用matlab分析四杆机构.doc

首先创建函数FoutBarPosition，函数fsolve通过他确定 。function t=fourbarposition(th,th2,L2,L3,L4,L1)t=L2*cos(th2)+L3*cos(th(1)-L4*cos(th(2)-L1;L2*sin(th2)+L3*sin(th(1)-L4*sin(th(2);主程序如下：disp * * * * * * 平面四杆机构的运动分析 * * * * * *L1=304.8;L2=101.6;L3=254.0;L4=177.8; %给定已知量，各杆长L1,L2,L3,L4th2=0:1/6:2*pi; %曲柄输入角度从0至360度，步长为pi/6th34=zeros(length(th2),2); %建立一个N行2列的零矩阵，第一列存放options=optimset(display,off); %_3,第二列存放_3for m=1:length(th2) %建立for循环，求解_3，_4th34(m,:)=fsolve(fourbarposition,1 1, %调用fsove函数求解关于_3，_4options,th2(m),L2,L3,L4,L1); %的非线性超越方程，结果保存在th34中endy=L2*sin(th2)+L3*sin(th34(:,1); %连杆3的D端点Y坐标值x=L2*cos(th2)+L3*cos(th34(:,1); %连杆3的D端点X坐标值xx=L2*cos(th2); %连杆3的C端点X坐标值yy=L2*sin(th2); %连杆3的C端点Y坐标值figure(1)plot(x;xx,y;yy,k,0 L1,0 0, %绘制连杆3的几个位置点k-,x,y,ko,xx,yy,ks)title(连杆3的几个位置点)xlabel(水平方向)ylabel(垂直方向)axis equal%XY坐标均衡th2=0:2/72:2*pi; %重新细分曲柄输入角度_2，步长为5度th34=zeros(length(th2),2);options=optimset(display,off);for m=1:length(th2)th34(m,:)=fsolve(fourbarposition,1 1,options,th2(m),L2,L3,L4,L1);endfigure(2)plot(th2*180/pi,th34(:,1),th2*180/pi,th34(:,2) %绘制连杆3的角位移关于曲柄2的角位移图plot(th2*180/pi,th34(:,1)*180/pi,th2*180/pi,th34(:,2)*180/pi) %绘制摇杆4的角位移关于曲柄2的角位移图axis(0 360 0 170)%确定XY边界值grid%图形加网格xlabel(主动件转角theta_2(度)ylabel(从动件角位移(度)title(角位移线图)text(120,120,摇杆4角位移)text(150,40,连杆3角位移)w2=250; %设定曲柄角速度for i=1:length(th2)A=-L3*sin(th34(i,1) L4*sin(th34(i,2);L3*cos(th34(i,1) -L4*cos(th34(i,2);B=w2*L2*sin(th2(i); -w2*L2*cos(th2(i);w=inv(A)*B;w3(i)=w(1);w4(i)=w(2);endfigure(3)plot(th2*180/pi,w3,th2*180/pi,w4); %绘制角速度线图axis(0 360 -175 200) text(50,160,摇杆4角速度(omega_4)text(220,130,连杆3角速度(omega_3)gridxlabel(主动件转角theta_2(度)ylabel(从动件角速度(radcdot s-1)title(角速度线图)for i=1:length(th2)C=-L3*sin(th34(i,1) L4*sin(th34(i,2);L3*cos(th34(i,1) -L4*cos(th34(i,2);D=w22*L2*cos(th2(i)+w3(i)2*L3*cos(th34(i,1)-w4(i)2*L4*cos(th34(i,2);.w22*L2*sin(th2(i)+w3(i)2*L3*sin(th34(i,1)-w4(i)2*L4*sin(th34(i,2);a=inv(C)*D;a3(i)=a(1);a4(i)=a(2);endfigure(4)plot(th2*180/pi,a3,th2*180/pi,a4); %绘制角加速度线图axis(0 360 -70000 65000)text(50,50000,摇杆4角加速度(alpha_4)text(220,12000,连杆3角加速度(alpha_3)gridxlabel(从动件角加速度)ylabel(从动件角加速度(radcdot s-2)title(角加速度线图)disp 曲柄转角连杆转角-摇杆转角-连杆角速度-摇杆角速度-连杆加速度-摇杆加速度ydcs=th2*180/pi,th34(:,1)*180/pi,th34(:,2)*180/pi,w3,w4,a3,a4;disp(ydcs) * * * * * * 平面四杆机构的运动分析 * * * * * *曲柄转角 连杆转角-摇杆转角-连杆角速度-摇杆角速度-连杆加速度-摇杆加速度1.0e+004 *0 0.0044 0.0097 -0.0125 -0.0125 -0.5478 4.84580.0005 0.0042 0.0094 -0.0126 -0.0107 0.2300 5.56300.0010 0.0039 0.0092 -0.0124 -0.0086 0.8946 6.05200.0015 0.0037 0.0091 -0.0119 -0.0065 1.4143 6.29820.0020 0.0034 0.0090 -0.0114 -0.0043 1.7801 6.31740.0025 0.0032 0.0089 -0.0107 -0.0021 2.0027 6.14670.0030 0.0030 0.0089 -0.0100 0.0000 2.1046 5.83390.0035 0.0028 0.0089 -0.0093 0.0020 2.1134 5.42720.0040 0.0026 0.0090 -0.0085 0.0038 2.0566 4.96870.0045 0.0025 0.0091 -0.0078 0.0054 1.9578 4.49180.0050 0.0023 0.0092 -0.0072 0.0069 1.8356 