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📄 form1.frm

📁 游动微型机器人动力学特性仿真研究,本软件编制了机器人动力学性能计算软件,研究了微型机器人的游动速度、推进力与微型机器人结构参数和游动参数的关系
💻 FRM
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VERSION 5.00
Begin VB.Form Form1 
   Caption         =   "推进速度V与其他参数的关系"
   ClientHeight    =   12015
   ClientLeft      =   195
   ClientTop       =   450
   ClientWidth     =   15750
   LinkTopic       =   "Form1"
   ScaleHeight     =   12015
   ScaleWidth      =   15750
   Begin VB.HScrollBar HScroll1 
      Height          =   255
      LargeChange     =   500
      Left            =   120
      Max             =   14895
      SmallChange     =   100
      TabIndex        =   30
      Top             =   0
      Width           =   15015
   End
   Begin VB.VScrollBar VScroll1 
      Height          =   11775
      LargeChange     =   200
      Left            =   0
      Max             =   11535
      SmallChange     =   100
      TabIndex        =   29
      Top             =   240
      Width           =   255
   End
   Begin VB.Frame Frame1 
      Caption         =   "运行容器"
      BeginProperty Font 
         Name            =   "华文行楷"
         Size            =   15
         Charset         =   134
         Weight          =   700
         Underline       =   0   'False
         Italic          =   0   'False
         Strikethrough   =   0   'False
      EndProperty
      ForeColor       =   &H00FF0000&
      Height          =   11295
      Left            =   720
      TabIndex        =   0
      Top             =   480
      Width           =   14535
      Begin VB.Frame Frame6 
         Caption         =   "页面选择"
         BeginProperty Font 
            Name            =   "华文行楷"
            Size            =   14.25
            Charset         =   134
            Weight          =   700
            Underline       =   0   'False
            Italic          =   0   'False
            Strikethrough   =   0   'False
         EndProperty
         ForeColor       =   &H000000FF&
         Height          =   2295
         Left            =   8880
         TabIndex        =   26
         Top             =   8520
         Width           =   5175
         Begin VB.CommandButton Command4 
            Caption         =   "下  页"
            Height          =   735
            Left            =   3120
            TabIndex        =   28
            Top             =   720
            Width           =   1335
         End
         Begin VB.CommandButton Command3 
            Caption         =   "上  页"
            Height          =   735
            Left            =   840
            TabIndex        =   27
            Top             =   720
            Width           =   1335
         End
      End
      Begin VB.ComboBox Combo1 
         Enabled         =   0   'False
         Height          =   300
         ItemData        =   "Form1.frx":0000
         Left            =   12600
         List            =   "Form1.frx":000D
         TabIndex        =   22
         Text            =   "形状选择"
         Top             =   4080
         Width           =   1095
      End
      Begin VB.Frame Frame5 
         Caption         =   "操作"
         BeginProperty Font 
            Name            =   "华文行楷"
            Size            =   14.25
            Charset         =   134
            Weight          =   700
            Underline       =   0   'False
            Italic          =   0   'False
            Strikethrough   =   0   'False
         EndProperty
         ForeColor       =   &H000000FF&
         Height          =   2295
         Left            =   8880
         TabIndex        =   18
         Top             =   5760
         Width           =   5175
         Begin VB.CommandButton Command2 
            Caption         =   "刷  新"
            Height          =   735
            Left            =   3000
            TabIndex        =   20
            Top             =   840
            Width           =   1335
         End
         Begin VB.CommandButton Command1 
            Caption         =   "运  行"
            Height          =   735
            Left            =   600
            TabIndex        =   19
            Top             =   840
            Width           =   1335
         End
      End
      Begin VB.Frame Frame4 
         Caption         =   "关系选项"
         BeginProperty Font 
            Name            =   "华文行楷"
            Size            =   14.25
            Charset         =   134
            Weight          =   700
            Underline       =   0   'False
            Italic          =   0   'False
