clearall;clc;%初始条件theta1=linspace(-18,342,100);%单位度theta1=theta1*pi/180;%转换为弧度制W1=80*pi/30;%角速度单位rad/sH=0.5;%行程单位mL1=0.1329;%O2A的长度单位mL3=0.8091;%O3B的长度单位mL4=0.2589;%BF的长度单位mL6=0.430;%O2O3的长度单位mL6u=0.7893;%O3D的长度单位mZ=pi/180;%角度与弧度之间的转换dT=(theta1(3)-theta1(2))/W1;%时间间隔forj=1:100t(j)=dT*(j-1);%时间因素end%求解S3、Theta3、Theta4和SE四个变量theta3(i)=atan((L6+L1*sin(theta1(i)))/L1/cos(theta(i)));fori=1:100S3=L1*cos(theta1(i))/cos(theta3(i));theta4(i)=asin((L6u-L3*sin(theta3(i)))/L4);SE(i)=L3*cos(theta3(i))+L4*cos(theta4(i));end%求解完成%求解完成%求解VS3、W3、W4和VE四个变量fori=1:100J=inv([cos(theta3(i)),-S3(i)*sin(theta3(i)),0,0;sin(theta3(i)),S3(i)*cos(theta3(i)),0,0;0,-L3*sin(theta3(i)),-L4*sin(theta4(i)),-1;0,L3*cos(theta3(i)),L4*cos(theta4(i)),0]);K=J*W1*[-L1*sin(theta1(i));L1*cos(theta1(i));0;0];VS3(i)=K(1);W3(i)=K(2);W4(i)=K(3);VE(i)=K(4);end%求解完成%求解aS3、a3、a4、aE四个变量fori=1:100J=inv([cos(theta3(i)),-S3(i)*sin(theta3(i)),0,0;sin(theta3(i)),S3(i)*cos(theta3(i)),0,0;0,-L3*sin(theta3(i)),-L4*sin(theta4(i)),-1;0,L3*cos(theta3(i)),L4*cos(theta4(i)),0]);P=W1*[-L1*cos(theta1(i));L1*sin(theta1(i));0;0];M=[-W3(i)*sin(theta3(i)),-VS3(i)*sin(theta3(i))-S3(i)*W3(i)*cos(theta3(i)),0,0;W3(i)*cos(theta3(i)),VS3(i)*cos(theta3(i))-S3(i)*W3(i)*sin(theta3(i)),0,0;0,-L3*W3(i)*cos(theta3(i)),-L4*W4(i)*cos(theta4(i)),0;0,-L3*W3(i)*sin(theta3(i)),-L4*W4(i)*sin(theta4(i)),0];N=[VS3(i);W3(i);W4(i);VE(i)];K=J*(-M*N+P);aS3(i)=K(1);a3(i)=K(2);a4(i)=K(3);aE(i)=K(4);end%求解完成%动态静力分析%初始条件M4=20;M5=3;M6=62;Js4=1.2;Js5=0.025;Fc=1500;Ls4=0.5*L3;Ls5=0.5*L4;%给切削阻力赋值fori=1:100if((abs(SE(1)-SE(i))>0.05*H&&abs(SE(1)-SE(i))<0.95*H)&&(theta1(i)<pi))Fc(i)=1500;elseFc(i)=0;endend%赋值完成%求解平衡力矩J4=Js4+M4*(0.5*L3)*(0.5*L3);%导杆对点O3的转动惯量fori=1:100Ekk(i)=(M6*VE(i)*VE(i)+Js5*W4(i)*W4(i)+M5*VE(i)*VE(i)+J4*W3(i)*W3(i))/2;%计算总动能enddEkk(1)=Ekk(1)-Ekk(100);%动能的改变量fori=2:100dEkk(i)=Ekk(i)-Ekk(i-1);%动能的改变量endfori=1:100MM(i)=(dEkk(i)+Fc(i)*abs(VE(i)))/W1;%求平衡力矩end%画图%画运动图f