3210-1-2-3-4-5050100150200250300350400θ2θ3θ5θ6 ②各从动件角速度与θ1的关系曲线和计算结果： 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 170 180 190 200 210 220 230 ω2 -0.37795 -0.33738 -0.28069 -0.21926 -0.16081 -0.10893 -0.0643 -0.02617 0.006704 0.035565 0.061481 0.085281 0.107552 0.128656 0.148743 0.167764 0.185483 0.201496 0.215247 0.226059 0.233166 0.235731 0.232875 0.223679 ω3 -0.37795 -0.2492 -0.11229 0.015911 0.125518 0.213289 0.280093 0.328526 0.361488 0.38156 0.390826 0.390901 0.383027 0.368182 0.347174 0.320717 0.289483 0.254119 0.215247 0.173436 0.129166 0.082778 0.034444 -0.01585 ω5 -2.67285 -1.46626 -0.92514 -0.70654 -0.64485 -0.67648 -0.79782 -1.05428 -1.49479 -1.9127 -1.84048 -1.37725 -0.90373 -0.56169 -0.34696 -0.22655 -0.17209 -0.16332 -0.18581 -0.22879 -0.28388 -0.34451 -0.40574 -0.46434 ω6 -3.55065 -2.12679 -1.28363 -0.76008 -0.4414 -0.29273 -0.32917 -0.62445 -1.27316 -2.04408 -2.28284 -1.98454 -1.56836 -1.22165 -0.96448 -0.77636 -0.6368 -0.53225 -0.45496 -0.40093 -0.36777 -0.35307 -0.35317 -0.3626 240 250 260 270 280 290 300 310 320 330 340 350 360 0.207191 0.182436 0.148451 0.104373 0.049631 -0.0157 -0.09029 -0.17082 -0.25104 -0.32162 -0.37144 -0.39118 -0.37795 -0.06829 -0.12318 -0.18089 -0.24162 -0.30515 -0.37039 -0.43469 -0.49304 -0.53737 -0.55679 -0.53983 -0.47936 -0.37795 -0.51886 -0.56994 -0.62024 -0.67411 -0.73659 -0.81211 -0.90377 -1.01549 -1.16684 -1.49038 -3.03617 -4.53764 -2.67285 -0.37424 -0.38025 -0.37344 -0.34886 -0.30521 -0.24612 -0.18183 -0.13413 -0.1577 -0.47584 -2.62664 -5.32839 -3.55065 10-10-2-3-4-5-6100200300400ω2ω3ω5ω6 ③各从动件角加速度与θ1的关系曲线和计算结果 0 10 20 30 40 50 60 70 80 90 α2 0.163163 0.290476 0.347896 0.348653 0.317786 0.276229 0.236019 0.202163 0.175725 0.156019 α3 0.676583 0.779658 0.772585 0.687151 0.566044 0.440802 0.327323 0.2305 0.149699 0.082297 α5 9.623839 4.583237 1.947983 0.705986 0.057948 -0.41751 -1.01754 -1.99224 -2.89533 -1.29346 α6 10.37457 6.170388 3.747622 2.352497 1.330158 0.360502 -0.84794 -2.65699 -4.61522 -3.39779 100 110 120 130 140 150 160 170 180 190 200 210 220 230 240 250 260 270 280 290 300 310 320 330 340 350 360 0.141753 0.131532 0.124017 0.117956 0.112174 0.105565 0.0971 0.085859 0.071064 0.052104 0.02853 0.000029 -0.03363 -0.07266 -0.11722 -0.16738 -0.2229 -0.28278 -0.3445 -0.40291 -0.44882 -0.46799 -0.44227 -0.35557 -0.20589 -0.0173 0.163163 0.025417 -0.02338 -0.06592 -0.10343 -0.13663 -0.1659 -0.1914 -0.21325 -0.23165 -0.247 -0.25997 -0.27144 -0.28244 -0.29404 -0.30716 -0.3223 -0.33924 -0.3565 -0.37052 -0.37457 -0.35752 -0.30342 -0.19401 -0.01707 0.218804 0.471881 0.676583 1.949939 2.942659 2.368658 1.565496 0.928895 0.478073 0.165095 -0.051 -0.19655 -0.28803 -0.33698 -0.35304 -0.34556 -0.32449 -0.30094 -0.28693 -0.29371 -0.32854 -0.39172 -0.47651 -0.57666 -0.71698 -1.10288 -3.2752 -17.5054 7.527736 9.623839 0.588811 2.360411 2.249653 1.716149 1.253273 0.922404 0.689558 0.515745 0.373499 0.24778 0.134368 0.037497 -0.0334 -0.06772 -0.05805 -0.00381 0.0867 0.196347 0.300513 0.367195 0.350054 0.151732 -0.57763 -4.05407 -25.2675 4.827787 10.37457 151050-50-10-15-20-25-30100200300400α2α3α5α6 ④E点运动分析结果： 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160 