4.01980.0055 0.0022 0.0093 -0.0065 0.0082 1.7040 3.56800.0060 0.0021 0.0095 -0.0060 0.0094 1.5725 3.14500.0065 0.0019 0.0097 -0.0055 0.0104 1.4474 2.75450.0070 0.0018 0.0099 -0.0050 0.0113 1.3328 2.39680.0075 0.0017 0.0102 -0.0045 0.0121 1.2307 2.07020.0080 0.0017 0.0104 -0.0041 0.0128 1.1425 1.77160.0085 0.0016 0.0107 -0.0037 0.0134 1.0687 1.49710.0090 0.0015 0.0110 -0.0034 0.0138 1.0095 1.24260.0095 0.0014 0.0112 -0.0030 0.0142 0.9653 1.00350.0100 0.0014 0.0115 -0.0027 0.0145 0.9364 0.77520.0105 0.0013 0.0118 -0.0024 0.0148 0.9232 0.55300.0110 0.0013 0.0121 -0.0020 0.0149 0.9269 0.33190.0115 0.0013 0.0124 -0.0017 0.0150 0.9485 0.10690.0120 0.0012 0.0127 -0.0014 0.0150 0.9899 -0.12760.0125 0.0012 0.0130 -0.0010 0.0149 1.0530 -0.37730.0130 0.0012 0.0133 -0.0006 0.0147 1.1404 -0.64810.0135 0.0012 0.0136 -0.0002 0.0145 1.2544 -0.94550.0140 0.0012 0.0139 0.0002 0.0141 1.3967 -1.27430.0145 0.0012 0.0142 0.0008 0.0136 1.5677 -1.63680.0150 0.0012 0.0144 0.0013 0.0129 1.7648 -2.03140.0155 0.0012 0.0147 0.0020 0.0121 1.9807 -2.44950.0160 0.0013 0.0149 0.0027 0.0112 2.2018 -2.87350.0165 0.0013 0.0151 0.0035 0.0101 2.4071 -3.27540.0170 0.0014 0.0153 0.0044 0.0089 2.5697 -3.61860.0175 0.0015 0.0155 0.0053 0.0076 2.6616 -3.86500.0180 0.0016 0.0156 0.0063 0.0063 2.6609 -3.98490.0185 0.0018 0.0157 0.0072 0.0049 2.5591 -3.96740.0190 0.0019 0.0158 0.0080 0.0035 2.3638 -3.82440.0195 0.0021 0.0159 0.0088 0.0022 2.0959 -3.58660.0200 0.0023 0.0159 0.0095 0.0010 1.7823 -3.29310.0205 0.0025 0.0159 0.0100 -0.0001 1.4487 -2.98150.0210 0.0027 0.0159 0.0105 -0.0011 1.1152 -2.68090.0215 0.0029 0.0159 0.0108 -0.0020 0.7942 -2.41030.0220 0.0031 0.0158 0.0111 -0.0028 0.4916 -2.17940.0225 0.0033 0.0158 0.0112 -0.0035 0.2086 -1.99130.0230 0.0036 0.0157 0.0112 -0.0042 -0.0565 -1.84500.0235 0.0038 0.0156 0.0111 -0.0048 -0.3071 -1.73750.0240 0.0040 0.0155 0.0110 -0.0054 -0.5475 -1.66500.0245 0.0042 0.0154 0.0108 -0.0060 -0.7817 -1.62330.0250 0.0044 0.0153 0.0104 -0.0065 -1.0139 -1.60890.0255 0.0046 0.0151 0.0100 -0.0071 -1.2479 -1.61810.0260 0.0048 0.0150 0.0096 -0.0077 -1.4868 -1.64800.0265 0.0050 0.0148 0.0090 -0.0082 -1.7336 -1.69550.0270 0.0052 0.0146 0.0084 -0.0088 -1.9905 -1.75740.0275 0.0054 0.0145 0.0076 -0.0095 -2.2588 -1.83040.0280 0.0055 0.0143 0.0068 -0.0101 -2.5391 -1.91000.0285 0.0056 0.0141 0.0058 -0.0108 -2.8305 -1.99100.0290 0.0057 0.0138 0.0048 -0.0115 -3.1300 -2.06600.0295 0.0058 0.0136 0.0037 -0.0122 -3.4326 -2.12550.0300 0.0059 0.0133 0.0024 -0.0130 -3.7297 -2.15720.0305 0.0059 0.0131 0.0011 -0.0137 -4.0091 -2.14510.0310 0.0059 0.0128 -0.0004 -0.0145 -4.2538 -2.06960.0315 0.0059 0.0125 -0.0019 -0.0152 -4.4419 -1.90790.0320 0.0058 0.0122 -0.0035 -0.0158 -4.5473 -1.63520.0325 0.0058 0.0119 -0.0051 -0.0163 -4.5411 -1.22730.0330 0.0056 0.0115 -0.0066 -0.0166 -4.3954 -0.66610.0335 0.0055 0.0112 -0.0081 -0.0167 -4.08