牛头刨床运动仿真matlab程序.doc

附录 牛头刨床主运动机构MATLAB程序由主程序six_bar_main 和子函数six_bar两部分组成。 1.主程序 six_bar_main文件 %1.输入已知数据 clear; l1=0.125; l3=0.600; l4=0.150; l6=0.275; l61=0.575; omega1=1; alpha1=0; hd=pi/180; du=180/pi; %2.调用子函数six_bar计算牛头刨床机构位移，角速度，角加速度 for n1=1:459; theta1(n1)=-2*pi+5.8199+(n1-1)*hd; ll=[l1,l3,l4,l6,l61]; [theta,omega,alpha]=six_bar(theta1(n1),omega1,alpha1,ll); s3(n1)=theta(1); theta3(n1)=theta(2); theta4(n1)=theta(3); sE(n1)=theta(4); v2(n1)=omega(1); omega3(n1)=omega(2); omega4(n1)=omega(3); vE(n1)=omega(4); a2(n1)=alpha(1); alpha3(n1)=alpha(2); alpha4(n1)=alpha(3); aE(n1)=alpha(4); end %3.位移、角速度、角加速度、和牛头刨床图形输出 figure(3); n1=1:459; t=(n1-1)*2*pi/360; subplot(2,2,1); %绘角位移及位移线图 plot(t,theta3*du,r-.); grid on; hold on; axis auto; [haxes,hline1,hline2]=plotyy(t,theta4*du,t,sE); grid on; hold on; xlabel(时间/s) axes(haxes(1)); ylabel(角位移/\circ) axes(haxes(2)); ylabel(位移/m) hold on; grid on; text(1.15,-0.15,\theta_3) text(3.40,0.27,\theta_4) text(2.25,-0.15,s_E) subplot(2,2,2); %绘角速度及速度线图 plot(t,omega3,r-.); grid on; hold on; axis auto; [haxes,hline1,hline2]=plotyy(t,omega4,t,vE); grid on; hold on; xlabel(时间/s) axes(haxes(1)); ylabel(角速度/rad\cdots^{-1}) axes(haxes(2)); ylabel(速度/m\cdots^{-1}) hold on; grid on; text(3.1,0.35,\omega_3) text(2.1,0.1,\omega_4) text(5.5,0.45,v_E) subplot(2,2,3); %绘角加速度及加速度线图 plot(t,alpha3,r-.); grid on; hold on; axis auto; [haxes,hline1,hline2]=plotyy(t,alpha4,t,aE); grid on; hold on; xlabel(时间/s) axes(haxes(1)); ylabel(角加速度/rad\cdots^{-2}) axes(haxes(2)); ylabel(加速度/m\cdots^{-2}) hold on; grid on; text(1.5,0.3,\alpha_3) text(3.5,0.51,\alpha_4) text(1.5,-0.11,a_E) subplot(2,2,4); %牛头刨床机构 n1=20; x(1)=0; y(1)=0; x(2)=(s3(n1)*1000-50)*cos(theta3(n1)); y(2)=(s3(n1)*1000-50)*sin(theta3(n1)); x(3)=0; y(3)=16*1000; x(4)=l1*1000*cos(theta1(n1)); y(4)=s3(n1)*1000*sin(theta3(n1)); x(5)=(s3(n1)*1000+50)*cos(theta3(n1)); y(5)=(s3(n1)*1000+50)*sin(theta3(n1)); x(6)=13*1000*cos(theta3(n1)); y(6)=13*