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机械原理大作业 机电学院05011303班 \\shuju3.xls',a(n1)','sheet1','O1');

4.2从动件角位移，角速度，角加速度

function [omega,alph ] = Fun_jixie( theta1,omega1,l1,l2,l3,l5,l6,l22,theta) %从动件角位移

theta2=theta(1);theta3=theta(2);theta5=theta(3);theta6=theta(4); %%%%%%

%计算从动件角速度

A=[ -l2*sin(theta2), l3*sin(theta3), 0, 0; l2*cos(theta2), -l3*cos(theta3), 0, 0; -l22*sin(theta2 - pi/3), -l3*sin(theta3), -l5*sin(theta5), l6*sin(theta6);

l22*cos(theta2 - pi/3), l3*cos(theta3), l5*cos(theta5), -l6*cos(theta6)];

B=[l1*sin(theta1);-l1*cos(theta1);0;0]; omega=A\\(omega1*B);

omega2=omega(1);omega3=omega(2);omega5=omega(3);omega6=omega(4); %%%%%

%计算角从动件角加速度

A=[ -l2*sin(theta2), l3*sin(theta3), 0, 0; l2*cos(theta2), -l3*cos(theta3), 0, 0; -l22*sin(theta2 - pi/3), -l3*sin(theta3), -l5*sin(theta5), l6*sin(theta6);

l22*cos(theta2 - pi/3), l3*cos(theta3), l5*cos(theta5), -l6*cos(theta6)];

At=[-l2*omega2*cos(theta2),l3*omega3*cos(theta3), 0, 0; -l2*omega2*sin(theta2),l3*omega3*sin(theta3), 0, 0; -l22*omega2*cos(theta2 -

pi/3),-l3*omega3*cos(theta3),-l5*omega5*cos(theta5),l6*omega6*cos(theta6); -l22*omega2*sin(theta2 -

pi/3),-l3*omega3*sin(theta3),-l5*omega5*sin(theta5),l6*omega6*sin(theta6)]; Bt=[omega1*l1*cos(theta1);omega1*l1*sin(theta1);0;0;]; alph=A\\(-At*omega+omega1*Bt); end

?????点角速度，角加速度?

function [V,a]=sudu_jasudu_E(omega,alph,theta,theta1,omega1,l1,l2,l22,alph1) %求E点角速度

A=[-l1*sin(theta1),-l2*sin(theta(2))+l22*sin(pi/3-theta(1));l1*cos(theta1),l2*cos(theta(1))-l22*cos(pi/3-theta(1))]; B=[omega1;omega(1)];

第8页

机械原理大作业 机电学院05011303班 Vx=-l1*sin(theta1)*omega1-l2*sin(theta(2))+l22*sin(pi/3-theta(1))*omega(1); Vy=l1*cos(theta1)*omega1+l2*cos(theta(1))-l22*cos(pi/3-theta(1))*omega(1); V=sqrt(Vx^2+Vy^2); %求E点角加速度 D1=[alph1;alph(1)];

D2=[-l1*cos(theta1)*omega1,-l2*cos(theta(1))*omega(1)-l22*cos(pi/3-theta(1))*omega(1);-l1*sin(theta1)*omega1,-l2*sin(theta(2))*omega(1)+l22*sin(pi/3-theta(1))*omega(1)]; a1=A*D1+D2*B;

a=sqrt(a1(1)^2+a1(2)^2); end ?

4.4 E点位移

function [ xe,ye ] = weiyi_E( theta1,theta,l1,l2,l22) xe=l1*cos(theta1)+l2*cos(theta(1))+l22*cos(pi/3-theta(1)); ye=l1*sin(theta1)+l2*sin(theta(2))+l22*sin(pi/3-theta(1)); end

五、计算结果

1-C

各杆角位移变化 从动杆6 主动杆1 0 10 20 30 40 50 60 70 80 90 100 110 120 130 从动杆2 从动杆3 从动杆5 /(°) 35.6084 30.8934 27.0862 24.2472 22.2711 21.0007 20.2899 20.0246 20.1229 20.5287 21.2050 22.1289 23.2870 24.6719 65.6281 61.5375 59.5197 59.4280 60.9068 63.5668 67.0707 71.1528 75.6089 80.2819 85.0474 89.8033 94.4630 98.9507 207.9752 248.0929 194.8392 245.6683 185.6508 242.7925 179.3291 237.8174 174.5082 230.1716 169.5566 219.5693 162.6546 205.5980 152.0191 187.9072 136.6623 167.0176 118.6181 146.7459 102.4070 132.5408 90.2305 125.7210 81.3183 123.9271 74.4878 124.7856 第9页

