图3-10连杆机构计算程序

图3-10连杆机构计算程序
！本程序用于图3－10连杆机构运动分析，输出G点的位置、速度、加速度
！本TB程序见“PRINT3-1.TRU”
! 图3－10连杆机构的动画程序见“图3-10连杆机构动画程序.DOC”
！若要绘制从动件的位移、速度、加速度曲线，见“在TB中绘制SV A三曲线.DOC”以及“在ACAD中绘制SV A三曲线.DOC”
！若要将图3－10连杆机构从动件的位移、速度、加速度具体数值打印出来，见“如何将TRUE BASIC的输出数值打印出来.DOC”
OPTION NOLET
FOR I =0 TO 360 STEP 2
CALL LINK(0, 0, 0, 0, 0, 0, I*PI/180, 10, 0, 14, XD, YD, VDX, VDY, ADX, ADY)
CALL RRR(XD, YD, VDX, VDY, ADX, ADY, 41, 0, 0, 0, 0, 0, 39, 28, QDA, W3, E3,
QBA, W2, E2)
QDC=QDA+35*PI/180
CALL LINK(XD, YD, VDX, VDY, ADX, ADY, QDC, W3, E3, 15, XC, YC, VCX, VCY, ACX, ACY)
CALL RPR(0, 0, -34, 0, 0, 0, 0, XC, YC, VCX, VCY, ACX, ACY, 0, QFG, W4, E4)
CALL LINK(0, -34, 0, 0, 0, 0, QFG, W4, E4, 55, XG, YG, VGX, VGY, AGX, AGY)
PRINT I, QFG*180/PI, W4, E4, XG, YG, VGX, VGY, AGX, AGY
NEXT I
END
SUB LINK(XA, YA, V AX, V AY, AAX, AAY, QAB, W, E, L, XB, YB, VBX, VBY, ABX, ABY) XB=XA+L*COS(QAB)
YB=YA+L*SIN(QAB)
VBX=V AX-L*SIN(QAB)*W
VBY=V AY+L*COS(QAB)*W
ABX=AAX-L*COS(QAB)*W^2-L*SIN(QAB)*E
ABY=AAY-L*SIN(QAB)*W^2+L*COS(QAB)*E
END SUB
SUB RRR(XA, YA, V AX, V AY, AAX, AAY, XC, YC, VCX, VCY, ACX, ACY, LAB, LCB, QAB, WAB, EAB, QCB, WCB, ECB)
LAC=SQR((XC-XA)^2+(YC-YA)^2)
COSQAC=(XC-XA)/LAC
SINQAC=(YC-Y A)/LAC
QAC=ANGLE(COSQAC,SINQAC)
COSQCBA=(LAB^2+LAC^2-LCB^2)/(2*LAB*LAC)
SINQCBA=SQR(1-COSQCBA^2)
QCBA=ANGLE(COSQCBA,SINQCBA)
QAB=QAC-QCBA
XB=XA+LAB*COS(QAB)
YB=YA+LAB*SIN(QAB)
COSQCB=(XB-XC)/LCB
SINQCB=(YB-YC)/LCB
QCB=ANGLE(COSQCB,SINQCB)
W AB=((V AX-VCX)*COSQCB+(V AY-VCY)*SINQCB)/LAB/SIN(QAB-QCB)
WCB=((V AX-VCX)*COS(QAB)+(V AY-VCY)*SIN(QAB))/LCB/SIN(QAB-QCB)
G=AAX-ACX-LAB*COS(QAB)*WAB^2+LCB*COSQCB*WCB^2
F=AAY-ACY-LAB*SIN(QAB)*WAB^2+LCB*SINQCB*WCB^2
EAB=(G*COSQCB+F*SINQCB)/LAB/SIN(QAB-QCB)
ECB=(G*COS(QAB)+F*SIN(QAB))/LCB/SIN(QAB-QCB)
END SUB
SUB RPR(M, XA, Y A, V AX, V AY, AAX, AAY, XC, YC, VCX, VCY,ACX,ACY, LAB,QBD,W,E) LAC=SQR((XC-XA)^2+(YC-YA)^2)
COSQAC=(XC-XA)/LAC
SINQAC=(YC-Y A)/LAC
QAC=ANGLE(COSQAC,SINQAC)
LBC=SQR(LAC^2-LAB^2)
QACB=ATN(LAB/LBC)
QBD=QAC+M*QACB
DELTA=-(YC-Y A)*SIN(QBD)-(XC-XA)*COS(QBD)
DELTAW=(VCX-V AX)*SIN(QBD)-(VCY-VAY)*COS(QBD)
DELTA V=-(YC-Y A)*(VCY-V AY)-(XC-XA)*(VCX-V AX)
W=DELTAW/DELTA
VLBC=DELTA V/DELTA
T1=(ACX-AAX)+(VCY-V AY)*W+SIN(QBD)*W*VLBC
T2=(ACY-AAY)-(VCX-V AX)*W-COS(QBD)*W*VLBC
DELTAE=T1*SIN(QBD)-T2*COS(QBD)
E=DELTAE/DELTA
END SUB。