颚式破碎机机构设计说明书(共24页)

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1、精选优质文档-倾情为你奉上机械原理课程设计说明书题目： 铰链式颚式破碎机方案分析 班 级 ：过程装备与控制工程姓 名 ：汪浩学 号 ：指导教师 ：王丹成 绩 ：2012年 11月 17日目 录 一 设计题目1二 已知条件及设计要求12.1已知条件12.2设计要求1三. 机构的结构分析23.1六杆铰链式破碎机23.2四杆铰链式破碎机2四. 机构的运动分析24.1六杆铰链式颚式破碎机的运动分析24.2编写主程序并运行24.3四杆铰链式颚式破碎机的运动分析54.4编写主程序并运行5五.机构的动态静力分析85.1六杆铰链式颚式破碎机的静力分析85.2编写主程序并运行95.3四杆铰链式颚式破碎机的静力分

2、析135.4编写主程序并运行14六. 工艺阻力函数及飞轮的转动惯量函数 176.1工艺阻力函数程序 176.2飞轮的转动惯量函数程序17七 .对两种机构的综合评价21八 . 主要的收获和建议21九 . 参考文献21专心-专注-专业一.设计题目：铰链式颚式破碎机方案分析二.已知条件及设计要求2.1 已知条件 图1.1 六杆铰链式破碎机 图1.2 工艺阻力 图1.3 四杆铰链式破碎机图(a)所示为六杆铰链式破碎机方案简图。主轴1的转速为n1 = 170r/min，各部尺寸为：lO1A = 0.1m, lAB = 1.250m, lO3B = 1m, lBC = 1.15m, lO5C = 1.96

3、m, l1=1m, l2=0.94m, h1=0.85m, h2=1m。各构件质量和转动惯量分别为：m2 = 500kg, Js2 = 25.5kgm2, m3 = 200kg, Js3 = 9kgm2, m4 = 200kg, Js4 = 9kgm2, m5=900kg, Js5=50kgm2, 构件1的质心位于O1上，其他构件的质心均在各杆的中心处。D为矿石破碎阻力作用点，设LO5D = 0.6m，破碎阻力Q在颚板5的右极限位置到左极限位置间变化，如图(b)所示，Q力垂直于颚板。图(c)是四杆铰链式颚式破碎机方案简图。主轴1 的转速n1=170r/min。lO1A = 0.04m, lAB

4、 = 1.11m, l1=0.95m, h1=2m, lO3B=1.96m，破碎阻力Q的变化规律与六杆铰链式破碎机相同，Q力垂直于颚板O3B，Q力作用点为D，且lO3D = 0.6m。各杆的质量、转动惯量为m2 = 200kg, Js2=9kgm2，m3 = 900kg, Js3=50kgm2。曲柄1的质心在O1 点处，2、3构件的质心在各构件的中心。2.2 设计要求试比较两个方案进行综合评价。主要比较以下几方面：1. 进行运动分析，画出颚板的角位移、角速度、角加速度随曲柄转角的变化曲线。2. 进行动态静力分析，比较颚板摆动中心运动副反力的大小及方向变化规律，曲柄上的平衡力矩大小及方向变化规律

5、。3. 飞轮转动惯量的大小。三.机构的结构分析3.1六杆铰链式破碎机六杆铰链式粉碎机拆分为机架和主动件，构件组成的RRR杆组，构件组成的RRR杆组。21 83247 111096543.2四杆铰链式破碎机四杆铰链式破碎机拆分为机架和主动件，构件组成的RRR杆组。21 765432四.机构的运动分析4.1六杆铰链式颚式破碎机的运动分析。1) 调用bark函数求主动件的运动参数。形式参数n1n2n3kr1r2gametwepvpap实 值1201r120.00.0twepvpap2）调用rrrk函数求、构件组成的RRR杆组进行运动分析。形式参数mn1n2n3k1k2r1r2t wepvpap实 值

6、132432r34r24twepvpap3） 调用rrrk函数对、构件组成的RRR杆组进行运动分析。形式参数mn1n2n3k1k2r1r2t wepvpap实 值146545R45R56twepvpap4.2编写主程序并运行。按一定的步长，改变主动件的位置角度，使其在0-360变化，便可求出机构各点在整个运动循环内的运动参数并打印输出。(1) 主程序。#includesubk.c#includedraw.cmain()static double p202,vp202,ap202,del;static double t10, w10, e10, pdraw370, vpdraw370, apdr