机械原理大作业 机电学院05011303班

140 150 160 170 180 190 200 210 220 230 240 250 260 270 280 290 300 310 320 330 340 350 360 26.2796 28.1066 30.1477 32.3934 34.8277 37.4267 40.1568 42.9741 45.8240 48.6401 51.3440 53.8440 56.0339 57.7910 58.9751 59.4298 58.9895 57.4975 54.8445 51.0310 46.2458 40.9100 35.6084 103.1990 68.9103 126.7727 107.1472 64.1954 129.0116 110.7413 60.0940 130.9266 113.9345 56.4453 132.1274 116.6874 53.1161 132.3493 118.9678 49.9679 131.4342 120.7503 46.8439 129.3229 122.0147 43.5755 126.0459 122.7435 40.0051 121.7036 122.9190 36.0147 116.4381 122.5200 31.5507 110.3952 121.5184 26.6324 103.6769 119.8763 21.3373 96.2852 117.5442 15.7582 88.0633 114.4610 9.9287 110.5579 3.6988 78.6388 67.3608 105.7702 356.5045 53.1802 100.0632 346.8670 34.3210 93.4802 86.2118 78.6793 71.5539 65.6281 331.2049 7.5042 302.1698 327.0469 258.9097 278.6551 227.0232 254.5326 207.9744 248.0919 各杆角加位移变化 主动杆1 /(°) 0 10 20 30 40 50 60 70 80 90 100 110

从动杆2 从动杆3 从动杆5 /(rad/s) -0.5086 -0.4292 -0.3315 -0.2382 -0.1597 -0.0969 -0.0472 -0.0072 0.0260 0.0546 0.0803 0.1043 -0.5086 -0.3058 -0.1005 0.0760 0.2131 0.3132 0.3832 0.4299 0.4588 0.4738 0.4776 0.4721 从动杆6 -1.5567 -0.3234 -1.0981 -0.2238 -0.7553 -0.3786 -0.5319 -0.6263 -0.4595 -0.9068 -0.5604 -1.2182 -0.8498 -1.5798 -1.3021 -1.9614 -1.7368 -2.1529 -1.7842 -1.7954 -1.4218 -1.0270 -1.0319 -0.3838 第10页

机械原理大作业 机电学院05011303班

120 130 140 150 160 170 180 190 200 210 220 230 240 250 260 270 280 290 300 310 320 330 340 350 360 0.1272 0.1497 0.1718 0.1935 0.2145 0.2343 0.2521 0.2671 0.2782 0.2844 0.2845 0.2774 0.2618 0.2364 0.1995 0.1495 0.0847 0.0035 -0.0942 -0.2061 -0.3247 -0.4350 -0.5149 -0.5421 -0.5086 0.4586 0.4379 0.4108 0.3780 0.3401 0.2979 0.2521 0.2035 0.1527 0.0999 0.0455 -0.0108 -0.0695 -0.1315 -0.1978 -0.2697 -0.3481 -0.4336 -0.5246 -0.6162 -0.6975 -0.7493 -0.7458 -0.6655 -0.5086 -0.7715 -0.0154 -0.6117 0.1604 -0.5087 0.2231 -0.4374 0.2155 -0.3851 0.1612 -0.3466 0.0746 -0.3214 -0.0329 -0.3108 -0.1511 -0.3168 -0.2706 -0.3395 -0.3831 -0.3766 -0.4829 -0.4225 -0.5677 -0.4700 -0.6392 -0.5123 -0.7044 -0.5450 -0.7765 -0.5699 -0.8740 -0.5980 -1.0214 -0.6567 -1.2509 -0.8057 -1.6129 -1.1794 -2.2099 -2.0790 -3.2613 -3.8460 -4.8486 -4.1423 -3.9824 -2.3603 -1.1752 -1.5567 -0.3233 各杆角加位移变化 主动杆1 从动杆2 从动杆3 从动杆5 从动杆6 E点速度 E点加速度 /(rad/s) /(rad/s2) /(°) /(rad/s2) 0 10 20 30 40 50 60 70 80 90

0.3476 1.0714 3.1626 0.5345 1.2085 2.2553 0.5627 1.1132 1.6533 0.4964 0.9006 0.8734 0.4033 0.6738 -0.0636 0.3190 0.4800 -1.1073 0.2537 0.3282 -2.1925 0.2071 0.2122 -2.8440 0.1752 0.1227 -1.7169 0.1544 0.0519 1.2161 1.9234 0.1823 0.0915 -0.3877 0.1822 0.0889 -1.2475 0.1797 0.0756 -1.5371 0.1767 0.0604 -1.6787 0.1742 0.0476 -1.9124 0.1722 0.0383 -2.2138 0.1705 0.0321 -1.9765 0.1685 0.0282 0.2119 3.7526 第11页

0.1660 0.0259 0.1628 0.0244