            Strikethrough   =   0   'False
         EndProperty
         ForeColor       =   &H000000FF&
         Height          =   2295
         Left            =   8880
         TabIndex        =   14
         Top             =   2760
         Width           =   5175
         Begin VB.OptionButton Option4 
            Caption         =   "频率f"
            Height          =   255
            Left            =   2760
            TabIndex        =   21
            Top             =   1320
            Width           =   855
         End
         Begin VB.OptionButton Option3 
            Caption         =   "参数k"
            Height          =   375
            Left            =   480
            TabIndex        =   17
            Top             =   1320
            Width           =   855
         End
         Begin VB.OptionButton Option2 
            Caption         =   "机器人质量M"
            Height          =   495
            Left            =   2760
            TabIndex        =   16
            Top             =   480
            Width           =   1335
         End
         Begin VB.OptionButton Option1 
            Caption         =   "摆幅(α)"
            Height          =   375
            Left            =   480
            TabIndex        =   15
            Top             =   600
            Width           =   1215
         End
      End
      Begin VB.Frame Frame3 
         Caption         =   "关系图像"
         BeginProperty Font 
            Name            =   "华文行楷"
            Size            =   14.25
            Charset         =   134
            Weight          =   700
            Underline       =   0   'False
            Italic          =   0   'False
            Strikethrough   =   0   'False
         EndProperty
         ForeColor       =   &H000000FF&
         Height          =   8175
         Left            =   360
         TabIndex        =   2
         Top             =   2760
         Width           =   8175
         Begin VB.PictureBox Pic1 
            AutoSize        =   -1  'True
            BackColor       =   &H00FFFFC0&
            Height          =   6735
            Left            =   360
            ScaleHeight     =   6675
            ScaleWidth      =   7035
            TabIndex        =   3
            Top             =   600
            Width           =   7095
         End
         Begin VB.Label Label1 
            BeginProperty Font 
               Name            =   "华文行楷"
               Size            =   14.25
               Charset         =   134
               Weight          =   700
               Underline       =   0   'False
               Italic          =   0   'False
               Strikethrough   =   0   'False
            EndProperty
            ForeColor       =   &H000000FF&
            Height          =   615
            Left            =   1320
            TabIndex        =   4
            Top             =   7440
            Width           =   5535
         End
      End
      Begin VB.Frame Frame2 
         Caption         =   "公共参数"
         BeginProperty Font 
            Name            =   "华文行楷"
            Size            =   14.25
            Charset         =   134
            Weight          =   700
            Underline       =   0   'False
            Italic          =   0   'False
            Strikethrough   =   0   'False
         EndProperty
         ForeColor       =   &H000000FF&
         Height          =   1815
         Left            =   360
         TabIndex        =   1
         Top             =   480
         Width           =   13695
         Begin VB.TextBox Text4 
            Height          =   495
            Left            =   11400
            TabIndex        =   25
            Top             =   600
            Width           =   1455
         End
         Begin VB.TextBox Text3 
            Height          =   495
            Left            =   8160
            TabIndex        =   10
            Top             =   600
            Width           =   1455
         End
         Begin VB.TextBox Text2 
            Height          =   495
            Left            =   4920
            TabIndex        =   8
            Top             =   600
            Width           =   1455
         End
         Begin VB.TextBox Text1 
            Height          =   495
            Left            =   1560
            TabIndex        =   6
            Top             =   600
            Width           =   1455
         End
         Begin VB.Label Label9 
            Caption         =   "mm"
            Height          =   255
            Left            =   12960