7、aw370;static int ic;double r12,r24,r34,r56,r611,r45;double pi,dr;int i;FILE*fp;r12=0.1;r24=1.250;r34=1;r45=1.15;r56=1.96;r611=0.6;w1=-17.8;e1=0.0;del=15.0;p11=0;p12=0;p61=-1.0;p62=0.85;p31=0.94;p32=-1.0;pi=4.0*atan(1.0);dr=pi/180.0;printf(n The Kinematic Parameters of member 5n);printf(No THETA1 T5

8、W5 E5n);printf( deg m m/s m/s/sn);if(fp=fopen(filel,w)=NULL)printf(Cant open this file.n);exit(0);fprintf(fp,n The Kinematic Parameters of member 5n);fprintf(fp,No THETA1 T5 W5 E5n);fprintf(fp, deg m m/s m/s/sn);ic=(int)(360.0/del);for(i=0;i=ic;i+)t1=(-i)*del*dr;bark(1,2,0,1,r12,0.0,0.0,t,w,e,p,vp,a

9、p);rrrk(1,3,2,4,3,2,r34,r24,t,w,e,p,vp,ap);rrrk(1,4,6,5,4,5,r45,r56,t,w,e,p,vp,ap);bark(2,0,7,2,0.0,r24/2,0.0,t,w,e,p,vp,ap);bark(3,0,8,3,0.0,r34/2,0.0,t,w,e,p,vp,ap);bark(4,0,9,4,0.0,r45/2,0.0,t,w,e,p,vp,ap);bark(6,0,10,5,0.0,r56/2,0.0,t,w,e,p,vp,ap);bark(6,0,11,5,0.0,r611,0.0,t,w,e,p,vp,ap);printf

10、(n %2d %12.3f %12.3f %12.3f %12.3f,i+1,t1/dr,t5,w5,e5);fprintf(fp,n %2d %12.3f %12.3f %12.3f %12.3f,i+1,t1/dr,t5,w5,e5);pdrawi=t5;vpdrawi=w5;apdrawi=e5;if(i%16)=0)getch();fclose(fp);getch();draw1(del,pdraw,vpdraw,apdraw,ic); (2)运行结果。杆件5的运动参数：The Kinematic Parameters of member 5No THETA1 T5 W5 E5 deg

11、 m m/s m/s/s 1 0.000 -1.658 0.346 3.955 2 -15.000 -1.653 0.392 2.002 3 -30.000 -1.647 0.400 -0.932 4 -45.000 -1.641 0.362 -4.354 5 -60.000 -1.637 0.274 -7.504 6 -75.000 -1.633 0.146 -9.610 7 -90.000 -1.632 -0.001 -10.181 8 -105.000 -1.633 -0.145 -9.162 9 -120.000 -1.637 -0.265 -6.902 10 -135.000 -1.

12、641 -0.345 -3.980 11 -150.000 -1.646 -0.382 -1.008 12 -165.000 -1.652 -0.377 1.518 13 -180.000 -1.657 -0.341 3.296 14 -195.000 -1.662 -0.284 4.236 15 -210.000 -1.666 -0.220 4.435 16 -225.000 -1.668 -0.156 4.120 17 -240.000 -1.670 -0.10 3.583 18 -255.000 -1.671 -0.051 3.105 19 -270.000 -1.672 -0.007

13、2.897 20 -285.000 -1.672 0.036 3.063 21 -300.000 -1.671 0.085 3.570 22 -315.000 -1.669 0.142 4.246 23 -330.000 -1.667 0.209 4.790 24 -345.000 -1.663 0.281 4.816 25 -360.000 -1.658 0.346 3.955运动图形：4.3四杆铰链式颚式破碎机的运动分析。1）调用bark函数求主动件的运动参数。形式参数n1n2n3kr1r2gametwepvpap实 值1201r120.00.0twepvpap2）调用rrrk函数求、构件

14、组成的RRR杆组进行运动分析。形式参数mn1n2n3k1k2r1r2t wepvpap实 值124323r23r34twepvpap4.4编写主程序并运行。按一定的步长，改变主动件的位置角度，使其在0-360变化，便可求出机构各点在整个运动循环内的运动参数并打印输出。(1)主程序。#includesubk.c#includedraw.cmain()static double p202,vp202,ap202,del;static double t10, w10, e10, pdraw370, vpdraw370, apdraw370;static int ic;double r12,r23,r

