机械原理课程设计

for i=1:100

J=inv([1,0,0,0,0,0,0,0,0,0,0,0,0; 0,1,1,0,0,0,0,0,0,0,0,0,0; -1,0,0,1,0,0,0,0,0,0,0,0,0; 0,-1,0,0,1,0,0,0,0,0,0,0,0;

0.5*L4*sin(theta4(i)),-0.5*L4*cos(theta4(i)),0,0.5*L4*sin(theta4(i)),-0.5*L4*cos(theta4(i)),0,0,0,0,0,0,0,0;

0,0,0,0,0,1,0,-1,0,0,0,0,0; 0,0,0,0,0,0,1,0,-1,0,0,0,0; 0,0,0,-1,0,0,0,1,0,1,0,0,0; 0,0,0,0,-1,0,0,0,1,0,1,0,0;

0,0,0,0.5*L3*sin(theta3(i)),-0.5*L3*cos(theta3(i)),0,0,0.5*L3*sin(theta3(i)),-0.5*L3*cos(theta3(i)),(-S3(i)+0.5*L3)*sin(theta3(i)),(S3(i)-0.5*L3)*cos(theta3(i)),0,0;

0,0,0,0,0,-1,0,0,0,0,0,1,0; 0,0,0,0,0,0,-1,0,0,0,0,0,1；

0,0,0,0,0,-L1*sin(theta1(i)),-L1*cos(theta1(i)),0,0,0,0,0,0]);

P=[-F6(i)-Fc(i);m6*g;-F5x(i);-F5y(i)+m5*g;-M5(i);0;0;-F4x(i);-F4y(i)+m4*g;-M4(i);0;0;-MP(i)]; K=J*P;

FR56x(i)=K(1); FR56y(i)=K(2); FR16(i)=K(3); FR45x(i)=K(4); FR45y(i)=K(5); FR23x(i)=K(6); FR23y(i)=K(7); FR34x(i)=K(8); FR34y(i)=K(9); FR14x(i)=K(10); FR14y(i)=K(11); FR12x(i)=K(12); FR12y(i)=K(13); end %画图 %画运动图 figure(1);

plot(t,theta3,'r');hold on; plotyy(t,theta4,t,SE);grid on; xlabel('时间t/s');

ylabel('theta3、theta4(rad)');

title('角度Theta3、theta4和位移SE'); axis([ 0 , 0.75,-0.2,2]); figure(2);

plot(t,W3,'r');hold on;grid on;

plotyy(t,W4,t,VE); xlabel('时间t/s');

ylabel('W3、W4(rad/s)');

title('角度速度W3、W4和速度VE'); axis([0 , 0.75,-5,3]); figure(3);

plot(t,a3,'r');hold on; plotyy(t,a4,t,aE);grid on; xlabel('时间t/s');

ylabel('a3、a4(rad/s/s)');

title('角度加速度a3、a4和加速度aE'); axis([0 , 0.75,-80,80]); %运动图画完 %画反力图 figure(4);

plotyy(theta1,Fc,theta1,SE); xlabel('Theta1（时间t）'); ylabel('Fc');

axis([theta1(1) ,theta1(100),-50,1400]); title('切削阻力Fc与位移SE');grid on; figure(5);

plotyy(theta1,MP,theta1,Fc); xlabel('Theta1（时间t）'); ylabel('力矩');

axis([theta1(1) ,theta1(100),-50,300]); title('平衡力矩');grid on; figure(6);

plotyy(theta1,Ekk,theta1,SE); xlabel('Theta1（时间t）'); ylabel('Fc');

title('导杆、连杆和刨头的总动能');grid on; figure(7);

plot(t,FR56x,'r'); grid on;

xlabel('时间t/s'); ylabel('FR56x'); title('FR56x'); figure(8);

plot(t,FR56y,'r'); grid on;

xlabel('时间t/s'); ylabel('FR56y'); title('FR56y'); figure(9);

plot(t,FR16,'r'); grid on;

xlabel('时间t/s'); ylabel('FR16'); title('FR16'); figure(10);

plot(t,FR45x,'r'); grid on;

xlabel('时间t/s'); ylabel('FR45x'); title('FR45x'); figure(11);

plot(t,FR45y,'r'); grid on;

xlabel('时间t/s'); ylabel('FR45y'); title('FR45y'); figure(12);

plot(t,FR23x,'r'); grid on;

xlabel('时间t/s'); ylabel('FR23x'); title('FR23x'); figure(13);

plot(t,FR23y,'r'); grid on;

xlabel('时间t/s'); ylabel('FR23y'); title('FR23y'); figure(14);

plot(t,FR34x,'r'); grid on;

xlabel('时间t/s'); ylabel('FR34x'); title('FR34x'); figure(15);

plot(t,FR34y,'r'); grid on;

xlabel('时间t/s'); ylabel('FR34y'); title('FR34y'); figure(16);

plot(t,FR14x,'r'); grid on;

xlabel('时间t/s'); ylabel('FR14x'); title('FR14x'); figure(17);

plot(t,FR14y,'r'); grid on;

xlabel('时间t/s'); ylabel('FR14y'); title('FR14y'); figure(18);

plot(t,FR12x,'r'); grid on;

xlabel('时间t/s'); ylabel('FR12x'); title('FR12x'); figure(19);

plot(t,FR12y,'r'); grid on;

xlabel('时间t/s'); ylabel('FR12y'); title('FR12y'); theta1(1) theta1(100)

十一、参考文献

《机械原理（第七版）》

孙恒，陈作模，葛文杰，高等教育出版社，2000 《机械原理课程设计手册》 邹慧君主编，高等教育出版社，1998 《MATLAB 基础与应用简明教程》

张平等编著，北京航空航天大学出版社，2005 《机械原理*分析*综合*优化》

（德）K.洛克（Kurt Luck）K.—H.莫德勒（Karl-Heinz Modler） 孔建益（译）陆锡年（校）机械工业出版社，2003