平面六桿機構(gòu)設(shè)計-文庫吧
2025-06-15 01:01 本頁面
【正文】 sqrt((xexg).*(xexg)+(yeyg).*(yeyg))))。theta5(n1)=theta8(n1)theta9(n1)+pi。s4=ye+l5*sin(theta8theta9)yg。theta6(n1)=atan(s4/(xe+l5*cos(theta8theta9)xg))。theta9(n1)=2*pi(theta7theta2(n1))。 omega3(n1)=omega1*l1*sin(theta1theta2)/l3/sin(theta3theta2)。omega2(n1)=omega1*l1*sin(theta1theta3)/l2/sin(theta2theta3)。omega5(n1)=omega2(n1)*(l2*sin(theta2(n1)theta6(n1))+l9*sin(theta2(n1)theta7theta6(n1)))+omega1*l1*sin(theta1theta6(n1))/l5/sin(theta5(n1)theta6(n1))。omega6(n1)=omega2(n1)*(l2*sin(theta2(n1)theta5(n1))+l9*sin(theta2(n1)theta7theta5(n1)))+omega1*l1*sin(theta1theta5(n1))/l6/sin(theta5(n1)theta6(n1))。 s4=l2*omega2(n1)*omega2(n1)+l1*omega1*omega1*cos(theta1theta2)l3*omega3(n1)*omega3(n1)*cos(theta3theta2)。s5=l3*omega3(n1)*omega3(n1)l1*omega1*omega1*cos(theta1theta3)l2*omega2(n1)*omega2(n1)*cos(theta2theta3)。s6=omega1*omega1*l1*cos(theta1theta6(n1))+omega2(n1)*omega2(n1)*(l2*cos(theta2(n1)theta6(n1))+l9*cos(theta2(n1)theta7theta6(n1)))l5*omega5(n1)*omega5(n1)*cos(theta5(n1)theta6(n1))l6*omega6(n1)*omega6(n1)。s7=omega1*omega1*l1*cos(theta1theta5(n1))+omega2(n1)*omega2(n1)*(l2*cos(theta2(n1)theta5(n1))+l9*cos(theta2(n1)theta7theta5(n1))
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