平面连杆机构运动分析的子程序.

SUBROUTINE CRANK(N1,N2,R,TH,W,A,P,VP,AP,NP) IMPLICIT REAL*8(A-H,O-Z)
REAL*8 P(NP,2),VP(NP,2),AP(NP,2)
W2=W*W
VP(N1,1)=0.0D0
VP(N1,2)=0.0D0
AP(N1,1)=0.0D0
AP(N1,2)=0.0D0
RX=R*DCOS(TH)
RY=R*DSIN(TH)
P(N2,1)=P(N1,1)+RX
P(N2,2)=P(N1,2)+RY
VP(N2,1)= -RY*W
VP(N2,2)= RX*W
AP(N2,1)= -RY*A-RX*W2
AP(N2,2)= RX*A-RY*W2
RETURN
END
SUBROUTINE CRANK2(N1,N2,N3,R,S,PHI,TH,W,A,P,VP,AP,NP) IMPLICIT REAL*8(A-H,O-Z)
REAL*8 P(NP,2),VP(NP,2),AP(NP,2)
W2=W*W
VP(N1,1)=0.0D0
VP(N1,2)=0.0D0
AP(N1,1)=0.0D0
AP(N1,2)=0.0D0
RX=R*DCOS(TH)
RY=R*DSIN(TH)
SX=S*DCOS(TH+PHI) SY=S*DSIN(TH+PHI)
P(N2,1)=P(N1,1)+RX
P(N2,2)=P(N1,2)+RY
P(N3,1)=P(N1,1)+SX
P(N3,2)=P(N1,2)+SY
VP(N2,1)= -RY*W
VP(N2,2)= RX*W
VP(N3,1)= -SY*W
VP(N3,2)= SX*W
AP(N2,1)= -RY*A-RX*W2 AP(N2,2)= RX*A-RY*W2 AP(N3,1)= -SY*A-SX*W2 AP(N3,2)= SX*A-SY*W2
RETURN
END
SUBROUTINE PAYAD(M,N1,N2,N3,R1,R2,TH1,TH2,P,NP) IMPLICIT REAL*8(A-H,O-Z)
REAL*8 P(NP,2)
LOGICAL PRNT
PRNT=.FALSE.
IF(N1.LT.0)PRNT=.FALSE.
DELX=P(N2,1)-P(N1,1)
IF(DABS(DELX).LT.1.0D-10) DELX=1.0D-10
DELY=P(N2,2)-P(N1,2)
PHI=DATAN2(DELY,DELX)
SSQ=(P(N2,1)-P(N1,1)**2+(P(N2,2)-P(N1,2))**2
S=DEQRT(SSQ)
TEST=S-(R1+R2)
IF(TEST)40,40,500
40 TEST=DABS(R1-R2)-S
IF(TEST)50,50,500
50 CONTINUE
COSIN=(R1**2-R2**2+SSQ)/(2.0D0*R1*S)
ALF=DATAN2(DSQRT(1.0D0-COSIN**2),COSIN)
IF(M)200,100,100
100 TH=PHI+ALF
GOTO 300
200 TH=PHI-ALF
300 CONTINUE
RC=R1*DCOS(TH)
RS=R1*DSIN(TH)
P(N3,1)=P(N1,1)+RC
P(N3,2)=P(N1,2)+RS
TH1=DATAN2(RS,RC)
PS=P(N3,2)-P(N2,2)
PC=P(N3,1)-P(N2,1)
TH2=DATAN2(PS,PC)
RETURN
500 IF(PRNT)WRITE(*,600)
600 FORMAT(3X,'DYAD CANNOT BE ASSEMBLED.'/)
END
SUBROUTINE VDYAD(M,N1,N2,N3,R1,R2,TH1,TH2,P,W1,W2,VP,NP) IMPLICIT REAL*8(A-H,O-Z)
REAL*8 P(NP,2),VP(NP,2)
CALL PDYAD(M,N1,N2,N3,R1,R2,TH1,TH2,P,NP)
R2X=P(N3,1)-P(N2,1)
R2Y=P(N3,2)-P(N2,2)
A1=(VP(N2,1)-VP(N1,1))*R2X
A2=(VP(N2,2)-VP(N1,2))*R2Y
R1X=P(N3,1)-P(N1,1)
R1Y=P(N3,2)-P(N1,2)
C1=R1Y*R2X
C2=R2Y*R1X
DET=C1-C2
B1=(VP(N2,2)-VP(N1,2))*R1Y
B2=(VP(N2,1)-VP(N1,1))*R1X
W1=-(A1+A2)/DET
W2=-(B1+B2)/DET
VP(N3,1)=VP(N1,1)-W1*R1Y
VP(N3,2)=VP(N1,2)+W1*R1X
RETURN
END
SUBROUTINE
ADYAD(M,N1,N2,N3,R1,R2,TH1,TH2,P,W1,W2,VP,A1,A2,AP,NP) IMPLICIT REAL*8(A-H,O-Z)
REAL*8 P(NP,2),VP(NP,2),AP(NP,2)
CALL VDYAD(M,N1,N2,N3,R1,R2,TH1,TH2,P,W1,W2,VP,NP) R1X=P(N3,1)-P(N1,1)
R1Y=P(N3,2)-P(N1,2)
R2X=P(N3,1)-P(N2,1)
R2Y=P(N3,2)-P(N2,2)
C1=R1Y*R2X
C2=R2Y*R1X
DET=C1-C2
W1S=W1*W1
W2S=W2*W2
E=AP(N2,1)-AP(N1,1)+W1S*R1X-W2S*R2X
F=AP(N2,2)-AP(N1,2)+W1S*R1Y-W2S*R2Y
A1=-(E*R2X+F*R2Y)/DET
A2=-(F*R1Y+E*R1X)/DET
AP(N3,1)=AP(N1,1)-W1S*R1X-A1*R1Y
AP(N3,2)=AP(N1,2)-W1S*R1Y+A1*R1X
RETURN
END
SUBROUTINE PGUIDE(M,N1,N2,N3,R1,R2,TH,BETA,P,NP) DIMENSION P(NP,2)
LOGICAL PRNT
PRNT=.TRUE.
