牛头刨床运动仿真matlab程序

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forn1=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-.');gridon;holdon;axisauto;[haxes,hline1,hline2]=plotyy(t,theta4*du,t,sE);gridon;holdon;xlabel('时间/s')axes(haxes(1));ylabel('角位移/\circ')axes(haxes(2));ylabel('位移/m')holdon;gridon;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-.');gridon;holdon;axisauto;[haxes,hline1,hline2]=plotyy(t,omega4,t,vE);gridon;holdon;xlabel('时间/s')axes(haxes(1));ylabel('角速度/rad\cdots^{-1}')axes(haxes(2));ylabel('速度/m\cdots^{-1}')holdon;gridon;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-.');gridon;holdon;axisauto;[haxes,hline1,hline2]=plotyy(t,alpha4,t,aE);gridon;holdon;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}')holdon;gridon;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*1000*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)=(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(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));holdon;k=3:4;plot(x(k),y(k));holdon;k=5:9;plot(x(k),y(k));holdon;k=10:15;plot(x(k),y(k));holdon;k=16:17;plot(x(k),y(k));holdon;gridon;axis([-5006000650]);title('牛头刨床运动仿真');gridon;xlabel('mm')ylabel('mm')plot(x(1),y(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');holdon;gridon;xlabel('mm')ylabel('mm')axis([-4006000650]);%4牛头刨床机构运动仿真figure(2)m=moviein(20);j=0;forn1=1:5:360j=j+1;clf;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)=l6*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;y(8)=l61*1000;x(9)=l3*1000*cos(theta3(n1))+l4*1000*cos(theta4(n1))+600;y(9)=l61*1000;x(10)=(s3(n1)*1000-50)*cos(theta3(n1));y(10)=(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(n1));x(15)=x(10);y(15)=y(10);x(16)=0;y(16)=0;x(17)=0;y(17)=l6*1000;k=1:2;plot(x(k),y(k));holdon;k=3:4plot(x(k),y(k));holdon;k=5:9;plot(x(k),y(k));holdon;k=10:15;plot(x(k),y(k));holdon;k=16:17;plot(x(k),y(k));holdon;gridon;axis([-5006000650]);title('牛头刨床运动仿真');gridon;xlabel('mm');ylabel('mm');plot(x(1),y(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');axisequal;m(j)=getframe;endmovie(m)2.子函数six_bar文件function[theta,omega,alpha]=six_bar(theta1,omega1,alpha1,ll)l1=ll(1);l3=ll(2);l4=ll(3);l6=ll(4);l61=ll(5);%1计算角位移和线位移s3=sqrt((l1*cos(theta1))*(l1*cos(theta1))+(l6+l1*sin(theta1))*(l6+l1*sin(theta1)));theta3=acos((l1*cos(theta1))/s3);theta4=pi-asin((l61-l3*sin(theta3))/l4);sE=l3*cos(theta3)+l4*cos(theta4);theta(1)=s3;theta(2)=theta3;theta(3)=theta4;theta(4)=sE;%2计算角速度和线速度A=[sin(theta3),s3*cos(theta3),0,0;%从动件位置参数矩阵-cos(theta3),s3*sin(theta3),0,0;0,l3*sin(theta3),l4*(theta4),1;0,l3*cos(theta3),l4*cos(theta4),0];B=[l1*cos(theta1);l1*sin(theta1);0;0]%原动件位置参数矩阵omega=A\(omega1*B);v2=omega(1);%滑块2的速度omega3=omega(2);%构件3的角速度om