机械原理课程设计铰链式颚式破碎机

1、”5C曲柄转角图1.2工艺阻力图1.3四杆钱链式破碎机一设计题目：较链式颗式破碎机方案分析 二已知条件及设计要求2.1已知条件B图1.1六杆钱链式破碎机图(a)所示为六杆钱链式破碎机方案简图。主轴 1的转速为n1 = 170r/min , 各部尺寸为：101A = 0.1m, lAB = 1.250m, 1O3B = 1m, IBC = 1.15m, 1O5C = 1.96m, 11=1m, 12=0.94m, h1=0.85m, h2=1m。各构件质量和转动惯量分别为：m2 = 500kg, Js2 = 25.5kg ?m2, m3 = 200kg, Js3 = 9kg ?m2, m4 =

2、200kg, Js4 =9kg?m2, m5=900kg, Js5=50kg?m2,构件1的质心位于 O1上,其他构件的质心 均在各杆的中心处。D为矿石破碎阻力作用点，设 LO5D = 0.6m,破碎阻力Q在 颗板5的右极限位置到左极限位置间变化，如图(b)所示，Q力垂直于颗板。图 是四杆较链式颗式破碎机方案简图。主轴1的转速n1=170r/min 0 101A =0.04m, lAB = 1.11m, l1=0.95m, h1=2m, lO3B=1.96m,破碎阻力 Q的变化规律与六杆钱链式破碎机相同，Q力垂直于颗板O3B Q力作用点为D,且lO3D = 0.6m。各杆的质量、转动惯量为 m

3、2= 200kg, Js2=9kg?m? m3= 900kg, Js3=50kg ?m2曲柄1的质心在O1点处，2、3构件的质心在各构件的中心。2.2设计要求试比较两个方案进行综合评价。主要比较以下几方面：1 .进行运动分析，画出颗板的角位移、角速度、角加速度随曲柄转角的变 化曲线。2 .进行动态静力分析，比较颗板摆动中心运动副反力的大小及方向变化规 律，曲柄上的平衡力矩大小及方向变化规律。3 .飞轮转动惯量的大小。三机构的结构分析3.1 六杆钱链式破碎机六杆钱链式粉碎机拆分为机架和主动件，构件组成的RRR干组，四杆钱链式破碎机拆分为机架和主动件，构件组成的RRR干组四机构的运动分析4.1六杆

4、钱链式颗式破碎机的运动分析(1)调用bark函数对主动件进行运动分析。见表 4.1表4.1形式参数n1n2n3kr1r2gamtwePvpap实值1201r120.00.0twePvpap(2)调用rrrk函数对由构件组成的RRR干组进行运动分析。见表4.2表4.2形式参数mn1n2n3k1k2r1r2twepvpap实值142332r34r23twepvpap(3)调用rrrk函数对由构件组成的RRR干组进行运动分析。见表4.3表4.3形式参数mn1n2n3k1k2r1r2twepvpap实值136545,r35r56twepvpap(4)程序清单:#include "graphi

5、cs.h#include "subk.c"#include "draw.c" main()static double p202,vp202,ap202;static double t10,w10,e10,del;static double pdraw370,vpdraw370,apdraw370,wdraw370;static int ic;double r12,r23,r34,r35,r56;double pi,dr;int i;FILE *fp;r12=0.1; r34=1.0; r23=1.250;r35=1.15; r56=1.96;p11=0.

6、0;p12=0.0;p41=0.94;p42=-1.0;p61=-1.0;p62=0.85;pi=4.0*atan(1.0);dr=pi/180.0;t1=0.0; w1=-17*pi/3; e1=0.0; del=15;printf("n The Kinematic Parameters of Point6n");printf("No THETA1 t5 w5 e5n");printf(" deg rad rad/s rad/s/sn");ic=(int)(360.0/del);for(i=0;i<=ic;i+)t1=(-i)

7、*del*dr-90*dr;bark(1,2,0,1,r12,0.0,0.0,t,w,e,p,vp,ap);rrrk(1,4,2,3,3,2,r34,r23,t,w,e,p,vp,ap);rrrk(1,3,6,5,4,5,r35,r56,t,w,e,p,vp,ap);wdrawi=t1/dr;pdrawi=t5;vpdrawi=w5;apdrawi=e5;if(fp=fopen(" 六杆运动 8888888.txt","w")=NULL)printf("Can't open this file./n");exit(0);for