15、34,r47;double pi,dr;int i;FILE*fp;r12=0.04;r23=1.11;r34=1.96;r47=0.6;w4=0.0;w1=-17.8;e1=0.0;del=15.0;p11=0.0;p12=0.0;p41=-0.95;p42=2.0;pi=4.0*atan(1.0);dr=pi/180.0;printf(n The Kinematic Parameters of poit 3n);printf(No THETA1 S3 V3 A3N);printf( deg m m/s m/s/sn);if(fp=fopen(filel,w)=NULL)printf(Can

16、t open this file.n);exit(0);fprintf(fp,No THETA1 S3 V3 A3n);fprintf(fp,deg m m/s m/s/s);ic=(int)(360.0/del);for(i=0;i=ic;i+)t1=-(i)*del*dr;bark(1,2,0,1,r12,0.0,0.0,t,w,e,p,vp,ap);rrrk(1,2,4,3,2,3,r23,r34,t,w,e,p,vp,ap);bark(2,0,5,2,0.0,r23/2,0.0,t,w,e,p,vp,ap);bark(4,0,6,3,0.0,r34/2,0.0,t,w,e,p,vp,a

17、p);bark(4,0,7,3,0.0,r47/2,0.0,t,w,e,p,vp,ap);printf(n %2d %12.3f %12.3f %12.3f %12.3f,i+1,t1/dr,t3,w3,e3);fprintf(fp,n %2d %12.3f %12.3f %12.3f %12.3f,i+1,t1/dr,t3,w3,e3);pdrawi=t3;vpdrawi=w3;apdrawi=e3;if(i%16)=0)getch();fclose(fp);getch();draw1(del,pdraw,vpdraw,apdraw,ic);(2)运行结果。杆件3的运动参数：No THETA

18、1 S3 V3 A3deg m m/s m/s/s 1 0.000 -1.632 0.014 -6.230 2 -15.000 -1.632 -0.077 -6.097 3 -30.000 -1.634 -0.163 -5.590 4 -45.000 -1.637 -0.240 -4.730 5 -60.000 -1.641 -0.301 -3.553 6 -75.000 -1.646 -0.343 -2.117 7 -90.000 -1.651 -0.362 -0.501 8 -105.000 -1.656 -0.357 1.192 9 -120.000 -1.661 -0.327 2.84

19、7 10 -135.000 -1.666 -0.274 4.338 11 -150.000 -1.669 -0.201 5.543 12 -165.000 -1.671 -0.113 6.356 13 -180.000 -1.672 -0.016 6.702 14 -195.000 -1.672 0.082 6.543 15 -210.000 -1.670 0.174 5.892 16 -225.000 -1.667 0.253 4.806 17 -240.000 -1.663 0.313 3.383 18 -255.000 -1.658 0.351 1.746 19 -270.000 -1.

20、653 0.364 0.030 20 -285.000 -1.647 0.352 -1.638 21 -300.000 -1.642 0.317 -3.148 22 -315.000 -1.638 0.261 -4.414 23 -330.000 -1.635 0.189 -5.373 24 -345.000 -1.632 0.105 -5.986 25 -360.000 -1.632 0.014 -6.230运动图形：五.机构的动态静力分析5.1六杆铰链式颚式破碎机的动态静力分析。（1）求质点7，8，9，10及矿石破碎产生阻力的作用点11的运动参数；调用bark函数对质点7进行运动分析： 形

21、式参数n1n2n3kr1r2gametwepvpap实 值20720.0r24/20.0twepvpap调用bark函数对质点8进行运动分析： 形式参数n1n2n3kr1r2gametwepvpap实 值30830.0r34/20.0twepvpap调用bark函数对质点9进行运动分析： 形式参数n1n2n3kr1r2gametwepvpap实 值40940.0r45/20.0twepvpap调用bark函数对质点10进行运动分析： 形式参数n1n2n3kr1r2gametwepvpap实 值601050.0r56/20.0twepvpap调用bark函数对质点11进行运动分析： 形式参数n1

