(t)=X2/sin(angleBPC(t)*sin(anglePCB(t);PO1(t)=PB(t)+X1;Px(t)=PO1(t)*cos(theta1(t)+O1x;Py(t)=PO1(t)*sin(theta1(t); PD(t)=Py(t)-Ay(t);DA(t)=Ax(t)-Px(t);Vax(t)=omega1*X1*PD(t)/PB(t);MQ(t)=-Q*X1*DA(t)/PB(t)/1000; endend%绘制描述象鼻架鼻尖A点的水平分速度即变幅速度Vax随幅度Ax的变化关系曲线图figure(3);plot(Ax,Vax,m-);grid on;xlabel(Ax/(mm);ylabel(Vax/(mm/s);title(象鼻架鼻尖A点的水平分速度Vax随幅度Ax的变化关系);figure(4);plot(Ax,MQ,k-);xlabel(Ax/(mm);ylabel(MQ/(N*m);title(臂架对铰点O1的力矩随幅度Ax的变化关系);grid on;figure(5);plot(Px,Py,r-);xlabel(Px/(mm);ylabel(Py/(mm);title(瞬心变化曲线);grid on;%绘制描述象鼻架鼻尖A点的运动轨迹，水平分速度Vax及臂架对铰点O1的力矩MQ随幅度Ax的变化关系曲线图%绘制瞬心变化曲线figure(1);subplot(2,2,1);plot(Ax,Ay,b-);grid on;xlabel(Ax/(mm);ylabel(Ay/(mm);title(象鼻架鼻尖A点的运动轨迹);subplot(2,2,2);plot(Ax,Vax,m-);grid on;xlabel(Ax/(mm) );ylabel(Vax/(mm/s);title(象鼻架鼻尖A点的水平分速度Vax随幅度Ax的变化关系);subplot(2,2,3);plot(Ax,MQ,k-);xlabel(Ax/(mm);ylabel(MQ/(N*m);title(臂架对铰点O1的力矩MQ随幅度Ax的变化关系);grid on;s