8、(i=0;i<=ic;i+)printf("%12.3f %12.3f %12.3f %12.3fn",wdrawi,pdrawi,vpdrawi,apdrawifprintf(fp,"%e %e %e %en",wdrawi,pdrawi,vpdrawi,apdrawi); if(i%18)=0)getch();fclose(fp);getch();draw1(del,pdraw,vpdraw,apdraw,ic);The Kinematic Parameters of Point5THETA1 degt5radw5rad/se5 rad/s/s

9、-9.00000e+01 -1.63238e+00 -1.37677e-03 -1.01835e+01-1.05000e+02 -1.63348e+00 -1.45454e-01 -9.16482e+00-1.20000e+02 -1.63654e+00 -2.64803e-01 -6.90406e+00-1.35000e+02 -1.64108e+00 -3.45263e-01 -3.98081e+00-1.50000e+02 -1.64647e+00 -3.81662e-01 -1.00778e+00-1.65000e+02 -1.65210e+00 -3.77125e-01 1.5187

10、6e+00-1.80000e+02 -1.65741e+00 -3.40696e-01 3.29712e+00-1.95000e+02 -1.66202e+00 -2.84290e-01 4.23741e+00-2.10000e+02 -1.66573e+00 -2.19724e-01 4.43601e+00-2.25000e+02 -1.66849e+00 -1.56345e-01 4.12137e+00-2.40000e+02 -1.67036e+00 -9.95969e-02 3.58405e+00-2.55000e+02 -1.67146e+00 -5.06328e-02 3.1054

11、1e+00-2.70000e+02 -1.67188e+00 -6.91431e-03 2.89782e+00-2.85000e+02 -1.67166e+00 3.64486e-02 3.06340e+00-3.00000e+02 -1.67078e+00 8.48847e-02 3.57078e+00-3.15000e+02 -1.66912e+00 1.42323e-01 4.24740e+00-3.30000e+02 -1.66655e+00 2.09172e-01 4.79134e+00-3.45000e+02 -1.66295e+00 2.80705e-01 4.81744e+00

12、-3.60000e+02 -1.65832e+00 3.46484e-01 3.95596e+00-3.75000e+02 -1.65286e+00 3.91648e-01 2.00206e+00-3.90000e+02 -1.64698e+00 4.00498e-01 -9.32100e-01-4.05000e+02 -1.64131e+00 3.61788e-01 -4.35539e+00-4.20000e+02 -1.63658e+00 2.73734e-01 -7.50567e+00-4.35000e+02 -1.63346e+00 1.46198e-01 -9.61223e+00-4

13、.50000e+02 -1.63238e+00 -1.37677e-03 -1.01835e+01Snaix= B . 039505 UMkax_ 0.402459口mmx =10.202S9B图4.1六杆机构颗板角位置、角速度、角加速度随曲柄转角的变化曲线4.2四杆较链式颗式破碎机的运动分析(1)调用bark函数对主动件进行运动分析。见表 4.4。表4.4形式参数n1n2n3kr1r2gamtwepvpap实值1201r120.00.0twepvpap(2)调用rrrk函数对由构件组成的RRR干组进行运动分析。见表4.5表4.5形式参数mn1n2n3k1k2r1r2twepvpap实值124

14、323r23r34twepvpap(3)程序清单#include "graphics.h"#include "subk.c"#include "draw.c"main()static double p202,vp202,ap202;static double t10,w10,e10,del;static double pdraw370,vpdraw370,apdraw370,wdraw370;static int ic;double r12,r23,r34;double pi,dr;double r2,vr2,ar2;int i;FI

15、LE *fp;r12=0.04; r23=1.11; r34=1.96;p11=0.0;p12=0.0;p41=-0.95;p42=2.0;pi=4.0*atan(1.0);dr=pi/180.0;w1=-17*pi/3; e1=0.0; del=15;printf("n The Kinematic Parameters of Point6n");printf("No THETA1 t3 w3 e3n");printf(" deg rad rad/s rad/s/sn");ic=(int)(360.0/del);for(i=0;i&l

16、t;=ic;i+)t1=(-i)*del*dr-3*dr;bark(1,2,0,1,r12,0.0,0.0,t,w,e,p,vp,ap);rrrk(1,2,4,3,2,3,r23,r34,t,w,e,p,vp,ap);wdrawi=t1/dr;pdrawi=t3;vpdrawi=w3;apdrawi=e3;if(fp=fopen(" 四杆运动 8888888.txt","w")=NULL)printf("Can't open this file./n");exit(0);for(i=0;i<=ic;i+)printf(&