22、n2n3kr1r2gametwepvpap实 值601150.0r6110.0twepvpap（2）调用rrrf函数对、构件构成的RRR杆组进行动态静力分析：形式参数n1n2n3ns1ns2nn1nn2nexfk1实 值465910011114形式参数k2pvpaptwefr实 值5pvpaptwefr（3）调用rrrf函数对、构件构成的RRR杆组进行动态静力分析：形式参数n1n2n3ns1ns2nn1nn2nexfk1实 值324874003形式参数k2pvpaptwefr实 值2pvpaptwefr（4）调用barf函数对主动件1进行动态静力分析：形式参数n1ns1nn1k1papefrt

23、b 实 值1121papefr&tb5.2编写主程序并运行。按一定的步长，改变主动件的位置角度，使其在0-360变化，便可求出机构各运动副反力及作用在主动件上的平衡力矩。（1） 主程序。#include graphics.h#include subk.c#include subf.c#include draw.cmain() static double p202,vp202,ap202,del; static double sita1370,fr1draw370,sita2370,fr2draw370, sita3370,fr3draw370,tbdraw370,tb1draw370; sta

24、tic double fr202,fe202,t10,w10,e10; static int ic; double r12,r24,r34,r45,r56,r611; int i; double pi,dr; double fr1,bt1,fr3,bt3,fr6,bt6,we1,we2,we3,we4,we5,tb,tb1; FILE*fp; sm1=0.0;sm2=500.0;sm3=200.0;sm4=200.0;sm5=900.0; sj1=0.0;sj2=25.5;sj3=9.0;sj4=9.0;sj5=50.0; r12=0.1; r24=1.25; r34=1.0; r45=1.1

25、5;r56=1.96;r611=0.6; pi=4.0*atan(1.0); dr=pi/180.0; w1=-170*2*pi/60; e1=0.0; del=15; p11=0.0; p12=0.0; p31=0.94; p32=-1.0; p61=-1.0; p62=0.85; printf(n The Kineto-static Analysis of a Six-bar Linkasen); printf( NO THETA1 FR6 BT6 TB TB1n); printf( (deg.) (N) (deg.) (N.m) (N.m)n); if(fp=fopen(liuganls

26、,w)=NULL) printf(Cant open this file./n); exit(0); fprintf(fp,n The Kineto-static Analysis of a Six-bar Linkasen); fprintf(fp,NO THETA1 FR6 BT6 TB TB1n ); fprintf(fp, (deg.) (N) (deg.) (N.m) (N.m)n); ic=(int)(360.0/del); for(i=0;i=ic;i+) t1=(-i)*del*dr; bark(1,2,0,1,r12,0.0,0.0,t,w,e,p,vp,ap); rrrk(

27、1,3,2,4,3,2,r34,r24,t,w,e,p,vp,ap); rrrk(1,4,6,5,4,5,r45,r56,t,w,e,p,vp,ap); bark(2,0,7,2,0.0,r24/2,0.0,t,w,e,p,vp,ap); bark(3,0,8,3,0.0,r34/2,0.0,t,w,e,p,vp,ap); bark(4,0,9,4,0.0,r45/2,0.0,t,w,e,p,vp,ap); bark(6,0,10,5,0.0,r56/2,0.0,t,w,e,p,vp,ap); bark(6,0,11,5,0.0,r611,0.0,t,w,e,p,vp,ap); rrrf(4,

28、6,5,9,10,0,11,11,4,5,p,vp,ap,t,w,e,fr); rrrf(3,2,4,8,7,4,0,0,3,2,p,vp,ap,t,w,e,fr); barf(1,1,2,1,p,ap,e,fr,&tb); fr1=sqrt(fr11*fr11+fr12*fr12); bt1=atan2(fr12,fr11); fr3=sqrt(fr31*fr31+fr32*fr32); bt3=atan2(fr32,fr31); fr6=sqrt(fr61*fr61+fr62*fr62); bt6=atan2(fr62,fr61); we1=-(ap11*vp11+(ap12+9.81)*

29、vp12)*sm1-e1*w1*sj1;we2=-(ap71*vp71+(ap72+9.81)*vp72)*sm2-e2*w2*sj2;we3=-(ap81*vp81+(ap82+9.81)*vp82)*sm3-e3*w3*sj3;we4=-(ap91*vp91+(ap92+9.81)*vp92)*sm4-e4*w4*sj4; extf(p,vp,ap,t,w,e,11,fe);we5=-(ap101*vp101+(ap102+9.81)*vp102)*sm5-e5*w5*sj5+fe111*vp111+fe112*vp112; tb1=-(we1+we2+we3+we4+we5)/w1; p

