机械原理大作业平面连杆机构报告 - 图文(3)

//输出数据 for(i=0;i<36;i++) { ang1=i*PI/18; printf(\输出ang1=%d时的求解\\n\ printf(\ for(j=0;j<4;j++) printf(\ printf(\ for(j=4;j<8;j++) printf(\ printf(\ for(j=8;j<12;j++) printf(\ printf(\ for(j=12;j<18;j++) printf(\ printf(\ } } /*矢量法求角位移*/ void Solutionangle(double value[18],double ang1) { double xe,ye,A,B,C,phi,alpha,csn,ang5g,d2,d,ang2,ang3,ang5,ang6; A=2*l1*l3*sin(ang1); B=2*l3*(l1*cos(ang1)-l4); C=l2*l2-l1*l1-l3*l3-l4*l4+2*l1*l4*cos(ang1); ang3=2*atan((A+sqrt(A*A+B*B-C*C))/(B-C)); if(ang3<0)//限定ang3大小 {ang3=2*atan((A-sqrt(A*A+B*B-C*C))/(B-C));} ang2=asin((l3*sin(ang3)-l1*sin(ang1))/l2); xe=l4+l3*cos(ang3)+l2g*cos(ang2-inang); ye=l3*sin(ang3)+l2g*sin(ang2-inang); phi=atan2((yg-ye),(xg-xe)); d2=(yg-ye)*(yg-ye)+(xg-xe)*(xg-xe); d=sqrt(d2); csn=(l5*l5+d2-l6*l6)/(2.0*l5*d); alpha=atan2(sqrt(1.0-csn*csn),csn); ang5g=phi-alpha; ang5=ang5g-PI; ang6=atan2(ye+l5*sin(ang5g)-yg,xe+l5*cos(ang5g)-xg); value[0]=ang2;value[1]=ang3;value[2]=ang5;value[3]=ang6; value[12]=xe;value[13]=ye; //限定角度大小 for(int i=0;i<4;i++) { while(value[i]>2*PI) value[i]-=2*PI; while(value[i]<0) value[i]+=2*PI; } } /*角速度求解*/ void Solutionspeed(double a2[N][N],double b2[N],double value[18],double ang1) { double ang2,ang3; ang2=value[0];ang3=value[1]; double p2[N]; GaussianE(a2,b2,p2); value[4]=p2[0]; value[5]=p2[1]; value[6]=p2[2]; value[7]=p2[3]; value[14]=-l3*value[5]*sin(ang3)-l2g*value[4]*sin(ang2-inang); value[15]=l3*value[5]*cos(ang3)+l2g*value[4]*cos(ang2-inang); } /*角加速度求解*/ void Solutionacceleration(double a3[N][N],double da3[N][N],double db3[N],double value[18]) { int i,j; double ang2,ang3; ang2=value[0];ang3=value[1]; double bk[N]={0}; double p3[N]; for(i=0;i