牛頭刨床運動仿真matlab程序文件.docx

1、附錄牛頭刨床主運動機構MATLAB程序由主程序s i x_bar_ma i n和子函數(shù)s i x_bar 兩局部組成。1.主程序 s i x_bar_ma i n 件%1.輸入數(shù)據(jù)cI ear;11=0. 125;13=0. 600;14=0. 150;16=0. 275;161=0. 575；omega1=1;a Ipha1二0;hd二pi/180;du=180/pi;%2.調用子函數(shù)six_bar計算牛頭刨床機構位移，角速度，角加速度for n1=1:459;thetal (n1)二-2*p i +5. 8199+(n1-1) *hd;I I 二11, 13, 14, 16, 161；th

2、eta, omega, a Ipha=s i x_bar(thetal (n1),omega1,a Ipha1, I I);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)二alpha ；a Ipha3 (n1)=aIpha (2);a Ipha4(n1)=aIpha (3);aE(n1)=alpha (4);end%3.位移、

3、角速度、角加速度、和牛頭刨床圖形輸出figure (3);n1=1:459;t=(n1-1)*2*pi/360;subplot (2,2, 1) ；%繪角位移及位移線圖p I ot (t, theta3*du, ' r-.');gr id on;hold on;axis auto;haxes, hIi ne1, hIi ne2=pIotyy(t, theta4*du, t, sE); gr id on;ho Id on;xIabeI ('時間/s')axes (haxes (1);yIabeI ('南位移/cire')axes (haxes (2

4、);yIabeI ('位移/m')hold on;gr id 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) ；%繪角速度及速度線圖p I ot (t, omega3, ' l.')；gr id on;hold on;axis auto;haxes, hIi ne1, hIi ne2=pIotyy(t, omega4, t, vE);gr id on;hold on;xI

5、abeI ('時間/s')axes (haxes (1);y I abe I ('角速度/radcdots" -1')axes (haxes (2);y I abe I ('速度/mcdots" -1)')hold on;gr id 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) ;%繪角加速度及加速度線圖p I ot (t, a I p

6、ha3, ' r.');gr id on;ho Id on;axis auto;haxes, h I i ne1, h I i ne2 =p I otyy (t, a I pha4, t, aE); gr id on;hold on;xIabeI ('時間/s')axes (haxes (1);y Iabe I ('角加速度/radcdots" -2')axes (haxes(2);y Iabe I ('加速度/mcdots" -2')ho Id on;gr id on;text (1.5, 0. 3, 

7、9; a I pha_3')text (3.5,0.51, ,alpha_4,)text (1.5, -0. 11, 'a_E')subplot (2, 2, 4) ；%牛頭刨床機構n1=20;x =0;y (1)=0;x(2) = (s3(n1)*1000-50) *cos (theta3(n1);y(2) = (s3(n1)*1000-50)*s i n (theta3 (n1);x(3) =0;y (3) =16*1000;x (4) = 11*1000*cos (thetal(n1);y (4)=s3(n1)*1000*s i n(theta3(n1)；x(5)

8、 = (s3(n1)*1000+50)*cos (theta3 (n1);y (5) = (s3(n1)*1000+50) *si n (theta3 (n1);x(6) =13*1000*cos (theta3(n1);y (6)二13*1000*s i n(theta3(n1);x(7) =13*1000*cos(theta3(n1) )+14*1000*cos(theta4(n1)；y(7) =13*1OOO*sin(theta3(n1)+14*1OOO*sin(theta4(n1)；x (8)=13*1000*cos (theta3(n1)+14*1000*cos(theta4(n1)

9、 -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) *s i n (theta3 (n1);x (11)=x (10) +25*cos (p i /2-theta3 (n1);y(11)=y(10)-25*sin(pi/2-theta3(n1)；x (12) =x (11) +100*cos (theta3

10、 (n1);y (12) =y (11) +100*s i n (theta3(n1);x (13) =x (12) -50*cos (p i /2theta3 (n1);y (13) =y (12) +50*s i n (p i /2theta3 (n1);x (14) =x (10) -25*cos (p i /2-theta3 (n1);y (14) =y (10) +25*s in (pi/2-theta3 (n1);x(15)=x(10);y(15)=y(10)；x(16) =0;y (16)二 0；x(17)二 0；y (17) =16*1000;k=1:2；plot(x(k),y