            TabIndex        =   24
            Top             =   720
            Width           =   255
         End
         Begin VB.Label Label8 
            Caption         =   "三角形的底"
            Height          =   375
            Left            =   10440
            TabIndex        =   23
            Top             =   720
            Width           =   735
         End
         Begin VB.Label Label7 
            Caption         =   "mm"
            Height          =   375
            Left            =   9720
            TabIndex        =   13
            Top             =   720
            Width           =   255
         End
         Begin VB.Label Label6 
            Caption         =   "Hz"
            Height          =   255
            Left            =   6480
            TabIndex        =   12
            Top             =   720
            Width           =   255
         End
         Begin VB.Label Label5 
            Caption         =   "mm"
            Height          =   255
            Left            =   3120
            TabIndex        =   11
            Top             =   720
            Width           =   255
         End
         Begin VB.Label Label4 
            Caption         =   "矩形高h"
            Height          =   375
            Left            =   7320
            TabIndex        =   9
            Top             =   720
            Width           =   975
         End
         Begin VB.Label Label3 
            Caption         =   "摆动频率f"
            Height          =   375
            Left            =   3840
            TabIndex        =   7
            Top             =   720
            Width           =   975
         End
         Begin VB.Label Label2 
            Caption         =   "机器人尾部长度L"
            Height          =   735
            Left            =   480
            TabIndex        =   5
            Top             =   720
            Width           =   1095
         End
      End
   End
End
Attribute VB_Name = "Form1"
Attribute VB_GlobalNameSpace = False
Attribute VB_Creatable = False
Attribute VB_PredeclaredId = True
Attribute VB_Exposed = False
Const PI = 3.14159
Dim L0 As Double  'L0为游动尾部长
Dim L1 As Double '三角形
Dim h As Double
Dim X As Double
Dim M1 As Double
Dim M0 As Double
Dim V1 As Double
Dim k As Double
Dim λ As Double
Dim α As Double
Dim ρ As Double
Dim o As Integer
Public Function tu()
Pic1.Scale (-1, 24)-(9, -2)
Pic1.Line (-0.5, 0)-(8, 0)
Pic1.Line (0, -1)-(0, 23)
Pic1.Line (7.6, -0.4)-(8, 0)
Pic1.Line (7.6, 0.4)-(8, 0)
Pic1.Line (-0.15, 22)-(0, 23)
Pic1.Line (0.15, 22)-(0, 23)
Pic1.CurrentX = 8
Pic1.CurrentY = -0.5
Pic1.Print "f(Hz)"
Pic1.CurrentX = 0.2
Pic1.CurrentY = 23
Pic1.Print "V(mm/s)"
Pic1.DrawStyle = 2
For i = 1 To 8
Pic1.CurrentY = -0.5
Pic1.CurrentX = i - 1
Pic1.Print i - 1
Pic1.Line (i - 1, 0)-(i - 1, 22)
Next
For i = 1 To 11
Pic1.CurrentX = -0.5
Pic1.CurrentY = 2 * i
Pic1.Print 2 * i
Pic1.Line (0, 2 * i)-(7, 2 * i)
Next
Pic1.DrawStyle = 0
End Function
Public Function xin()
Text1.Text = "20"
Text2.Text = "2"
Text3.Text = "6"
Text4.Text = "6"
Label1.Caption = ""
Pic1.Cls
End Function

Public Function Romberg(problem As Long, a As Double, b As Double, tol As Double) As Double
     Dim i As Long, j As Long, T() As Double, L As Long
     Dim X As Double, dx As Double, n As Long, sum As Double
     ReDim T(1 To 3)
     T(1) = (b - a) * (fx(problem, a) + fx(problem, b)) / 2
     T(2) = T(1) / 2 + (b - a) * (fx(problem, (a + b) / 2)) / 2
     T(3) = (4 * T(2) - T(1)) / 3
     j = 3
     Do While Abs(T(UBound(T)) - T(UBound(T) - 2)) > tol
          dx = (b - a) / (2 ^ (j - 1))
          X = a - dx
          n = 2 ^ (j - 2)
          sum = 0
          For i = 1 To n
               X = X + 2 * dx
               sum = sum + fx(problem, X)
          Next
          For i = 2 To UBound(T) Step 2
               T(i - 1) = T(i)
          Next
          T(2) = T(1) / 2 + dx * sum
          ReDim Preserve T(1 To UBound(T) + 2)
          For L = 2 To j
               If L <> j Then
                    T(L * 2) = ((4 ^ (L - 1)) * T(L * 2 - 2) - T(L * 2 - 3)) / ((4 ^ (L - 1)) - 1)
               Else
                    T(UBound(T)) = ((4 ^ (L - 1)) * T(UBound(T) - 1) - _
                    T(UBound(T) - 2)) / ((4 ^ (L - 1)) - 1)
               End If
          Next
          j = j + 1
     Loop
     Romberg = T(UBound(T))
End Function

Public Function fx(problem As Long, X As Double) As Double
Select Case problem
Case 0 '矩形
h = Text3.Text
fx = h * X * Sin(2 * PI * X / λ)
Case 1 '三角形
L1 = Text4.Text

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