#define PI 3.1415926 void main() {
double a=0.110,b=0.535,c=0.134,d=0.380,e=0.523,f=5; /*O1A=AB,b=O1B,c=BC,d=O1O2,e=H,f=ω1 */ double B,C,E,F,G,I,L,M,O;
/*B=θ3,C=θ4, E=Se，F =ω3，G=ω4， I= Ve ，L=а3，M=а4， O=аe */ double x=0;
printf(\@1 @3 @4 Se W3 W4 Ve A3 A4 Ae \\n\while(x<6.3) {
B=atan((d+a*sin(x))/(a*cos(x))); /*求θ3*/ if(B<0)B=PI+B;
C=PI-asin((e-b*sin(B))/c); /*求θ4*/ if(C<0)C=PI+C;
E=b*cos(B)+c*cos(C); /*求 Se */
F=(a*f*(a+d*sin(x)))/(d*d+a*a+2*d*a*sin(x)); /*求 ω3*/ G=-(F*b*cos(B))/(c*cos(C)); /*求 ω4*/ I=-(F*b*sin(B-C))/cos(C); /*求 Ve */
L=((d*d-a*a)*d*a*f*f*cos(x))/((d*d+a*a+2*d*a*sin(x))*(d*d+a*a+2*d*a*s
in(x))); /*求а3*/
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M=(F*F*b*sin(B)+G*G*c*sin(C)-L*b*cos(B))/(c*cos(C)); /*求а4*/ O=-(L*b*sin(B-C)+F*F*b*cos(B-C)-G*G*c)/cos(C); /*求аe */
printf(\ %3.3f %3.3f %3.3f %3.3f %3.3f %3.3f %3.3f %3.3f %3.3f\\n\x=x+PI*10/180;
} }
以上程序在C语言环境下运行，执行文件执行输出结果显示见 表 1
§3.3、计算数据结果
表 1.各构件的位置、速度和加速度
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θ10102030405060708090100110120130140150160170180190200210220230240250260270280290300310320330340350360θ3/ (°)73.85674.81476.09877.64879.41081.34183.39985.54987.76090.00092.24094.45196.60198.659100.590102.352103.902105.186106.144106.708106.799106.337105.240103.446100.93397.74594.02290.00085.97882.25579.06776.55474.76073.66373.20173.29273.856θ4176.107177.142178.430179.835181.235182.524183.617184.446184.962185.138184.962184.446183.617182.524181.235179.835178.430177.142176.107175.469175.363175.891177.085178.860180.979183.046184.572185.138184.572183.046180.979178.860177.085175.891175.363175.469176.107Se/ m0.0150.006-0.005-0.020-0.036-0.053-0.072-0.092-0.113-0.133-0.154-0.175-0.195-0.214-0.232-0.248-0.262-0.274-0.282-0.287-0.288-0.284-0.274-0.258-0.235-0.206-0.171-0.133-0.096-0.062-0.033-0.0100.0070.0170.0210.0200.015ω3ω4/ (rad/s)0.3870.4300.5660.5930.7130.6840.8320.7110.9270.6801.0000.6021.0550.4851.0930.3401.1150.1751.1220.0001.115-0.1751.093-0.3401.055-0.4851.000-0.6020.927-0.6800.832-0.7110.713-0.6840.566-0.5930.387-0.4300.170-0.196-0.0860.099-0.3840.432-0.7190.755-1.0771.000-1.4331.085-1.7440.939-1.9590.550-2.0370.000-1.959-0.550-1.744-0.939-1.433-1.085-1.077-1.000-0.719-0.755-0.384-0.432-0.086-0.0990.1700.1960.3870.430νe/ (m/s)-0.203-0.296-0.373-0.435-0.485-0.525-0.557-0.579-0.594-0.601-0.598-0.586-0.565-0.533-0.489-0.435-0.368-0.288-0.195-0.0850.0430.1930.3660.5580.7550.9311.0521.0901.0400.9180.7500.5630.3760.2010.045-0.089-0.203а3а4/ (rad/s2）5.6455.6944.6553.6223.7921.6553.045-0.1012.396-1.6031.827-2.8381.319-3.8020.856-4.4940.421-4.9110.000-5.050-0.421-4.911-0.856-4.494-1.319-3.802-1.827-2.838-2.396-1.603-3.045-0.101-3.7921.655-4.6553.622-5.6455.694-6.7547.662-7.9419.164-9.1019.668-10.0298.518-10.3965.126-9.774-0.627-7.784-7.803-4.364-14.0880.000-16.6344.364-14.0887.784-7.8039.774-0.62710.3965.12610.0298.5189.1019.6687.9419.1646.7547.6625.6455.694аe/ (m/s)-3.000-2.520-2.104-1.738-1.411-1.112-0.833-0.568-0.312-0.0610.1900.4440.7060.9821.2781.6031.9662.3772.8463.3793.9684.5765.1155.4065.1834.1712.282-0.200-2.665-4.520-5.502-5.701-5.384-4.813-4.169-3.552-3.000
§3.4、位移、速度和加速度的运动曲线图与分析（MATLAB程序、图）
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>> clear all;clc;
w1=5;l1=0.110;l3=0.535;l6=0.380;l61=0.523;l4=0.134; for m=1:3601
o1(m)=pi*(m-1)/1800;o31(m)=atan((l6+l1*sin(o1(m)))/(l1*cos(o1(m)))); if o31(m)>=0 o3(m)=o31(m); else o3(m)=pi+o31(m); end;
s3(m)=(l1*cos(o1(m)))/cos(o3(m));o4(m)=pi-asin((l61-l3*sin(o3(m)))/l4); se(m)=l3*cos(o3(m))+l4*cos(o4(m)); if o1(m)==pi/2
o3(m)=pi/2; s3(m)=l1+l6; end
if o1(m)==3*pi/2 o3(m)=pi/2; s3(m)=l6-l1; end
A1=[cos(o3(m)),-s3(m)*sin(o3(m)),0,0;sin(o3(m)),s3(m)*cos(o3(m)),0,0;0,-l3*sin(o3(m)),-l4*sin(o4(m)),-1;0,l3*cos(o3(m)),l4*cos(o4(m)),0];
B1=w1*[-l1*sin(o1(m));l1*cos(o1(m));0;0];D1=A1\\B1;E1(:,m)=D1;ds(m)=D1(1);w3(m)=D1(2);w4(m)=D1(3);ve(m)=D1(4);
A2=[cos(o3(m)),-s3(m)*sin(o3(m)),0,0;sin(o3(m)),s3(m)*cos(o3(m)),0,0;0,-l3*sin(o3(m)),-l4*sin(o4(m)),-1;0,l3*cos(o3(m)),l4*cos(o4(m)),0];
B2=-[-w3(m)*sin(o3(m)),(-ds(m)*sin(o3(m))-s3(m)*w3(m)*cos(o3(m))),0,0;w3(m)*
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cos(o3(m)),(ds(m)*cos(o3(m))-s3(m)*w3(m)*sin(o3(m))),0,0;0,-l3*w3(m)*cos(o3(m)),-l4*w4(m)*cos(o4(m)),0;0,-l3*w3(m)*sin(o3(m)),-l4*w4(m)*sin(o4(m)),0]*[ds(m);w3(m);w4(m);ve(m)];
C2=w1*[-l1*w1*cos(o1(m));-l1*w1*sin(o1(m));0;0];B=B2+C2;D2=A2\\B;E2(:,m)=D2;dds(m)=D2(1);a3(m)=D2(2);a4(m)=D2(3);ae(m)=D2(4); end;
o11=o1*180/pi;y=[o3*180/pi;o4*180/pi];w=[w3;w4];a=[a3;a4];figure; subplot(221);h1=plotyy(o11,y,o11, se);
title('位置线图');xlabel('\\it\\theta1(°)');ylabel('\\it\\theta3 \\theta4,(°) Se(m)');grid on subplot(222);h2=plotyy(o11,w,o11,ve); title('速度线图');
xlabel('\\it\\theta1(°)');ylabel('\\it\\omega3 \\omega4(rad/s) Ve(m/s)');grid on subplot(212);h3=plotyy(o11,a,o11,ae); title('加速度线图');
xlabel('\\it\\theta1(°)');ylabel('\\it\\alpha3 \\alpha4(rad/s^2) \\alphaE(m/s^2)');grid on F=[o11;o3./pi*180;o4./pi*180;se;w3;w4;ve;a3;a4;ae]';G=F(1:10:3601,:)
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