【文章內(nèi)容簡(jiǎn)介】 290 154 50 24])。e5=uicontrol(39。parent39。,h0,39。units39。,39。points39。,39。tag39。,39。e539。,39。style39。,39。edit39。,39。fontsize39。,12,...39。string39。,39。39。,39。horizontalalignment39。,39。center39。,39。backgroundcolor39。,[1 1 1],...39。position39。,[290 114 50 24])。e6=uicontrol(39。parent39。,h0,39。units39。,39。points39。,39。tag39。,39。e639。,39。style39。,39。edit39。,39。fontsize39。,12,...39。string39。,39。39。,39。horizontalalignment39。,39。center39。,39。backgroundcolor39。,[1 1 1],...39。position39。,[290 74 50 24])。b1=uicontrol(39。parent39。,h0,39。units39。,39。points39。,39。tag39。,39。b139。,39。style39。,39。pushbutton39。,39。string39。,...39。運(yùn)動(dòng)參數(shù)計(jì)算39。,39。backgroundcolor39。,[ ],39。position39。,…[360 274 80 24],39。callback39。,39。Calculation439。)。b2=uicontrol(39。parent39。,h0,39。units39。,39。points39。,39。tag39。,39。b239。,39。style39。,39。pushbutton39。,39。string39。,...39。運(yùn)動(dòng)分析39。,39。backgroundcolor39。,[ ],39。position39。,…[360 234 80 24],39。callback39。,39。Siganyundongfenxi39。)。b3=uicontrol(39。parent39。,h0,39。units39。,39。points39。,39。tag39。,39。b339。,39。style39。,39。pushbutton39。,39。string39。,...39。運(yùn)動(dòng)仿真39。,39。backgroundcolor39。,[ ],39。position39。,…[360 194 80 24],39。callback39。,39。Siganyundongfangzhen39。)。b4=uicontrol(39。parent39。,h0,39。units39。,39。points39。,39。tag39。,39。b439。,39。style39。,39。pushbutton39。,39。string39。,...39。運(yùn)動(dòng)參數(shù)清空39。,39。backgroundcolor39。,[ ],39。position39。,…[360 154 80 24],39。callback39。,39。Qingkong439。)。b5=uicontrol(39。parent39。,h0,39。units39。,39。points39。,39。tag39。,39。b539。,39。style39。,39。pushbutton39。,39。string39。,... 39。關(guān)閉39。,39。backgroundcolor39。,[ ],39。position39。,[360 114 80 24],...39。callback39。,39。close39。)。t7=uicontrol(39。parent39。,h0,39。units39。,39。points39。,39。tag39。,39。t739。,39。style39。,39。text39。,39。string39。,…39。連桿2角位移th2(度)39。,39。fontsize39。,12,39。backgroundcolor39。,…[ ],39。position39。,[460 300 90 12])。t8=uicontrol(39。parent39。,h0,39。units39。,39。points39。,39。tag39。,39。t839。,39。style39。,39。text39。,39。string39。,…39。搖桿3角位移th3(度)39。,39。fontsize39。,12,39。backgroundcolor39。,…[ ],39。position39。,[460 260 90 12])。t9=uicontrol(39。parent39。,h0,39。units39。,39。points39。,39。tag39。,39。t939。,39。style39。,39。text39。,39。string39。,…39。連桿2角速度v2(rad/s)39。,39。fontsize39。,12,39。backgroundcolor39。,…[ ],39。position39。,[460 220 90 12])。t10=uicontrol(39。parent39。,h0,39。units39。,39。points39。,39。tag39。,39。t1039。,39。style39。,39。text39。,39。string39。,…39。搖桿3角速度v3(rad/s)39。,39。fontsize39。,12,39。backgroundcolor39。,…[ ],39。position39。,[460 180 90 12])。t11=uicontrol(39。parent39。,h0,39。units39。,39。points39。,39。tag39。,39。t1139。,39。style39。,39。text39。,39。string39。,…39。連桿2角加速度a239。,39。fontsize39。,12,39。backgroundcolor39。,[ ],…39。position39。,[460 140 90 12])。t12=uicontrol(39。parent39。,h0,39。units39。,39。points39。,39。tag39。,39。t1239。,39。style39。,39。text39。,39。string39。,…39。搖桿3角加速度a339。,39。fontsize39。,12,39。backgroundcolor39。,[ ],…39。position39。,[460 100 90 12])。e7=uicontrol(39。parent39。,h0,39。units39。,39。points39。,39。tag39。,39。e739。,39。style39。,39。edit39。,39。fontsize39。,12,...39。string39。,39。39。,39。horizontalalignment39。,39。center39。,39。backgroundcolor39。,[1 1 1],...39。position39。,[560 294 60 24])。e8=uicontrol(39。parent39。,h0,39。units39。,39。points39。,39。tag39。,39。e839。,39。style39。,39。edit39。,39。fontsize39。,12,...39。string39。,39。39。,39。horizontalalignment39。