IF(N1.LT.0) PRNT=.FALSE.
N1=IABS(N1)
SSQ=(P(N1,1)-P(N2,1))**2+(P(N1,2)-P(N2,2))**2
E=2.*((P(N2,1)-P(N1,1))*DCOS(BETA)+(P(N2,2)-P(N1,2))*DSIN(BETA)) F=SSQ-R1**2
TEST=E**2-4.0*F
IF(TEST)500,50,50
50 SQROOT=SQRT(TEST)
MODE=M
RSQ=R1*R1
IF(RSQ.GE.SSQ) MODE=+1
IF(MODE) 200,100,100
100 R2=ABS(-E+SQROOT)/2.
GO TO300
200 R2=ABS(-E-SQROOT)/2.
300 CONTINUE
P(N3,1)=P(N2,1)+R2*DCOS(BETA)
P(N3,2)=P(N2,2)+R2*DSIN(BETA)
TH=ATAN2((P(N3,2)-P(N1,2)),(P(N3,1)-P(N1,1)))
RETURN
500 IF(PRNT) WRITE(6,600)
600 FORMAT(/*ROTATING GUIDE CANNOT BE ASSEMBLED*/) RETURN
END
SUBROUTINE
VGUIDE(M,N1,N2,N3,R1,R2,TH,BETA,P,W,VBETA,VR2,VP,NP) DIMENSION P(NP,2),VP(NP,2)
CALL PGUIDE(M,N1,N2,N3,R1,R2,TH,BETA,P,NP)
CB=DCOS(BETA)
SB=DSIN(BETA)
CT=DCOS(TH)
ST=DSIN(TH)
E1=(VP(N2,1)-VP(N1,1))-R2*VBETA*SB
F1=(VP(N2,2)-VP(N1,2))+R2*VBETA*CB
DET=ST*SB+CT*CB
W=(F1*CB-E1*SB)/(R1*DET)
VR2=-(E1*CT+F1*ST)/DET
VP(N3,1)=VP(N1,1)-R1*W*ST
VP(N3,2)=VP(N1,2)+R1*W*CT
RETURN
END
SUBROUTINE
AGUIDE(M,N1,N2,N3,R1,R2,TH,BETA,P,W,VBETA,VR2,A,ABETA,AR2 ,AP,NP)
DIMENSION P(NP,2),VP(NP,2),AP(NP,2)
CALL VGUIDE(M,N1,N2,N3,R1,R2,TH,BETA,P,W,VBETA,VR2,VP,NP) CB=DCOS(BETA)
SB=DSIN(BETA)
CT=DCOS(TH)
ST=DSIN(TH)
E2=AP(N2,1)-AP(N1,1)+W**2*R1*CT-ABETA*R2*SB-VBETA**2*R2* CB-2.*VBETA*VR2*SB
F2=AP(N2,2)-AP(N1,2)+W**2*R1*ST+ABETA*R2*CB-VBETA**2*R2* SB+2.*VBETA*VR2*CB
DET=ST*SB+CT*CB
A=(F2*CB-E2*SB)/(R1*DET)
AR2=-(E2*CT+F2*ST)/DET
AP(N3,1)=AP(N1,1)-R1*A1*ST-R1*W**2*CT
AP(N3,2)=AP(N1,2)+R1*A*CT-R1*W**2*ST
RETURN
END
SUBROUTINE POSC(M,N1,N2,N3,E,R2,R3,TH,P,NP)
DIMENSION P(NP,2)
LOGICAL PRNT
PRNT=.TRUE.
IF(N1.LT.0) PRNT=.FALSE.
