大作业（一）平面连杆机构的运动分析班级：姓名：姓名：姓名：指导教师：完成日期：精品文档。1欢迎下载一、题目及原始数据1.1、平面连杆机构的运动分析题目：如图1.1所示，为一平面六杆机构。设已知各构件的尺寸如表1.1所示，又知原动件1以等角速度1=1rad/s沿逆时针方向回转，试求各从动件的角位移、角速度及角加速度以及位移E点的位移、速度及加速度的变化情况。表1.1平面六杆机构的尺寸参数2'l=65mm,Gx=153.5mm,Gy=41.7mm题号1l2l3l4l5l6lABC1-A105.667.587.534.42560°1l=26.51l=241l=29.5要求每组（每三人为一组，每人一题）至少打印一份源程序，每个同学计算出原动件从0o到360o时（计算点数N=36）所要求各运动变量的大小，并绘出各组应的运动线图以及E点的轨迹曲线。图1.1二、平面连杆机构运动分析方程2.1、位移方程：4312l4coscosl1cos0h43311l4sinssinl1sin0h精品文档。2欢迎下载43l4cosl3cossc043l4sinl3sinh0343cvv2.2、速度方程：3433343314343cosl4sinssin0sinl4cosscos0V0l4sinl3sin10l4cosl3cos0211Vl1sinl1cos003343Vcvv3VV22.3、加速度方程：3344333333443333311144334433sin14cosvsinscos014sin?vcosssin0014cos13cos0014sin13sin0A112343cA=vv11111112AAA1211Al1cosl1sin0011112AAA3343Aaca321AAA精品文档。3欢迎下载三、计算程序框图迭代次数IT=0IT=IT+1调用位置方程（1）子程序代入的初值θi，并计算fi｜fi｜≤E求得θi值YIT>ITmaxN停止Y调系数矩阵AV调用高斯消去法子程序求解A△θi=fi求出△θiθi=θi+△θi精品文档。4欢迎下载四、计算源程序4.1主程序%输入已知数据clearl1=0.0240;l2=0.1056;l3=0.0675;l4=0.0875;l5=0.0344;l6=0.025;l22=0.065;xg=0.1535;yg=0.0417;omega1=1;alph1=0;hd=pi/180;du=180/pi;t1=1:10:361;theta2=1:10:361;theta3=1:10:361;theta5=1:10:361;theta6=1:10:361;omega2=1:10:361;omega3=1:10:361;omega5=1:10:361;omega6=1:10:361;alph2=1:10:361;alph3=1:10:361;alph5=1:10:361;alph6=1:10:361;xe=1:10:361;ye=1:10:361;V=1:10:361;a=1:10:361;theta1=0;options=gaoptimset('PopulationSize',100,'Generations',10000,'StallGenLimit',500,'TolFun',1e-100);theta0=ga(@(thet)weiyi_0(thet,theta1),4,options);iftheta0(1)<0theta0(1)=theta0(1)+2*pi;end精品文档。5欢迎下载iftheta0(1)>2*pitheta0(1)=theta0(1)-2*pi;endiftheta0(2)<0theta0(2)=theta0(2)+2*pi;endiftheta0(2)>2*pitheta0(2)=theta0(2)-2*pi;endiftheta0(3)<0theta0(3)=theta0(3)+2*pi;endiftheta0(3)>2*pitheta0(3)=theta0(3)-2*pi;endiftheta0(4)<0theta0(4)=theta0(4)+2*pi;endiftheta0(4)>2*pitheta0(4)=theta0(4)-2*pi;end%调用子函数Fun_jixie计算该六杆机构的各杆角位移、角速度、角加速度以及E点的角位移、角速度、角加速度forn1=1:10:361theta1=(n1-1)*hd;t1(n1)=theta1*du;theta=fsolve(@(thet)weiyi(thet,theta1),theta0);iftheta(1)<0theta(1)=theta(1)+2*pi;endiftheta(1)>2*pitheta(1)=theta(1)-2*pi;endiftheta(2)<0theta(2)=theta(2)+2*pi;endiftheta(2)>2*pitheta(2)=theta(2)-2*pi;endiftheta(3)<0theta(3)=theta(3)+2*pi;endiftheta(3)>2*pitheta(3)=theta(3)-2*pi;endiftheta(4)<0theta(4)=theta(4)+2*pi;endiftheta(4)>2*pitheta(4)=theta(4)-2*pi;end[xe(n1),ye(n1)]=weiyi_E(theta1,theta,l1,l2,l22);[omega,alph]=Fun_jixie(theta1,omega1,l1,l2,l3,l5,l6,l22,theta);[V(n1),a(n1)]=sudu_jasudu_E(omega(1),alph(1),theta,theta1,omega1,l1,l2,l22,alph1);theta2(n1)=theta(1);theta3(n1)=theta(2);theta5(n1)=theta(3);theta6(n1)=theta(4);omega2(n1)=omega(1);omega3(n1)=omega(2);omega5(n1)=omega(3);omega6(n1)=omega(4);alph2(n1)=alph(1);alph3(n1)=alph(2);alph5(n1)=alph(3);alph6(n1)=alph(4);精品文档。6欢迎下载theta0=theta;end%绘制各杆件的角位移、角速度、角加速度n2=1:10:361;n1=1:10:361;figure(1);%%%%%%subplot(2,2,1)%绘制位移线图plot((n1-1),theta2(n2)*du,'r-',(n1-1),theta3(n2)*du,'g-',(n1-1),theta5(n2)*...