30、rintf(%3d %10.3f %10.3f %10.3f %10.3f %10.3f n,i+1,t1/dr,fr6,bt6/dr,tb,tb1); fprintf(fp,%3d %10.3f %10.3f %10.3f %10.3f %10.3f n,i+1,t1/dr,fr6,bt6/dr,tb,tb1); tbdrawi=tb;tb1drawi=tb1;fr1drawi=fr1;sita1i=bt1; fr2drawi=fr3;sita2i=bt3; fr3drawi=fr6;sita3i=bt6; if(i%16)=0)getch(); fclose(fp); getch(); d

31、raw2(del,tbdraw,tb1draw,ic); draw3(del,sita1,fr1draw,sita2,fr2draw,sita3,fr3draw,ic); #include math.hextf(p,vp,ap,t,w,e,nexf,fe)double p202,vp202,ap202,t10,w10,e10,fe202; double pi,dr; pi=4.0*atan(1.0);dr=pi/180.0; if(w50) fenexf1=(-t1/dr-90.0)*(85000.0/183.0)*cos(-t5-pi/2); fenexf2=(-t1/dr-90.0)*(8

32、5000.0/183.0)*sin(-t5-pi/2); elsefenexf1=0;fenexf2=0;运行结果： The Kineto-static Analysis of a Six-bar LinkaseNO THETA1 FR6 BT6 TB TB1 (deg.) (N) (deg.) (N.m) (N.m) 1 0.000 9904.580 77.690 534.273 534.273 2 -15.000 10248.086 82.670 1038.104 1038.104 3 -30.000 10522.852 89.576 1434.513 1434.513 4 -45.000

33、 10757.314 97.329 1547.760 1547.760 5 -60.000 10967.175 104.339 1270.987 1270.987 6 -75.000 11112.158 109.009 644.228 644.228 7 -90.000 11132.496 110.330 -144.608 -144.608 8 -105.000 12680.958 130.862 -883.317 -883.317 9 -120.000 15029.598 144.220 -1406.073 -1406.073 10 -135.000 17682.290 153.370 -1

34、622.609 -1622.609 11 -150.000 20600.516 160.349 -1553.177 -1553.177 12 -165.000 23898.781 165.982 -1284.581 -1284.581 13 -180.000 27671.348 170.489 -921.391 -921.391 14 -195.000 31923.984 173.941 -554.919 -554.919 15 -210.000 36575.510 176.459 -251.268 -251.268 16 -225.000 41492.782 178.238 -49.526

35、-49.526 17 -240.000 46530.125 179.500 38.171 38.171 18 -255.000 51560.146 -179.558 27.338 27.338 19 -270.000 56493.851 -178.791 -39.305 -39.305 20 -285.000 8481.823 78.617 -205.306 -205.306 21 -300.000 8583.465 77.292 -338.729 -338.729 22 -315.000 8793.293 75.658 -361.459 -361.459 23 -330.000 9113.1

36、58 74.602 -227.576 -227.576 24 -345.000 9506.210 75.059 80.824 80.824 25 -360.000 9904.580 77.690 534.273 534.273 （3）平衡力矩曲线：(4)反力的矢端图曲线：5.3四杆铰链式颚式破碎机的动态静力分析。（1）求质点5，6及矿石破碎产生阻力的作用点7的运动参数；调用bark函数对质点5进行运动分析： 形式参数n1n2n3kr1r2gametwepvpap实 值20520.0r250.0twepvpap调用bark函数对质点6进行运动分析： 形式参数n1n2n3kr1r2gametwep

37、vpap实 值40630.0r460.0twepvpap调用bark函数对质点7进行运动分析： 形式参数n1n2n3kr1r2gametwepvpap实 值40730.0r470.0twepvpap（2）调用rrrf函数对、构件构成的RRR杆组进行动态静力分析：形式参数n1n2n3ns1ns2nn1nn2nexfk1实 值243560772形式参数k2pvpaptwefr实 值3pvpaptwefr（3）调用barf函数对主动件1进行动态静力分析：形式参数n1ns1nn1k1papefrtb 实 值1121papefr&tb5.4编写主程序并运行。按一定的步长，改变主动件的位置角度，使其在0-