N1=IABS(N1)
TEST=((P(N2,1)-P(N1,1))**2+(P(N2,2)-P(N1,2))**2-E**2)
IF(TEST)500,50,50
50 R2=SQRT(TEST)
ALPHA=ATAN2((P(N2,2)-P(N1,2)),(P(N2,1)-P(N1,1)))
BETA=ATAN(E/R2)
IF (M) 200,100,100
100 TH=ALPHA+BETA
GO TO300
200 TH=ALPHA-BETA
300 CONTINUE
P(N3,1)=P(N2,1)+(R3-R2)*DCOS(TH)
P(N3,2)=P(N2,2)+(R3-R2)*DSIN(TH)
RETURN
500 IF(PRNT) WRITE(6,600)
600 FORMAT(/*OSCILLATING SLIDER CANNOT BE ASSEMBLED*/) RETURN
END
SUBROUTINE VOSC(M,N1,N2,N3,E,R2,R3,TH,P,W,VR2,VP,NP) DIMENSION P(NP,2),VP(NP,2)
CALL POSC(M,N1,N2,N3,E,R2,R3,TH,P,NP)
C=DCOS(TH)
S=DSIN(TH)
SX=R2*C+E*S
SY=R2*S-E*C
W=((VP(N2,1)-VP(N1,1))*S-(VP(N2,2)-VP(N1,2))*C)/(-SX*C-SY*S) VR2=(-(VP(N2,2)-VP(N1,2))*SY-(VP(N2,1)-VP(N1,1))*SX)/(-SY*S-SX* C)
VP(N3,1)=VP(N1,1)-W*(R3*S-E*C)
VP(N3,2)=VP(N1,2)+W*(R3*C+E*S)
RETURN
END
SUBROUTINE
AOSC(M,N1,N2,N3,E,R2,R3,TH,P,W,VR2,VP,A,AR2,AP,NP) DIMENSION P(NP,2),VP(NP,2),AP(NP,2)
CALL VOSC(M,N1,N2,N3,E,R2,R3,TH,P,W,VR2,VP,NP)
C=DCOS(TH)
S=DSIN(TH)
SX=R2*C+E*S
SY=R2*S-E*C
E2=(AP(N2,1)-AP(N1,1))+W**2*SX+2.*W*VR2*S F2=(AP(N2,2)-AP(N1,2))+W**2*SY-2.*W*VR2*C A=(F2*C-E2*S)/(SX*C+SY*S)
AR2=(E2*SX+F2*SY)/(SX*C+SY*S)
R3X=R3*C+E*S
R3Y=R3*S-E*C
AP(N3,1)=AP(N1,1)-W**2*R3X-A*R3Y
AP(N3,2)=AP(N1,2)-W**2*R3Y+A*R3X RETURN
END
SUBROUTINE DISP(N1,N2,TH,P,PI,NP) IMPLICIT REAL*8(A-H,O-Z)
REAL*8 P(NP,2),PI(NP,2)
C=DCOS(TH)
S=DSIN(TH)
RX=PI(N2,1)-PI(N1,1)
RY=PI(N2,2)-PI(N1,2)
P(N2,1)=P(N1,1)+RX*C-RY*S
P(N2,2)=P(N1,2)+RX*S+RY*C
RETURN
END
SUBROUTINE VEL(N1,N2,W,P,VP,NP) IMPLICIT REAL*8(A-H,O-Z)
REAL*8 P(NP,2),VP(NP,2)
VP(N2,1)=VP(N1,1)-W*(P(N2,2)-P(N1,2))
VP(N2,2)=VP(N1,2)+W*(P(N2,1)-P(N1,1)) RETURN
END
SUBROUTINE ACC(N1,N2,W,A,P,VP,AP,NP) IMPLICIT REAL*8(A-H,O-Z)
REAL*8 P(NP,2),VP(NP,2),AP(NP,2)
RX=P(N2,1)-P(N1,1)
RY=P(N2,2)-P(N1,2)
CALL VEL(N1,N2,W,P,VP,NP)
W2=W*W
AP(N2,1)=AP(N1,1)-W2*RX-A*RY
AP(N2,2)=AP(N1,2)+A*RX-W2*RY
RETURN
END
SUBROUTINE GEOM(N1,N2,N3,R,S,PHI,PI,NP)
IMPLICIT REAL*8(A-H,O-Z)
REAL*8 PI(NP,2)
PI(N1,1)=0.0D0
PI(N1,2)=0.0D0
PI(N2,1)=R
PI(N2,2)=0.0D0
PI(N3,1)=S*DCOS(PHI)
PI(N3,2)=S*DSIN(PHI)
RETURN
END
SUBROUTINE MOTION(N1,N2,N3,R,S,PHI,TH,W,A,PI,P,VP,AP,NP) IMPLICIT REAL*8(A-H,O-Z)
REAL*8 PI(NP,2),P(NP,2),VP(NP,2),AP(NP,2)
CALL GEOM(N1,N2,N3,R,S,PHI,PI,NP)
CALL DISP(N1,N3,TH,P,PI,NP)
CALL ACC(N1,N3,W,A,P,VP,AP,NP)
RETURN
END
CALL CRANK(1,2,L(1),TH(1),W(1),A(1),P,VP,AP,NP)
CALL
AGUIDE(1,2,5,3,L(2),R3,TH(2),BETA,P,W(2),VBETA,VR2,VP,A(2),ABE TA,AR2,AP,NP)
CALL MOTION(2,3,4,L(2),R(2),PSI(2),TH(2),W(2),A(2),WK,P,VP,AP,NP)。