17、quot;%12.3f %12.3f %12.3f %12.3fn",wdrawi,pdrawi,vpdrawi,apdrawi );fprintf(fp,"%e %e %e %en",wdrawi,pdrawi,vpdrawi,apdrawi);if(i%18)=0)getch();fclose(fp);getch();draw1(del,pdraw,vpdraw,apdraw,ic);运算结果：The Kinematic Parameters of Point3THETA1 t3 w3 e3 deg rad rad/s rad/s/s -3.00000e+00

18、 -1.63161e+00 -4.05618e-03 -6.23548e+00 -1.80000e+01 -1.63234e+00 -9.46782e-02 -6.02631e+00 -3.30000e+01 -1.63436e+00 -1.79482e-01 -5.44663e+00 -4.80000e+01 -1.63756e+00 -2.53165e-01 -4.51911e+00 -6.30000e+01 -1.64173e+00 -3.10889e-01 -3.28467e+00 -7.80000e+01 -1.64661e+00 -3.48569e-01 -1.80535e+00

19、-9.30000e+01 -1.65187e+00 -3.63197e-01 -1.65406e-01 -1.08000e+02 -1.65717e+00 -3.53157e-01 1.53056e+00 -1.23000e+02 -1.66213e+00 -3.18490e-01 3.16304e+00 -1.38000e+02 -1.66642e+00 -2.61053e-01 4.60652e+00 -1.53000e+02 -1.66972e+00 -1.84521e-01 5.74117e+00 -1.68000e+02 -1.67178e+00 -9.42091e-02 6.466

20、11e+00 -1.83000e+02 -1.67245e+00 3.30455e-03 6.71231e+00 -1.98000e+02 -1.67168e+00 1.00725e-01 6.45290e+00 -2.13000e+02 -1.66953e+00 1.90711e-01 5.70852e+00 -2.28000e+02 -1.66614e+00 2.66566e-01 4.54585e+00 -2.43000e+02 -1.66178e+00 3.22868e-01 3.06898e+00 -2.58000e+02 -1.65676e+00 3.55913e-01 1.405

21、21e+00 -2.73000e+02 -1.65144e+00 3.63939e-01 -3.11702e-01 -2.88000e+02 -1.64618e+00 3.47101e-01 -1.95669e+00 -3.03000e+02 -1.64134e+00 3.07263e-01 -3.42418e+00 -3.18000e+02 -1.63724e+00 2.47662e-01 -4.63297e+00 -3.33000e+02 -1.63413e+00 1.72551e-01 -5.52594e+00 -3.48000e+02 -1.63222e+00 8.68636e-02

22、-6.06671e+00£nzk>= 0 .Vmi=ix=0.364354Af nx =6 . 712307图4.1四杆机构颗板角位置、角速度、角加速度随曲柄转角的变化曲线五.机构的动态静力分析5.1 六杆较链式颗式破碎机的静力分析(1)调用bark函数对主动件进行运动分析。见表 4.1。(2)调用rrrk函数对由构件组成的RRR干组进行运动分析。见表4.2，(3)调用rrrk函数对由构件组成的RRR干组进行运动分析。见表4.3， (4)求各构件的质心7、8、9、10点及矿石破碎阻力作用点11点的运动参 数。见表5.1表5.5。表5.1 7 点运动参数形式参数n1n2n3kr1

23、r2gamtwePvpap实值20720.0r270.0twePvpap表5.2 8 点运动参数形式参数n1n2n3kr1r2gamtwepvpap实值40830.0r480.0twepvpap表5.3 9点运动参数形式参数n1n2n3kr1r2gamtwepvpap实值30940.0r390.0twepvpap表5.4 10 点运动参数形式参数n1n2n3kr1r2gamtwepvpap实值601050.0r6100.0twepvpap表5.5 11点运动参数形式参数n1n2n3kr1r2gamtwepvpap实值601150.0r6110.0twepvpap(5)调用rrf 对由杆组成的R

24、RR干组进行静力分析。见表5.6表5.6形式参数n1n2n3ns1ns2nn1nn2nexfk1k2pvpaptwefr实值3659100111145pvpaptwefr(6)调用rrf 对由杆组成的RRR干组进行静力分析。见表5.7表5.7形式参数n1n2n3ns1ns2nn1nn2nexfk1k2pvpaptwefr实值4238730032pvpaptwefr(7)调用barf对主动件进行静力分析。见表 5.8表5.8形式参数n1ns1nn1k1papefrtb实值1121papefr&tb程序清单#include "graphics.h#include "su