170 180 190 200 210 220 230 θ1 0 0.174533 0.349066 0.523599 0.698132 0.872665 1.047198 1.22173 1.396263 1.570796 1.745329 1.919862 2.094395 2.268928 2.443461 2.617994 2.792527 2.96706 3.141593 3.316126 3.490659 3.665191 3.839724 4.014257 θ2 0.656023 0.593275 0.539194 0.495565 0.462477 0.439043 0.424028 0.41622 0.414588 0.418327 0.426832 0.439665 0.456512 0.47714 0.501363 0.529 0.559848 0.593647 0.630052 0.668611 0.708746 0.749737 0.790716 0.830657 θ3 1.267191 1.2122 1.180673 1.172481 1.185132 1.215017 1.258361 1.311719 1.372139 1.437153 1.504701 1.573043 1.640689 1.706339 1.76885 1.827209 1.880524 1.928018 1.969024 2.002982 2.029422 2.047947 2.058204 2.059856 θ5 2.309382 1.961107 1.759048 1.619778 1.503475 1.389362 1.262215 1.10307 0.883043 0.581597 0.245608 -0.03764 -0.23518 -0.36101 -0.43869 -0.4876 -0.52159 -0.55031 -0.58041 -0.61636 -0.66098 -0.71577 -0.78126 -0.85725 θ6 1.934332 1.449734 1.158217 0.983385 0.881119 0.819504 0.768284 0.689658 0.529201 0.236642 -0.15137 -0.52821 -0.83791 -1.08001 -1.26961 -1.42069 -1.54342 -1.645 -1.73079 -1.80516 -1.87196 -1.93462 -1.99607 -2.05844 ω2 -0.37795 -0.33738 -0.28069 -0.21926 -0.16081 -0.10893 -0.0643 -0.02617 0.006704 0.035565 0.061481 0.085281 0.107552 0.128656 0.148743 0.167764 0.185483 0.201496 0.215247 0.226059 0.233166 0.235731 0.232875 0.223679 ω3 -0.37795 -0.2492 -0.11229 0.015911 0.125518 0.213289 0.280093 0.328526 0.361488 0.38156 0.390826 0.390901 0.383027 0.368182 0.347174 0.320717 0.289483 0.254119 0.215247 0.173436 0.129166 0.082778 0.034444 -0.01585 ω5 -2.67285 -1.46626 -0.92514 -0.70654 -0.64485 -0.67648 -0.79782 -1.05428 -1.49479 -1.9127 -1.84048 -1.37725 -0.90373 -0.56169 -0.34696 -0.22655 -0.17209 -0.16332 -0.18581 -0.22879 -0.28388 -0.34451 -0.40574 -0.46434 ω6 -3.55065 -2.12679 -1.28363 -0.76008 -0.4414 -0.29273 -0.32917 -0.62445 -1.27316 -2.04408 -2.28284 -1.98454 -1.56836 -1.22165 -0.96448 -0.77636 -0.6368 -0.53225 -0.45496 -0.40093 -0.36777 -0.35307 -0.35317 -0.3626 240 250 260 270 280 290 300 310 320 330 340 350 360 4.18879 4.363323 4.537856 4.712389 4.886922 5.061455 5.235988 5.410521 5.585054 5.759587 5.934119 6.108652 6.283185 0.868371 0.902499 0.931516 0.953731 0.967327 0.970437 0.961305 0.938569 0.90169 0.851496 0.790634 0.723602 0.656023 2.052548 2.035877 2.009384 1.972557 1.924878 1.865936 1.795638 1.714542 1.624345 1.528412 1.432113 1.342527 1.267191 -0.94311 -1.03816 -1.14201 -1.25487 -1.37782 -1.51275 -1.66223 -1.82937 -2.01888 -2.24561 -2.60336 -3.34217 -3.9738 -2.12277 -2.18875 -2.25475 -2.31806 -2.37541 -2.42369 -2.46099 -2.48808 -2.51175 -2.55873 -2.77434 -3.56336 -4.34885 0.207191 0.182436 0.148451 0.104373 0.049631 -0.0157 -0.09029 -0.17082 -0.25104 -0.32162 -0.37144 -0.39118 -0.37795 -0.06829 -0.12318 -0.18089 -0.24162 -0.30515 -0.37039 -0.43469 -0.49304 -0.53737 -0.55679 -0.53983 -0.47936 -0.37795 -0.51886 -0.56994 -0.62024 -0.67411 -0.73659 -0.81211 -0.90377 -1.01549 -1.16684 -1.49038 -3.03617 -4.53764 -2.67285 -0.37424 -0.38025 -0.37344 -0.34886 -0.30521 -0.24612 -0.18183 -0.13413 -0.1577 -0.47584 -2.62664 -5.32839 -3.55065 E点位移曲线8060Ye402000100Xe200Ye
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