【正文】 )。title(39。figure。faiacc39。plot(ganlength,faiacc)。)。title(39。figure。fai39。plot(ganlength,fai)。end%作圖ganlength=1:1:length(ganarray)。for time=1:1:length(ganarray) faiv(i)=faiw(i)*。end%角速度*L1=速度faiv=[]。for time=1:1:length(ganarray) faiacc(i)=subs(degree2,ganx,time)/180*pi。faiacc=[]。 i=i+1。i=。%一階導(dǎo)數(shù)為角速度degree1=diff(degree,ganx)。end%擬合表達(dá)式syms degree ganx。)。 if abs(fai(i)array1(i)) %判斷擬合精度95% disp(39。for time=1:1:length(ganarray) x=time。fai=[]。b8 = 。b7 = 。b6 = 。b5 = 。b4 = 。b3 = 。b2 = 。b1 = 。end%對(duì)函數(shù)進(jìn)行傅立葉非線性擬合——利用cftool工具得到如下參數(shù),goodness=a0 = 。 array2(i)=x2/pi*180。 array1(i)=x1/pi*180。))。,39。,optimset(39。functions139。 sita=*pi+acos(yuxian)pi/2。for time=1:1:length(ganarray) gan=ganarray(time)。 i=i+1。 i=i+1。 i=i+1。%計(jì)算三程液壓桿長i=。%車斗角度數(shù)組array2=[]。%停留時(shí)間global sita。%液壓桿伸縮速度3cm/sfinal=。syms init move finalinit=。（3）全程——clear。faiv39。plot(ganlength,faiv)。)。title(39。figure。faiw39。plot(ganlength,faiw)。)。title(39。end%作圖figure。 faiv(i)=faiw(i)*。i=。 i=i+1。for time=1:1:length(ganarray) gan=time。faiacc=[]。 i=i+1。for time=1:1:length(ganarray) gan=time。faiw=[]。degree=nihe(1)*ganx^6+nihe(2)*ganx^5+nihe(3)*ganx^4+nihe(4)*ganx^3+nihe(5)*ganx^2+nihe(6)*ganx+nihe(7)。 end i=i+1。擬合失敗！39。 fai(i)=nihe(1)*gan^6+nihe(2)*gan^5+nihe(3)*gan^4+nihe(4)*gan^3+nihe(5)*gan^2+nihe(6)*gan+nihe(7)。i=。nihe=polyfit(ganlength,array1,6)。 i=i+1。 x2=x(2)。 x1=x(1)。off39。Display39。,[,]39。 x=fsolve(39。 yuxian=(^2+^2gan^2)/(2**)。end%計(jì)算每一時(shí)刻角度——array1i=。for gan=init:move:final ganarray(i)=gan。ganarray=[]。array1=[]。%液壓桿伸縮速度3cm/sfinal=。syms init move finalinit=。（2）單次升程——clear。f(1)=*cos(x)+*cos()*cos(sita)。x=p(1)。最后感謝老師的指導(dǎo)，同學(xué)之間的幫助。課程設(shè)計(jì)讓我們也學(xué)會(huì)了團(tuán)隊(duì)間的分工與合作。但是我們最終都找到了解決的方法，克服了困難。這對(duì)我們以后解決實(shí)際問題很有幫助。尺寸設(shè)計(jì)及運(yùn)動(dòng)仿真的過程，提高了我們的自學(xué)能力，使我們學(xué)會(huì)了使用inventor及matlab軟件對(duì)機(jī)構(gòu)進(jìn)行分析。通過查專利，我們學(xué)會(huì)了更快速的查找資料。通過這次課程設(shè)計(jì)，我們學(xué)到了很多東西。圖中顯示速度和加速度基本不變，所以可以看出車斗運(yùn)行平穩(wěn)，故該創(chuàng)新機(jī)構(gòu)符合實(shí)際要求。θ3=176。同時(shí)可以計(jì)算得到BH=，F(xiàn)H=（5）由公式： L1cos60176。所以選擇連架桿L4=。,在沒有精確要求的情況下，可選擇L2=（4）由L4L1sin60176。,在創(chuàng)新機(jī)構(gòu)中選擇最大傾角為60176。FBA3C2D14E圖11選取F2作為創(chuàng)新設(shè)計(jì)的機(jī)構(gòu)的優(yōu)勢(shì)：（1）可以通過較小的液壓缸行程獲得較大的車斗角度變化（2）機(jī)構(gòu)縱深較小，便于整車重心下降，提高產(chǎn)品競(jìng)爭(zhēng)力（3）主動(dòng)件等效力臂較長，在相同液壓缸驅(qū)動(dòng)力下力矩較大，機(jī)構(gòu)負(fù)載能力強(qiáng)（4）經(jīng)過估算發(fā)現(xiàn)，車斗舉升角速度平穩(wěn)，卸貨穩(wěn)定2. 