平面六连杆机构的运动分析Matlab代码1

平面六连杆机构的运动分析Matlab代码

clc,clear

%参数赋值

l1=40;

l2=55;

l3=55;

l4=22;

M=-1;%装配模式

omiga1=10;

theta1=0:1:360;

theta1=theta1*pi/180;

A=2*l1*l2*sin(theta1);

B=2*l2*(l1*cos(theta1)-l4);

C=l1^2+l2^2+l4^2-l3^2-2*l1*l4*cos(theta1);

E=2*l1*l3*sin(theta1);

F=2*l3*(l1*cos(theta1)-l4);

G=l2^2-l1^2-l3^2-l4^2+2*l1*l4*cos(theta1);

theta3=2*atan((E+M*sqrt(E.^2+F.^2-G.^2))./(F-G));

theta2=2*atan((A+M*sqrt(A.^2+B.^2-C.^2))./(B-C));

omiga2=omiga1*1*sin(theta1-theta3)./(l2*sin(theta3-theta2));

omiga3=omiga1*1*sin(theta1-theta2)./(l3*sin(theta3-theta2));

alph3=(omiga1^2*l1*cos(theta1-theta2)+omiga2.^2*l2-omiga3.^2*l3.*...

cos(theta3-theta2))./(l3*sin(theta3-theta2));

alph2=(-omiga1^2*l1*cos(theta1-theta3)+omiga3.^2*l3-omiga3.^2*l2.*...

cos(theta2-theta3))./(l2*sin(theta2-theta3));

%绘图

theta1=theta1*180/pi;

theta3=theta3*180/pi

subplot(3,1,1)

plot(theta1,theta3),grid on

xlabel('曲柄转角（^。）');ylabel('CD角位移（rad）');

subplot(3,1,2)

plot(theta1,omiga3),grid on

xlabel('曲柄转角（^。）');ylabel('CD角速度（rad/s）');

subplot(3,1,3)

plot(theta1,alph3),grid on

xlabel('曲柄转角（^。）');ylabel('CD角加速度（rad/s^2）')

clc,clear

%参数赋值

l1=39;

l2=55;

l3=56;

l4=23;

M=-1;%装配模式

omiga1=10;

theta1=0:1:360;%原动件角位移

theta1=theta1*pi/180;

A=2*l1*l2*sin(theta1);

B=2*l2*(l1*cos(theta1)-14);

C=l1^2+l2^2+l4^2-l3^2-2*l1*l4*cos(theta1);

E=2*l1*l3*sin(theta1);

F=2*l3*(l1*cos(theta1)-l4);

G=12^2-l1^2-l3^2-l4^2+2*l1*l4*cos(theta1);

theta3=2*atan((E+M*sqrt(E.^2+F.^2-G.^2))./(F-G));%摇杆角位移theta2=2*atan((A+M*sqrt(A.^2+B.^2-C.^2))./(B-C));%连杆角位移

omiga2=omiga1*l1*sin(theta1-theta3)./(l2*sin(theta3-theta2));%连杆角速度

omiga3=omiga1*l1*sin(theta1-theta2)./(l3*sin(theta3-theta2));%摇杆角速度%摇杆角加速度

alph3=(omiga1^2*l1*cos(theta1-theta2)+omiga2.^2*l2-omiga3.^2*l3.*...

cos(theta3-theta2))./(l3*sin(theta3-theta2));

%连杆角加速度

alph2=(-omiga1^2*l1*cos(theta1-theta3)+omiga3.^2*l3-omiga2.^2*l2.*...

cos(theta2-theta3))./(l2*sin(theta2-theta3));

%绘图

theta1=theta1*180/pi;

subplot(3,1,1)

plot(theta1,theta2*180/pi),grid on

xlabel('曲柄转角（^o）');ylabel('连杆角位移（rad）');

subplot(3,1,2)

plot(theta1,omiga2),grid on

xlabel('曲柄转角（^o）');ylabel('连杆角速度（rad/s）');

subplot(3,1,3)

plot(theta1,alph2),grid on

xlabel('曲柄转角（^o）');ylabel('连杆角加速度（rad/s^2）')

clc,clear