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clearall;clc;w1=1;l1=1;l3=3;l6=1.5;l61=2.5;l4=1.2;form=1:360o1(m)=pi*(m-1)/180;o31(m)=atan((l6+l1*sin(o1(m)))/(l1*cos(o1(m))));ifo31(m)>=0o3(m)=o31(m);elseo3(m)=pi+o31(m);end;s3(m)=(l1*cos(o1(m)))/cos(o3(m));o4(m)=pi-asin((l61-l3*sin(o3(m)))/l4);se(m)=l3*cos(o3(m))+l4*cos(o4(m));ifo1(m)==pi/2o3(m)=pi/2;s3(m)=l1+l6;endifo1(m)==3*pi/2o3(m)=pi/2;s3(m)=l6-l1;endA1=[cos(o3(m)),-s3(m)*sin(o3(m)),0,0;sin(o3(m)),s3(m)*cos(o3(m)),0,0;0,-l3*sin(o3(m)),-l4*sin(o4(m)),-1;0,l3*cos(o3(m)),l4*cos(o4(m)),0];B1=w1*[-l1*sin(o1(m));l1*cos(o1(m));0;0];D1=A1\B1;E1(:,m)=D1;ds(m)=D1(1);w3(m)=D1(2);w4(m)=D1(3);ve(m)=D1(4);A2=[cos(o3(m)),-s3(m)*sin(o3(m)),0,0;sin(o3(m)),s3(m)*cos(o3(m)),0,0;0,-l3*sin(o3(m)),-l4*sin(o4(m)),-1;0,l3*cos(o3(m)),l4*cos(o4(m)),0];B2=-[-w3(m)*sin(o3(m)),(-ds(m)*sin(o3(m))-s3(m)*w3(m)*cos(o3(m))),0,0;w3(m)*cos(o3(m)),(ds(m)*cos(o3(m))-s3(m)*w3(m)*sin(o3(m))),0,0;0,-l3*w3(m)*cos(o3(m)),-l4*w4(m)*cos(o4(m)),0;0,-l3*w3(m)*sin(o3(m)),-l4*w4(m)*sin(o4(m)),0]*[ds(m);w3(m);w4(m);ve(m)];C2=w1*[-l1*w1*cos(o1(m));-l1*w1*sin(o1(m));0;0];B=B2+C2;D2=A2\B;E2(:,m)=D2;dds(m)=D2(1);a3(m)=D2(2);a4(m)=D2(3);ae(m)=D2(4);end;o11=o1*180/pi;y=[o3*180/pi;o4*180/pi];w=[w3;w4];a=[a3;a4];figure(1);h1=plotyy(o11,y,o11,se);axisequal;title('位置线图');xlabel('\it\theta1');ylabel('\it\theta3,\theta4,Se');figure(2);h2=plotyy(o11,w,o11,ve);title('速度线图');xlabel('\it\theta1');ylabel('\it\omega3,\omega4,Ve');figure(3);h3=plotyy(o11,a,o11,ae);title('加速度线图');xlabel('\it\theta1');ylabel('\it\alpha3,\alpha4,\alphaE');F=[o11;o3./pi*180;o4./pi*180;se;w3;w4;ve;a3;a4;ae]';G=F(1:10:360,:)