11、(k);hold on;k=3:4；p I ot (x (k), y (k);hold on;k=5:9;plot(x (k),y(k);ho Id on;k=10:15;plot(x(k),y(k);hold on;k二16:17;plot(x(k),y(k);ho Id on;gr id on;ax is(-500 600 0 650);titleC牛頭刨床運動仿真')；gr id on;xIabeI('mm')yIabeI ('mm')plot(x(1),y(1), 'o');plot (x(3), y (3), 'o

12、9;);pIot (x (4), y (4), 'o');pIot (x (6), y (6), 'o');plot(x (7),y(7), 'o');hold on;gr id on;xIabeI('mm')yIabeI ('mm')ax i s (-400 600 0 650);%4牛頭刨床機構運動仿真figure (2)m=mov i e i n(20);j=0;for n1=1:5:360j=j+1；c If;x(1)=0;y(1)=0；x(2) = (s3(n1) *1000-50)*cos (theta

13、3 (n1);y (2) = (s3 (n1)*1000-50) *si n (theta3 (n1); x(3)二。；y(3)=16*1000x(4) = 11*1000*cos(thetal(n1);y (4)=s3(n1)*1000*s i n(theta3(n1);x(5) = (s3(n1)*1000+50)*cos (theta3(n1);y(5) = (s3(n1)*1000+50)*s i n (theta3 (n1)； x (6) = 13*1000*cos (theta3(n1);y(6) = l3*1 OOO*sin(theta3(n1);x (7) = l 3*1000

14、*cos (theta3 (n1) +14*1000*cos (theta4 (n1)；x(7) = 13*1000*cos(theta3(n1) +14*1000*cos (theta4 (n1);y(7) = l3*1000*sin (theta3(n1) + l4*1000*sin(theta4(n1);x(8)二13*1000*cos(theta3(n1) + l4*1000*cos(theta4(n1)-900; y(8) = l61*1000；x(9) = 13*1000*cos(theta3(n1) + l4*1000*cos(theta4(n1)+600; y(9) = l61

15、*1000;x(10) = (s3(n1) *1000-50) *cos(theta3 (n1);y (10) = (s3 (n1) *1000-50) *s i n (theta3 (n1)；x (11) =x (10) +25*cos (p i /2theta3 (n1)；y (11) =y (10) -25*s i n (p i /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 (p i /2-theta3 (n1);y (13

16、) =y (12) +50*s i n (p i /2theta3 (n1);x (14) =x (10) -25*cos (p i /2theta3 (n1);y (14) =y (10) +25*s i n (p i /2theta3 (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);ho Id on;k=3:4plot (x(k), y (k);hold on；k=5:9;plot(x (k),y(k);hold on;k二10:15;plot(x (k)

17、,y(k);hold on;k=16：17;plot(x (k),y(k);hold on;gr id on;ax is(-500 600 0 650);titleC牛頭刨床運動仿真')；grid on;xIabeI('mm *);yIabeI ('mm *);plot(x(1),y(1), 'o');plot(x (3),y(3), 'o');p I ot (x (4), y (4), 'o');pIot (x (6), y (6), 'o');plot (x(7), y (7), 'o'

18、);ax i s equaI;m(j)=getframe;endmov i e (m)2.子函數(shù)six_bar文件functiontheta, omega, a Ipha=s i x_bar(thetal, omega1,a Ipha1, I I)11 = 1 I (1);I3=ll(2);I4二II ；I6二I I ；161 = 1 I (5);%1計算角位移和線位移s3=sqrt(11 *cos(thetal)*(11*cos(thetal) + (16+11*s i n (thetal)* (16+11 * s i n (thetal);theta3=acos (11*cos(theta

19、l)/s3);theta4=pi-asin(l61-l3*sin(theta3)/I4);sE=l3*cos(theta3) + l4*cos(theta4);theta (1)=s3;theta(2)=theta3;theta (3)=theta4；theta (4)=sE;%2計算角速度和線速度A=s i n (theta3), s3*cos (theta3), 0, 0; %從動件位置參數(shù)矩陣 -cos (theta3), s3*si n(theta3), 0, 0;0, 13*s i n (theta3), 14* (theta4), 1;0, 13*cos(theta3), I4*cos (theta4), 0;B=11*cos (thetaD ; 11*sin (thetal) ;0;0% 原動件位置參數(shù)矩陣omega=A(omega1*B);%滑塊2的速度%構件3的角速度%構件4的角速度%構件5的速度v2=omega (1);omega3=omega(2);omega4二omega(3);vE=omega(4)%3計算角加速度和