25、bk.c"#include "subf.c"#include "draw.c"main()static double p202,vp202,ap202,del;static double t10,w10,e10;static double sita1370,fr1draw370,sita2370,fr2draw370,sita3370, fr3draw370,tbdraw370,tb1draw370;static double fr202,fe202;static int ic;double r12,r23,r34,r35,r56;double

26、 r27,r48,r39,r610,r611;int i;double pi,dr;double fr6,bt6,we1,we2,we3,we4,we5,tb,tb1;FILE*fp;sm1=0.0;sm2=500.0;sm3=200.0;sm4=200.0;sm5=900.0;sj1=0.0;sj2=25.5;sj3=9.0;sj4=9.0;sj5=50.0;r12=0.1; r23=1.25; r34=1.0; r35=1.15;r56=1.96;r27=r23/2;r48=r34/2;r39=r35/2;r610=r56/2;r611=0.6;pi=4.0*atan(1.0);dr=pi

27、/180.0;w1=-170*2*pi/60; e1=0.0; del=15;p11=0.0;p12=0.0;p41=0.94;p42=-1.0;p61=-1.0;p62=0.85;printf("n The Kineto-static Analysis of a Six-bar Linkasen");printf(" NO THETA1 FR6 BT6 TB TB1n");printf(" (deg.) (N) (deg.) (N.m)(N.m)n");if(fp=fopen(" 六杆受力 8888888.txt"

28、;,"w")=NULL)printf("Can't open this file./n");exit(0);fprintf(fp,"n The Kineto-static Analysis of a Six-bar Linkasen");fprintf(fp,"NO THETA1 FR6 BT6 TB TB1n" );fprintf(fp," (deg.) (N) (deg.) (N.m)(N.m)n");ic=(int)(360.0/del);for(i=0;i<=ic;i+)t

29、1=(-i)*del*dr;bark(1,2,0,1,r12,0.0,0.0,t,w,e,p,vp,ap);rrrk(1,4,2,3,3,2,r34,r23,t,w,e,p,vp,ap);rrrk(1,3,6,5,4,5,r35,r56,t,w,e,p,vp,ap);bark(2,0,7,2,0.0,r27,0.0,t,w,e,p,vp,ap);bark(4,0,8,3,0.0,r48,0.0,t,w,e,p,vp,ap);bark(3,0,9,4,0.0,r39,0.0,t,w,e,p,vp,ap);bark(6,0,10,5,0.0,r610,0.0,t,w,e,p,vp,ap);bark

30、(6,0,11,5,0.0,r611,0.0,t,w,e,p,vp,ap);rrrf(3,6,5,9,10,0,11,11,4,5,p,vp,ap,t,w,e,fr);rrrf(4,2,3,8,7,3,0,0,3,2,p,vp,ap,t,w,e,fr);barf(1,1,2,1,p,ap,e,fr,&tb);fr6=sqrt(fr61*fr61+fr62*fr62);bt6=atan2(fr62,fr61);we1=-(ap11*vp11+(ap12+9.81)*vp12)*sm1-e1*w1*sj1;we2=-(ap71*vp71+(ap72+9.81)*vp72)*sm2-e2*w

31、2*sj2;we3=-(ap81*vp81+(ap82+9.81)*vp82)*sm3-e3*w3*sj3;we4=-(ap91*vp91+(ap92+9.81)*vp92)*sm4-e4*w4*sj4;extf(p,vp,ap,t,w,e,11,fe);we5=-(ap101*vp101+(ap102+9.81)*vp102)*sm5-e5*w5*sj5+fe 111*vp111+fe112*vp112;tb1=-(we1+we2+we3+we4+we5)/w1;printf("%3d%10.3f%10.3f%10.3f%10.3f%10.3fn",i+1,t1/dr,f

32、r6,bt6/dr,tb,tb1);fprintf(fp,"%3d%10.3f%10.3f%10.3f%10.3f%10.3fn",i+1,t1/dr,fr6,bt6/dr,tb,tb1);tbdrawi=tb;tb1drawi=tb1;fr1drawi=fr6;sita1i=bt6;fr2drawi=fr6;sita2i=bt6;fr3drawi=fr6;sita3i=bt6;if(i%16)=0)getch();fclose(fp);getch();draw2(del,tbdraw,tb1draw,ic);draw3(del,sita1,fr1draw,sita2,fr

