【正文】 ) Sin(α0) * Cos(γ0)) + Sin(θ1) * (Sin(α0) * Sin(β0) * Sin(γ0) + Cos(α0) * Cos(γ0)))))c3 = ((Px0 * Cos(θ1) + Py0 * Sin(θ1) Cos(θ234) * a4) * (Px0 * Cos(θ1) + Py0 * Sin(θ1) Cos(θ234) * a4) + (Pz0 Sin(θ234) * a4) * (Pz0 Sin(θ234) * a4) a2 * a2 a3 * a3) / (2 * a2 * a3)θ3 = (180 / PI) * (Atn(Sqr(Abs(1 c3 * c3)) / c3)) = Format(θ3, .)θ2 = (180 / PI) * (Atn(((Cos(θ3) * a3 + a2) * (Pz0 Sin(θ234) * a4) Sin(θ3) * a3 * (Px0 * Cos(θ1) + Py0 * Sin(θ1) + Cos(θ234) * a4)) / ((Cos(θ3) * a3 + a2) * (Px0 * Cos(θ1) + Py0 * Sin(θ1) + Cos(θ234) * a4) + Sin(θ3) * a3 * (Pz0 Sin(θ234) * a4)))) = Format(θ2, .)θ4 = θ234 θ2 θ3 = Format(θ4, .)θf1 = (180 / PI) * (Atn(Py1 / Px1)) = Format(θf1, .)θf5 = (180 / PI) * (Atn((Sin(θf1) * Cos(α0) * Cos(β0) Cos(θf1) * Sin(α0) * Cos(β0)) / (Sin(θf1) * (Cos(α0) * Sin(β0) * Sin(γ0) Sin(α0) * Cos(γ0)) Cos(θf1) * (Sin(α0) * Sin(β0) * Sin(γ0) + Cos(α0) * Cos(γ0))))) = Format(θf5, .)θf234 = (180 / PI) * (Atn((Cos(β0) * Sin(γ0)) / (Cos(θf1) * (Cos(α0) * Sin(β0) * Sin(γ0) Sin(α0) * Cos(γ0)) + Sin(θf1) * (Sin(α0) * Sin(β0) * Sin(γ0) + Cos(α0) * Cos(γ0)))))cf3 = ((Px1 * Cos(θf1) + Py1 * Sin(θf1) Cos(θf234) * a4) * (Px1 * Cos(θf1) + Py1 * Sin(θf1) Cos(θf234) * a4) + (Pz1 Sin(θf234) * a4) * (Pz1 Sin(θf234) * a4) a2 * a2 a3 * a3) / (2 * a2 * a3)θf3 = (180 / PI) * (Atn(Sqr(Abs(1 cf3 * cf3)) / cf3)) = Format(θf3, .)θf2 = (180 / PI) * (Atn(((Cos(θf3) * a3 + a2) * (Pz1 Sin(θf234) * a4) Sin(θf3) * a3 * (Px1 * Cos(θf1) + Py1 * Sin(θf1) + Cos(θf234) * a4)) / ((Cos(θf3) * a3 + a2) * (Px1 * Cos(θf1) + Py1 * Sin(θf1) + Cos(θf234) * a4) + Sin(θf3) * a3 * (Pz1 Sin(θf234) * a4)))) = Format(θf2, .)θf4 = θf234 θf2 θf3 = Format(θf4, .)End SubPrivate Sub Command3_Click()Dim m1, m2, m3, m4, m5, n1, n2, n3, n4, n5 As Double = True39。關(guān)節(jié)1軌跡39。取值a = b = c = 10d = a + (3 / (c * c)) * (b a) * (10 * 10) (2 / (c * c * c)) * (b a) * (10 * 10 * 10)If Val(a) Val(d) Thenm1 = an1 = dElsem1 = dn1 = aEnd If 39。清空畫圖區(qū)域 (0, m1 + (m1 n1) / 5)(12, n1) 39。設(shè)置畫圖區(qū)域 根據(jù)需要進(jìn)行設(shè)置大小 = amp。H0 = 139。畫X軸39。 (0, n1)(5, n1)39。標(biāo)記t軸 = = n1 + (m1 n1) / 10 t39。畫Y軸 (0, n1 5)(0, m1 + (m1 n1) / 5)39。標(biāo)記Y軸 = = m1 + (m1 n1) / 5 Y39。畫坐標(biāo)Dim i As SingleFor i = 1 To 10 = i: = n1 + (m1 n1) / 10: i (i, n1)(i, n1 + (m1 n1) / 15)Next iDim j As IntegerFor j = 1 To 5 (0, n1 + (m1 n1) / 5 * j)(, n1 + (m1 n1) / 5 * j) = : = n1 + (m1 n1) / 5 * j: Fix(n1 + ((m1 n1) / 5) * j)Next j = 2 (0, 0)(0, 0) 39。歸零收筆39。開始畫圖For X = 0 To 10 Step 39。Y = a + (3 / (c * c)) * (b a) * (X * X) (2 / (c * c * c)) * (b a) * (X * X * X) 39。輸入函數(shù) 可以寫入自己的函數(shù) = (m1 + n1) / 2 = (X, Y), vbRed39。標(biāo)記X，Y軸Next = 4 = m1 Y = θ1(t) 39。將函數(shù)顯示在圖形上39。關(guān)節(jié)2軌跡39。取值a = b = c = 10d = a + (3 / (c * c)) * (b a) * (10 * 10) (2 / (c * c * c)) * (b a) * (10 * 10 * 10)If Val(a) Val(d) Thenm2 = an2 = dElsem2 = dn2 = aEnd If 39。