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1、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=11,13,14,16,161;theta,omega,a1pha=six_bar(
2、theta1(n1),omega1,a1pha1,11);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)=a1pha(1);a1pha3(n1)=a1pha(2);a1pha4(n1)=a1pha(3);aE(n1)=a1pha(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)*
3、2*pi/360;subp1ot(2,2,1);%绘角位移及位移线图 p1ot(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)s
4、ubplot(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 /radcdots八-1)axes(haxes(2);ylabel(速度 /mcdotsA-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(
5、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 /radcdots八-2)axes(haxes(2);ylabel(加速度 /mcdotsA-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,
6、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*1000
7、*sin(theta3(n1);x(7)=13*1000*cos(theta3(n1)+14*1000*cos(theta4(n1);y(7)=13*1000*sin(theta3(n1)+14*1000*sin(theta4(n1);x(8)=13*1000*cos(theta3(n1)+14*1000*cos(theta4(n1)-900;y(8)=161*1000;x(9)=13*1000*cos(theta3(n1)+14*1000*cos(theta4(n1)+600;y(9)=161*1000;x(10)=(s3(n1)*1000-50)*cos(theta3(n1);y(10)=
8、(s3(n1)*1000-50)*sin(theta3(n1);x(11)=x(10)+25*cos(pi/2-theta3(n1);y(11)=y(10)-25*sin(pi/2-theta3(n1);x(12)=x(11)+100*cos(theta3(n1);y(12)=y(11)+100*sin(theta3(n1);x(13)=x(12)-50*cos(pi/2-theta3(n1);y(13)=y(12)+50*sin(pi/2-theta3(n1);x(14)=x(10)-25*cos(pi/2-theta3(n1);y(14)=y(10)+25*sin(pi/2-theta3(
9、n1);x(15)=x(10);y(15)=y(10);x(16)=0;y(16)=0;x(17)=0;y(17)=16*1000;k=1:2;plot(x(k),y(k);hold on;k=3:4;plot(x(k),y(k);hold on;k=5:9;plot(x(k),y(k);hold on;k=10:15;plot(x(k),y(k);hold on;k=16:17;plot(x(k),y(k);hold on;grid on;axis(-500 600 0 650);title(牛头刨床运动仿真);grid on;xlabel(mm)ylabel(mm)plot(x(1),y(
10、1),o);plot(x(3),y(3),o);plot(x(4),y(4),o);plot(x(6),y(6),o);plot(x(7),y(7),o);hold on;grid on;xlabel(mm)ylabel(mm)axis(-400 600 0 650);%4牛头刨床机构运动仿真figure(2)m=moviein(20);j=0；for n1=1:5:360j=j + 1；clf;x(1)=0;y=0;x(2)=(s3(n1)*1000-50)*cos(theta3(n1);y(2)=(s3(n1)*1000-50)*sin(theta3(n1);x(3)=0;y(3)=l6*
11、1000x(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)=l3*1000*cos(theta3(n1);y(6)=l3*1000*sin(theta3(n1);x(7)=l3*1000*cos(theta3(n1)+l4*1000*cos(theta4(n1);x(7)=l3*1000*cos(theta3(n1)+l4*1000*cos(theta4(n1);y(7)=l3*1000*sin(theta3(n1)+l4*1000*sin(theta4(n1);x(8)=l3*1000*cos(theta3(n1)+l4*1000*cos(theta4(n1)-900;
牛头刨床运动仿真matlab程序