設(shè)計(jì)圖θ3B(B’)F(F’)HD’E’θ2D液壓桿L2CC’EL3A(A’)初始位置L4L1最終位置圖12參數(shù)選擇：（1）車斗初始位置水平,為了使重物傾斜完，傾角需要45176。Fourteenbar Linkage三、 機(jī)構(gòu)創(chuàng)新（Creative Mechanism Design Methodology）1. Brief Diagram of the Prototype:2. Generalization:The prototype is a sixbar linkage, the kinematic chain can be regenerated into ”Stephenson’s linkage”: 3. Number synthesisThere are only two effective ones called Watt’s linkage and Stephenson’s linkage Stephenson’s linkage Watt’s linkage4. SpecializationRequirements and constrains:（1）One link has to be the body (ground link).（2）The box has to be a side link and the linkage has to be a Revolute Joint.（3）One link has to be the driving link。Sixbar LinkageUS7695237Refuse collection vehicle and lifting apparatus thereforKosti ShirvanianUtility Model Patent。Sixbar LinkageUS7770980Dump vehicleJames P. Godwin, Sr. et alUtility Model Patent。Sixbar LinkageUS6382731Load hauling vehicle with sidewall raising and lowering mechanismMichael Slutz et alUtility Model Patent。Eightbar LinkageUS5967733Hydraulic tilt trailerRussell CashUtility Model Patent。Sixbar LinkageUSRE34733Scissor frame lift apparatus for dump trucksGlenn L. ChannellUtility Model Patent。Fourbar LinkageUS5203668Apparatus for loading and unloading of a container structure or other loads ...Lazar MarmurUtility Model Patent。Sixbar LinkageUS5048896Minimum profile hoistGlenn L. ChannellUtility Model Patent。Sixbar LinkageUS4531780Lift mechanism for a dump truckBruce M. BoczkiewiczUtility Model Patent。Sixbar LinkageUS4302050Truck hoistEldon D. JonesUtility Model Patent。Sixbar LinkageUS4056283Truck constructionRobert Marvin PowUtility Model Patent。Sixbar LinkageUS4052105Truck hoistWalter MoeInvention Patent。Sixbar LinkageUS4036528Truck with tiltable bodyHeinrich LangendorfInvention Patent。Sixbar LinkageUS3512836LATERAL STABILIZING MEANS FOR A SEMITRAILER DUMP BODYAnthony Policfa et alInvention Patent。Sixbar LinkageUS2849255HOIST MECHANISM FOR DUMP TRUCKSGerald J. Pasker et alInvention Patent。Eightbar LinkageUS2449202HYDRAULIC ACTUATING MECHANISM FOR DUMP TRUCKSClaims. (Cl et alInvention Patent。 McLellan of Glasgow developed another early hydraulic dump body in 1907 that was powerdriven by steam.Crawler TractortrailersIn the middle of the 1920s, crawler tractors pulling heavy dump trailers mounted on wheels or tracks were being increasingly popular. Sometimes crawlers would pull two to five attached trailers. Companies began developing wagons specifically design