清空畫圖區(qū)域 (0, m2 + (m2 n2) / 5)(12, n2) 39。設(shè)置畫圖區(qū)域 根據(jù)需要進(jìn)行設(shè)置大小 = amp。H0 = 139。畫X軸 (0, n2)(12, n2)39。標(biāo)記t軸 = = n2 + (m2 n2) / 10 t39。畫Y軸 (0, n2 5)(0, m2 + (m2 n2) / 5)39。標(biāo)記Y軸 = = m2 + (m2 n2) / 5 Y39。畫坐標(biāo)For i = 1 To 10 = i: = n2 + (m2 n2) / 10: i (i, n2)(i, n2 + (m2 n2) / 15)Next iFor j = 1 To 5 (0, n2 + (m2 n2) / 5 * j)(, n2 + (m2 n2) / 5 * j) = : = n2 + (m2 n2) / 5 * j: Fix(n2 + ((m2 n2) / 5) * j)Next j = 2 (0, 0)(0, 0) 39。歸零收筆39。開始畫圖For X = 0 To 10 Step 39。Y = a + (3 / (c * c)) * (b a) * (X * X) (2 / (c * c * c)) * (b a) * (X * X * X) 39。輸入函數(shù) 可以寫入自己的函數(shù) = (m2 + n2) / 2 = (X, Y), vbRed39。標(biāo)記X，Y軸Next = 4 = m2 Y = θ2(t) 39。將函數(shù)顯示在圖形上39。關(guān)節(jié)3軌跡39。取值a = b = c = 10d = a + (3 / (c * c)) * (b a) * (10 * 10) (2 / (c * c * c)) * (b a) * (10 * 10 * 10)If Val(a) Val(d) Thenm3 = an3 = dElsem3 = dn3 = aEnd If 39。清空畫圖區(qū)域 (0, m3 + (m3 n3) / 5)(12, n3) 39。設(shè)置畫圖區(qū)域 根據(jù)需要進(jìn)行設(shè)置大小 = amp。H0 = 139。畫X軸 (0, n3)(12, n3)39。標(biāo)記t軸 = = n3 + (m3 n3) / 10 t39。畫Y軸 (0, n3 5)(0, m3 + (m3 n3) / 5)39。標(biāo)記Y軸 = = m3 + (m3 n3) / 5 Y39。畫坐標(biāo)For i = 1 To 10 = i: = n3 + (m3 n3) / 10: i (i, n3)(i, n3 + (m3 n3) / 15)Next iFor j = 1 To 5 (0, n3 + (m3 n3) / 5 * j)(, n3 + (m3 n3) / 5 * j) = : = n3 + (m3 n3) / 5 * j: Fix(n3 + ((m3 n3) / 5) * j)Next j = 2 (0, 0)(0, 0) 39。歸零收筆39。開始畫圖For X = 0 To 10 Step 39。Y = a + (3 / (c * c)) * (b a) * (X * X) (2 / (c * c * c)) * (b a) * (X * X * X) 39。輸入函數(shù) 可以寫入自己的函數(shù) = (m3 + n3) / 2 = (X, Y), vbRed39。標(biāo)記X，Y軸Next = 4 = m3 Y = θ3(t) 39。將函數(shù)顯示在圖形39。關(guān)節(jié)4軌跡39。取值a = b = c = 10d = a + (3 / (c * c)) * (b a) * (10 * 10) (2 / (c * c * c)) * (b a) * (10 * 10 * 10)If Val(a) Val(d) Thenm4 = an4 = dElsem4 = dn4 = aEnd If 39。清空畫圖區(qū)域 (0, m4 + (m4 n4) / 5)(12, n4) 39。設(shè)置畫圖區(qū)域 根據(jù)需要進(jìn)行設(shè)置大小 = amp。H0 = 139。畫X軸 (0, n4)(12, n4)39。標(biāo)記t軸 = = n4 + (m4 n4) / 10 t39。畫Y軸 (0, n4 5)(0, m4 + (m4 n4) / 5)39。標(biāo)記Y軸 = = m4 + (m4 n4) / 5 Y39。畫坐標(biāo)For i = 1 To 10 = i: = n4 + (m4 n4) / 10: i (i, n4)(i, n4 + (m4 n4) / 15)Next iFor j = 1 To 5 (0, n4 + (m4 n4) / 5 * j)(, n4 + (m4 n4) / 5 * j) = : = n4 + (m4 n4) / 5 * j: Fix(n4 + ((m4 n4) / 5) * j)Next j = 2 (0, 0)(0, 0) 39。歸零收筆39。開始畫圖For X = 0 To 10 Step 39。Y = a + (3 / (c * c)) * (b a) * (X * X) (2 / (c * c * c)) * (b a) * (X * X * X) 39。輸入函數(shù) 可以寫入自己的函數(shù) = (m4 + n4) / 2 = (X, Y), vbRed39。標(biāo)記X，Y軸Next = 4 = m4 Y = θ4(t) 39。將函數(shù)顯示在圖形上39。關(guān)節(jié)5軌跡39。取值a = b = c = 10d = a + (3 / (c * c)) * (b a) * (10 * 10) (2 / (c * c * c)) * (b a) * (10 * 10 * 10)If Val(a) Val(d) Thenm5 = an5 = dElsem5 = dn5 = aEnd If 39。清空畫圖區(qū)域 (0, m5 + (m5 n5) / 5)(12, n5) 39。設(shè)置畫圖區(qū)域 根據(jù)需要進(jìn)行設(shè)置大小 = amp。H0 = 139。畫X軸