,39。center39。,39。backgroundcolor39。,[1 1 1],...39。position39。,[560 254 60 24])。e9=uicontrol(39。parent39。,h0,39。units39。,39。points39。,39。tag39。,39。e939。,39。style39。,39。edit39。,39。fontsize39。,12,...39。string39。,39。39。,39。horizontalalignment39。,39。center39。,39。backgroundcolor39。,[1 1 1],...39。position39。,[560 214 60 24])。e10=uicontrol(39。parent39。,h0,39。units39。,39。points39。,39。tag39。,39。e1039。,39。style39。,39。edit39。,39。fontsize39。,12,... 39。string39。,39。39。,39。horizontalalignment39。,39。center39。,39。backgroundcolor39。,[1 1 1],... 39。position39。,[560 174 60 24])。e11=uicontrol(39。parent39。,h0,39。units39。,39。points39。,39。tag39。,39。e1139。,39。style39。,39。edit39。,39。fontsize39。,12,... 39。string39。,39。39。,39。horizontalalignment39。,39。center39。,39。backgroundcolor39。,[1 1 1],... 39。position39。,[560 134 60 24])。e12=uicontrol(39。parent39。,h0,39。units39。,39。points39。,39。tag39。,39。e1239。,39。style39。,39。edit39。,39。fontsize39。,12,... 39。string39。,39。39。,39。horizontalalignment39。,39。center39。,39。backgroundcolor39。,[1 1 1],... 39。position39。,[560 94 60 24])。運(yùn)行該程序后，所得的交互界面，即曲柄搖桿機(jī)構(gòu)參數(shù)輸入界面，如圖41所示：圖41 曲柄搖桿機(jī)構(gòu)參數(shù)輸入界面 基于MATLAB的平面四桿機(jī)構(gòu)運(yùn)動(dòng)參數(shù)計(jì)算與第一節(jié)所得的曲柄搖桿機(jī)構(gòu)運(yùn)動(dòng)參數(shù)相對(duì)應(yīng)，利用MATLAB編寫(xiě)平面四桿機(jī)構(gòu)運(yùn)動(dòng)參數(shù)計(jì)算程序，程序中各運(yùn)動(dòng)參數(shù)含義如表43所示。表43 程序中各運(yùn)動(dòng)參數(shù)含義運(yùn)動(dòng)參數(shù)名稱(chēng)參數(shù)含義l1曲柄1長(zhǎng)度l2連桿2長(zhǎng)度l3搖桿3長(zhǎng)度l4機(jī)架4長(zhǎng)度n1曲柄1轉(zhuǎn)速theta1曲柄1角位移theta2連桿2角位移theta3搖桿3角位移theta4機(jī)架4角位移omiga1曲柄1角速度omiga2連桿2角速度omiga3搖桿3角速度omiga4機(jī)架4角速度alph2連桿2角加速度alph3搖桿3角加速度alph4機(jī)架4角加速度在第一節(jié)所得的曲柄搖桿機(jī)構(gòu)參數(shù)輸入界面如圖41中，輸入相應(yīng)的運(yùn)動(dòng)參數(shù)，即原動(dòng)件角位移、曲柄1轉(zhuǎn)速、曲柄1長(zhǎng)度、連桿2長(zhǎng)度、搖桿3長(zhǎng)度和機(jī)架4長(zhǎng)度，點(diǎn)擊運(yùn)動(dòng)參數(shù)計(jì)算按鈕，：strtheta1=get(e1,39。string39。)。strn1=get(e2,39。string39。)。strl1=get(e3,39。string39。)。strl2=get(e4,39。string39。)。strl3=get(e5,39。string39。)。strl4=get(e6,39。string39。)。l1=str2num(strl1)。 %曲柄1長(zhǎng)度l1(mm)l2=str2num(strl2)。 %連桿2長(zhǎng)度l2(mm)l3=str2num(strl3)。 %搖桿3長(zhǎng)度l3(mm)l4=str2num(strl4)。 %機(jī)架4長(zhǎng)度l4(mm)n1=str2num(strn1)。 %曲柄1轉(zhuǎn)速n1(r/min)theta1=str2num(strtheta1)。 %曲柄1角位移th1(度)M=1。 %裝配方式theta1=theta1*pi/180。omiga1=pi*n1/30。A=2*l1*l2*sin(theta1)。B=2*l2*(l1*cos(theta1)l4)。C=l1^2+l2^2+l4^2l3^22*l1*l4*cos(theta1)。E=2*l1*l3*sin(theta1)。F=2*l3*(l1*cos(theta1)l4)。G=l2^2l1^2l3^2l4^2+2*l1*l4*cos(theta1)。theta2=2*atan((AM*sqrt(A.^2+B.^2C.^2))./(BC))。%連桿2角位移th2(rad)theta3=pi2*atan((EM*sqrt(E.^2+F.^2G.^2))./(F+G))。 %搖桿3角位移th3(rad)omiga2=omiga1*l1*sin(theta1theta3)./(l2*sin(theta3theta2))。 %連桿2角速度v2(rad/s)omiga3=omiga1*l1*sin(theta1theta2)./(l3*sin(theta2theta3))。 %搖桿3角速度v3(rad/s)alph2=(omiga3.^2*l3+omiga1^2*l1*cos(theta1theta2)+omiga2.^2*l2*...cos(theta2theta3))./(l2*sin(theta3theta2))。 %連桿2角加速度a2(rad/s^2)alph3=(omiga1^2*l1*cos(theta1theta2)+omiga2.^2*l2+omiga3.^2*…l3.* cos(theta3theta2))./(l3*sin(theta2theta3))。 %搖桿3角加速度a3(rad/s^2)A1=num2str(theta2.*180/pi)。A2=num2str(theta3.*180/pi)。A3=num2str(omiga2)。A4=num2str(omiga3)。A5=num2str(alph2)。A6=num2str(alph3)。set(e7,39。string39。,A1)。set(e8,39。string39。,A2)。set(e9,39。string39。,A3)。set(e10,39。string39。,A4)。set(e11,39。string39。,A5)。set(e12,39。string39。,A6)。運(yùn)行該程序后，計(jì)算出的機(jī)構(gòu)運(yùn)動(dòng)參數(shù)，即相應(yīng)的連桿2的角位移、角速度