33、2draw,sita3,fr3draw,ic);#include "math.h"extf(p,vp,ap,t,w,e,nexf,fe)double p202,vp202,ap202,t10,w10,e10,fe202;double pi,dr;pi=4.0*atan(1.0);dr=pi/180.0;if(w5<0)fenexf1=(-t1/dr-90.0)*(85000.0/182.0)*cos(-t5-pi/2);fenexf2=-(-t1/dr-90.0)*(85000.0/182.0)*sin(-t5-pi/2); elsefenexf1=0;fenexf2

34、=0;运行结果：The Kineto-static Analysis of a Six-bar LinkaseNO THETA1 FR1BT1FR4BT4FR6BT6TBTB1(deg.) (N)(deg.)(N)(deg.)(N)(deg.)(N.m)(N.m)10.0006464.189124.258769.70395.9659904.58077.690534.273534.2732-15.000 12140.033106.2282532.978168.62110248.08682.6701038.1041038.1043-30.000 18594.24499.5135575.144-17

35、9.00510522.85289.5761434.5131434.5134-45.00024798.89396.3828791.463-174.11110757.31497.3291547.7601547.7605-60.00029754.38394.71311296.855-171.70910967.175104.3391270.9871270.9876-75.00032606.28593.60512322.386-170.89011112.158109.009644.228644.2287-90.00032912.59492.51811514.476-171.62211132.496110

36、.330-144.608-144.6088-105.00031996.60191.03411227.703-171.65213356.757128.454-883.773-883.7739-120.00029068.03188.9689795.299-172.84916176.401139.007-1407.830-1407.83010-135.00024808.59385.9627962.955-174.72219186.867145.561-1626.344-1626.34411-150.00019908.52381.5556419.120-176.32922374.519150.172-

37、1559.245-1559.24512-165.00014937.56974.9405662.152-176.16425846.624153.746-1292.854-1292.85413-180.00010336.42664.2775972.185-173.87729700.830156.609-931.213-931.21314-195.0006553.23644.6037407.676-171.43333968.451158.869-565.243-565.24315-210.0004432.6426.0669812.374-170.22238602.952160.602-260.954

38、-260.95416-225.0004766.284-38.05512891.374-170.03443497.372161.905-57.628-57.62817-240.0006137.776-63.01316303.169-170.29848515.553162.90032.26532.26518-255.0007161.722-76.91919734.118-170.62853525.123163.70323.97823.97819-270.0007326.704-86.88522956.013-170.81858424.813164.412-39.809-39.80920-285.0

39、0011975.478-95.1292703.8613.6028481.82378.617-205.306-205.30621-300.00010744.698-101.6242437.7805.0408583.46577.292-338.729-338.72922-315.0008639.883-110.2692351.1578.8468793.29375.658-361.459-361.45923-330.0005826.445-127.0092176.74815.1119113.15874.602-227.576-227.57624-345.0003709.749-177.5841592

40、.37027.8969506.21075.05980.82480.82425-360.0006464.189124.258769.70395.9659904.58077.690534.273534.273图5.1六杆机构曲柄上的平衡力矩的变化规律图5.2六杆机构颗板摆动中心运动副反力的大小及方向变化规律5.2 四杆较链式颤式破碎机的静力分析(1)调用bark函数对主动件进行运动分析。见表 4.4。(2)调用rrrk函数对由构件组成的RRR干组进行运动分析。见表4.5。(3)求各构件的质心5、6点及矿石破碎阻力作用点7点的运动参数。见表5.9 表 5.11。表5.9 5点运动参数形式参数n1n2

41、n3kr1r2gamtwePvpap实值20520.0r250.0twePvpap表5.10 6 点运动参数形式参数n1n2n3kr1r2gamtwepvpap实值40630.0r460.0twepvpap表5.11 7点运动参数形式参数n1n2n3kr1r2gamtwepvpap实值40730.00.60.0twepvpap(4)调用rrf 对由杆组成的RRR干组进行静力分析。见表5.12表 5.12形式参数n1n2n3ns1ns2nn1nn2nexfk1k2pvpaptwefr实值2435607723pvpaptwefr(5)调用barf对主动件进行静力分析。见表 5.13表 5.13形式