38、360变化，便可求出机构各运动副反力及作用在主动件上的平衡力矩。（1）主程序。#include graphics.h#include subk.c#include subf.c#include draw.cmain() static double p202,vp202,ap202,del; static double t10,w10,e10; static double sita1370,fr1draw370,sita2370,fr2draw370, sita3370,fr3draw370,tbdraw370,tb1draw370; static double fr202,fe202; sta

39、tic int ic; double r12,r23,r34,r25,r46,r47; int i; double pi,dr; double fr1,fr4,bt1,bt4,we1,we2,we3,tb,tb1; FILE*fp; sm1=0.0;sm2=200.0;sm3=900.0;sj1=0.0;sj2=9.0;sj3=50.0; r12=0.04; r23=1.11; r34=1.96,r25=r23/2,r46=r34/2,r47=0.6; pi=4.0*atan(1.0); w1=-17.8; e1=0.0; del=15.0; dr=pi/180.0; p11=0.0;p12=

40、0.0;p41=-0.95;p42=2.0; printf(n The Kineto-static Analysis of a four-bar Linkasen); printf( NO THETA1 FR4 BT4 TB TB1n); printf( (deg.) (N) (deg.) (N.m) (N.m)n); if(fp=fopen(FILE4,w)=NULL) printf(Cant open this file./n); exit(0); fprintf(fp,n The Kineto-static Analysis of a four-bar Linkasen); fprint

41、f(fp,NO THETA1 FR4 BT4 TB TB1n ); fprintf(fp, (deg.) (N) (deg.) (N.m) (N.m)n ); ic=(int)(360.0/del); for(i=0;i=ic;i+) t1=(-i)*del*dr; bark(1,2,0,1,r12,0.0,0.0,t,w,e,p,vp,ap); rrrk(1,2,4,3,2,3,r23,r34,t,w,e,p,vp,ap); bark(2,0,5,2,0.0,r25,0.0,t,w,e,p,vp,ap); bark(4,0,6,3,0.0,r46,0.0,t,w,e,p,vp,ap); ba

42、rk(4,0,7,3,0.0,r47,0.0,t,w,e,p,vp,ap); rrrf(2,4,3,5,6,0,7,7,2,3,p,vp,ap,t,w,e,fr); barf(1,1,2,1,p,ap,e,fr,&tb); fr1=sqrt(fr11*fr11+fr12*fr12); bt1=atan2(fr12,fr11); fr4=sqrt(fr41*fr41+fr42*fr42); bt4=atan2(fr42,fr41);we1=-(ap11*vp11+(ap12+9.81)*vp12)*sm1-e1*w1*sj1;we2=-(ap51*vp51+(ap52+9.81)*vp52)*s

43、m2-e2*w2*sj2;extf(p,vp,ap,t,w,e,7,fe); we3=-(ap61*vp61+(ap62+9.81)*vp62)*sm3-e3*w3*sj3+fe71*vp71+fe72*vp72; tb1=-(we1+we2+we3)/w1; printf(%3d %10.3f %10.3f %10.3f %10.3f %10.3f n,i+1,t1/dr,fr4,bt4/dr,tb,tb1); fprintf(fp,%3d %10.3f %10.3f %10.3f %10.3f %10.3f n,i+1,t1/dr,fr4,bt4/dr,tb,tb1); tbdrawi=t

44、b;tb1drawi=tb1; fr1drawi=fr1;sita1i=bt1; fr2drawi=fr4;sita2i=bt4; fr3drawi=fr4;sita3i=bt4; if(i%16)=0)getch(); fclose(fp); getch(); draw2(del,tbdraw,tb1draw,ic); draw3(del,sita1,fr1draw,sita2,fr2draw,sita3,fr3draw,ic); #include math.hextf(p,vp,ap,t,w,e,nexf,fe)double p202,vp202,ap202,t10,w10,e10,fe2

45、02; double pi,dr; pi=4.0*atan(1.0); dr=pi/180.0; if(w30) fenexf1=(-t1/dr-3)*(85000.0/180.0)*cos(-t3-pi/2); fenexf2=(-t1/dr-3)*(85000.0/180.0)*sin(-t3-pi/2); elsefenexf1=0;fenexf2=0; (2)运行结果： The Kineto-static Analysis of a four-bar LinkaseNO THETA1 FR4 BT4 TB TB1 (deg.) (N) (deg.) (N.m) (N.m) 1 0.000 10261.190 102.681 47.544 47.544 2 -15.000 11456.920 122.314 -17.846 -17.846