平面六杆机构的运动分析Matlab代码

1、平面六杆机构的运动分析Matlab代码平面六杆机构的运动分析M代码%参数赋值clc, clear10二22;11=40;12=55;13二55;14二44;15=35;M=-l;0migal=10;Thetal=0:0. 01:360;Thetal=Thetal*pi/180;%求解各个构件位移、速度、加速度A=2*ll*12*sin(Thetal);B=2*12*(1l*cos(Thetal)-10);C=ir2+122+102-132-2*ll*10*cos(Thetal);E=2*ll*13*sin (Thetal);F=2*13*(1l*cos(Thetal)-10);G=122-ir

2、2-132-102+2*ll*10*cos(Thetal);Theta3=2*atan(E+M*sqrt(E. 2+ F2- G. 2)/(F-G); Theta31= Theta3-S=15. *cos(Theta31)-sqrt(-152. * sin(Theta31). 2+14八2);Theta2=2*atan(A+M*sqrt(A. 2+B. 2-C. 2). /(BC);Theta4=atan(15. *sin(Theta31). /(15. *cos(Theta31)-S);0miga2=0migal*ll*sin(Thetal-Theta3). /(12*sin(Theta3-

3、Theta2);0miga3=0migal*ll*sin(Thetal-Theta2). /(13*sin(Theta3-Theta2); Omiga4=(-15) *0miga3. *cos(Theta31). /(14. *cos(Theta4); Vf二-15. *0miga3. *sin(Theta31)+14. *0miga4. *sin(Theta4);Alfa3=(0migal2*ll*cos(Thetal-Theta2)+0miga2. 2*12-Omiga3. *2*13. *cos(Theta3-Theta2). /(13*sin(Theta3Theta2);Alfa2=(

4、-0migal2*ll*cos(Thetal-Theta3)+0miga3. 2*13-Omiga2. *2*12. *cos(Theta2-Theta3). /(12*sin(Theta2Theta3);Alfa4=(15. *Alfa3. *cos (Theta31) +14. *0miga4. 2. *sin(Theta4)-15. *0miga3. 2. *sin (Theta31). / (14.*cos(Theta4);Af=(-15). *0miga3. 2 *cos (Theta31) +14. *(0miga4. 2. *cos (Theta4) +Alfa4. *sin(T

5、het a4) )-15. *Alfa3. *sin(Theta31);%绘图Thetal=Thetal*180/pi;Subplot (3, 1, 1)plot (Thetal, Theta2), grid on xlabel (曲柄转角) ) ;ylabel (BC 杆角 位移(rad) ) ; Subplot (3, 1, 2)plot (Thetal, 0miga2), grid on xlabel C 曲柄转角) ); ylabel (BC 杆角 速度(rad/s);Subplot (3, 1, 3)plot (Thetal, Alfa2), grid on xlabel 曲柄转角)

6、 ) ;ylabel (BC 杆角加速度(rad/s2);Subplot (3, 1, 1)plot (Thetal, Theta3), grid on xlabel (,曲柄转角) ) ;ylabel (CD 杆角 位移(rad) ) ; Subplot (3, 1, 2)plot (Thetal, 0miga3), grid on xlabel (曲柄转角) ) ;ylabel (CD 杆角 速度(rad/s) ) ; Subplot (3, 1, 3)plot (Thetal, Alfa3), grid on xlabel (* 曲柄转角) );ylabel (CD 杆角加 速度(rad

7、/s2) *);Subplot (3, 1, 1)plot (Thetal, Theta4*180/pi), grid on xlabel (* 曲柄转角);ylabel (EF 杆角位移(rad) J ; Subplot (3, 1, 2)plot (Thetal, 0miga4), grid on xlabel (曲柄转角) ) ; ylabel (EF 杆角 速度(rad/s) ) ; Subplot (3, 1, 3)plot (Thetal, Alfa4), grid on xlabel (,曲柄转角。)；ylabel (EF 杆角加 速度(rad/s2) ) ; Subplot (

8、3, 1, 1)plot(Thetal, S), grid onxlabel C 曲柄转角。)；ylabel (滑块 F 位移(mm); Subplot (3, 1, 2)plot(Thetal, Vf), grid onxlabel CB=S曲(J )ylabel (9F 隔s(mms)三 subplotpr3) plot (ThetarAP grid onxlabelv&3(J ) )ylabel(画涪 F 莒隔岡(mm、s,2? s-s. 蕊BCMBC杆角位移佃d)6 o& so s 1 250 管 3 吿 BS拆)de杆角連虑问50 一吕 g Z3250 300 35Q S I濫=)(5C杆角扣速虑国sCD杆角位移/旧d)S O 5O O O50SD *50 Z8250 300 350 4呂 聲燮J-0EF杆甬扣独閔如电f杆角躺佃盹）s so so 2S2