42、参数n1ns1nn1k1papefrtb实值1121papefr&tb程序清单:#include "graphics.h"#include "subk.c"#include "subf.c"#include "draw.c"main()static double p202,vp202,ap202,del;static double t10,w10,e10;staticdoublesita1370,fr1draw370,sita2370,fr2draw370,sita3370,fr3draw370,tbdra

43、w370 ,tb1draw370;static double fr202,fe202;static int ic;double r12,r23,r34;double r25,r46,r47;int i;double pi,dr;double fr1,fr4,bt1,bt4,we1,we2,we3,tb,tb1;FILE*fp;sm1=0.0;sm2=200.0;sm3=900.0;sj1=0.0;sj2=9.0;sj3=50.0 ;r12=0.04; r23=1.11; r34=1.96;r25=r23/2;r46=r34/2;r47=0.6;pi=4.0*atan(1.0);w1=-170*

44、2*pi/60; e1=0.0; del=15;dr=pi/180.0;p11=0.0;p12=0.0;p41=-0.95;p42=2.0;printf("n The Kineto-static Analysis of a Six-bar Linkasen");printf(" NO THETA1 FR4 BT4 TB TB1n");printf(" (deg.) (N) (deg.) (N.m) (N.m)n");if(fp=fopen(" 四杆受力 88888888.txt","w")=NU

45、LL)printf("Can't open this file./n");exit(0);fprintf(fp,"n The Kineto-static Analysis of a Six-bar Linkasen");fprintf(fp,"NO THETA1 FR4 BT4 TB TB1n" );fprintf(fp," (deg.) (N) (deg.) (N.m)(N.m)n");ic=(int)(360.0/del);for(i=0;i<=ic;i+)t1=(-i)*del*dr;bark(

46、1,2,0,1,r12,0.0,0.0,t,w,e,p,vp,ap);rrrk(1,2,4,3,2,3,r23,r34,t,w,e,p,vp,ap);bark(2,0,5,2,0.0,r25,0.0,t,w,e,p,vp,ap);bark(4,0,6,3,0.0,r46,0.0,t,w,e,p,vp,ap);bark(4,0,7,3,0.0,0.6,0.0,t,w,e,p,vp,ap);rrrf(2,4,3,5,6,0,7,7,2,3,p,vp,ap,t,w,e,fr);barf(1,1,2,1,p,ap,e,fr,&tb);fr1=sqrt(fr11*fr11+fr12*fr12);

47、bt1=atan2(fr12,fr11);fr4=sqrt(fr41*fr41+fr42*fr42);bt4=atan2(fr42,fr41);we1=-(ap11*vp11+(ap12+9.81)*vp12)*sm1-e1*w1*sj1;we2=-(ap51*vp51+(ap52+9.81)*vp52)*sm2-e2*w2*sj2;extf(p,vp,ap,t,w,e,7,fe);we3=-(ap61*vp61+(ap62+9.81)*vp62)*sm3-e3*w3*sj3+fe71 *vp71+fe72*vp72;tb1=-(we1+we2+we3)/w1;printf("%3d

48、 %10.3f%10.3f%10.3f%10.3f%10.3fn",i+1,t1/dr,fr4,bt4/dr,tb,tb1);fprintf(fp,"%3d %10.3f%10.3f%10.3f%10.3f%10.3fn",i+1,t1/dr,fr4,bt4/dr,tb,tb1);tbdrawi=tb;tb1drawi=tb1;fr1drawi=fr4;sita1i=bt4;fr2drawi=fr4;sita2i=bt4;fr3drawi=fr4;sita3i=bt4;if(i%18)=0)getch();fclose(fp);getch();draw2(del,

49、tbdraw,tb1draw,ic);draw3(del,sita1,fr1draw,sita2,fr2draw,sita3,fr3draw,ic);#include "math.h"extf(p,vp,ap,t,w,e,nexf,fe)double p202,vp202,ap202,t10,w10,e10,fe202;double pi,dr;pi=4.0*atan(1.0);dr=pi/180.0;if(w3<0)fenexf1=(-t1/dr-3.0)*(85000.0/180.0)*cos(-t3-pi/2);fenexf2=-(-t1/dr-3.0)*(85000.0/180.0)*sin(-t3-pi/2);elsefenexf1=0;fenexf2=0;运行结果：The Kineto-static Analysis of a Six-bar LinkaseNOTHETA1FR1BT1FR4BT4TBTB1(deg.)(N)(deg.)(N)(deg.)(N.m)(N.m)10.0005842.221168.26110261.396102.68547.54647.5462-15.0007481.334168.44212042.546120.500-17.966-