dinsolve.m

这个Matlab程序用来仿真和分析六杆机构运动学

clc
clear
%[x y]=solve('r_2*cos(a_2(i))+r_4*(1-x^2)^(1/2)+r_8*(1-y^2)^(1/2)','r_2*sin(a_2(i))+r_4*x+r_8*y','x','y');
%a_4=asin(x);
%a_8=asin(y);
%a_4=simple(a_4);
%a_8=simple(a_8);

%a_4 =-asin(1/2*(r_2^2*sin(a_2(i))-sin(a_2(i))*r_8^2+r_4^2*sin(a_2(i))+(-cos(a_2(i))^2*(r_4+r_2+r_8)*(r_2+r_4-r_8)*(r_2-r_8-r_4)*(r_8-r_4+r_2))^(1/2))/r_2/r_4)];
%a_4 = -asin(1/2*(r_2^2*sin(a_2(i))-sin(a_2(i))*r_8^2+r_4^2*sin(a_2(i))-(-cos(a_2(i))^2*(r_4+r_2+r_8)*(r_2+r_4-r_8)*(r_2-r_8-r_4)*(r_8-r_4+r_2))^(1/2))/r_2/r_4);
%a_8 =-asin(1/2*(sin(a_2(i))*r_8^2+r_2^2*sin(a_2(i))-r_4^2*sin(a_2(i))-(-cos(a_2(i))^2*(r_4+r_2+r_8)*(r_2+r_4-r_8)*(r_2-r_8-r_4)*(r_8-r_4+r_2))^(1/2))/r_2/r_8);
%a_8 =-asin(1/2*(sin(a_2(i))*r_8^2+r_2^2*sin(a_2(i))-r_4^2*sin(a_2(i))+(-cos(a_2(i))^2*(r_4+r_2+r_8)*(r_2+r_4-r_8)*(r_2-r_8-r_4)*(r_8-r_4+r_2))^(1/2))/r_2/r_8);

%[y r_6]=solve('-r_3*cos(a_3(i))+r_4*cos(a_4(i))+r_5*(1-y^2)^(1/2)-r_6','-r_3*sin(a_3(i))+r_4*sin(a_4(i))+r_5*y-r_7','y','r_6');
%a_5=asin(y);
%a_5=simple(a_5);
%r_6=simple(r_6);
%a_5 =asin(-r_3*cos(a_3(i))+r_4*cos(a_4(i))+r_5*(-(r_5-r_3*sin(a_3(i))-r_7+r_4*sin(a_4(i)))*(-r_5-r_3*sin(a_3(i))-r_7+r_4*sin(a_4(i)))/r_5^2)^(1/2))
%r_6 =(r_3*sin(a_3(i))-r_4*sin(a_4(i))+r_7)/r_5
  
%[a_5 r_6]=solve('-r_3*cos(a_3(i))+r_4*cos(a_4(i))+r_5*cos(a_5)-r_6','-r_3*sin(a_3(i))+r_4*sin(a_4(i))+r_5*sin(a_5)-r_7','a_5','r_6');
%a_5=simple(a_5);
%r_6=simple(r_6);
%a_5 =asin((r_3*sin(a_3(i))-r_4*sin(a_4(i))+r_7)/r_5);
%r_6 =-r_3*cos(a_3(i))+r_4*cos(a_4(i))+r_5*(-(r_5+r_7-r_4*sin(a_4(i))+r_3*sin(a_3(i)))*(-r_5+r_7-r_4*sin(a_4(i))+r_3*sin(a_3(i)))/r_5^2)^(1/2);

%[ao_4 ao_8]=solve('-r_2*ao_2(i)*sin(a_2(i))-r_4*ao_4*sin(a_4(i))-r_8*ao_8*sin(a_8(i))=0','r_2*ao_2(i)*cos(a_2(i))+r_4*ao_4*cos(a_4(i))+r_8*ao_8*cos(a_8(i))=0','ao_4','ao_8')
%ao_4=simple(ao_4);
%ao_8=simple(ao_8);
%ao_4 =-r_2*ao_2(i)*(sin(a_2(i)-a_8(i))-sin(a_8(i)-a_2(i)))/r_4/(sin(a_4(i)-a_8(i))-sin(a_8(i)-a_4(i)));
%ao_8 =-r_2*ao_2(i)*(sin(a_4(i)-a_2(i))-sin(a_2(i)-a_4(i)))/r_8/(sin(a_4(i)-a_8(i))-sin(a_8(i)-a_4(i)));

%[aoo_4 aoo_8]=solve('-r_2*ao_2(i)^2*cos(a_2(i))-r_2*aoo_2(i)*sin(a_2(i))-r_4*ao_4(i)^2*cos(a_4(i))-r_4*aoo_4*sin(a_4(i))-r_8*ao_8(i)^2*cos(a_8(i))-r_8*aoo_8*sin(a_8(i))=0','-r_2*ao_2(i)^2*sin(a_2(i))+r_2*aoo_2(i)*cos(a_2(i))-r_4*ao_4(i)^2*sin(a_4(i))+r_4*aoo_4*cos(a_4(i))-r_8*ao_8(i)^2*sin(a_8(i))+r_8*aoo_8*cos(a_8(i))=0','aoo_4','aoo_8')
%aoo_4=simple(aoo_4);
%aoo_8=simple(aoo_8);
%aoo_4 =(r_2*ao_2(i)^2*cos(a_2(i)-a_8(i))+r_2*aoo_2(i)*sin(a_2(i)-a_8(i))+r_4*ao_4(i)^2*cos(a_8(i)-a_4(i))+r_4*ao_4(i)^2*cos(a_4(i)-a_8(i))+2*r_8*ao_8(i)^2+r_2*ao_2(i)^2*cos(a_8(i)-a_2(i))-r_2*aoo_2(i)*sin(a_8(i)-a_2(i)))/r_4/(-sin(a_4(i)-a_8(i))+sin(a_8(i)-a_4(i)));
%aoo_8 =(r_2*ao_2(i)^2*cos(a_4(i)-a_2(i))-r_2*aoo_2(i)*sin(a_4(i)-a_2(i))+2*r_4*ao_4(i)^2+r_8*ao_8(i)^2*cos(a_4(i)-a_8(i))+r_2*ao_2(i)^2*cos(a_2(i)-a_4(i))+r_2*aoo_2(i)*sin(a_2(i)-a_4(i))+r_8*ao_8(i)^2*cos(a_8(i)-a_4(i)))/r_8/(sin(a_4(i)-a_8(i))-sin(a_8(i)-a_4(i)));
 
%[ao_5 ro_6]=solve('+r_3*ao_3(i)*sin(a_2(i))-r_4*ao_4(i)*sin(a_4(i))-r_5*ao_5*sin(a_5(i))-ro_6=0','-r_3*ao_3(i)*cos(a_3(i))+r_4*ao_4(i)*cos(a_4(i))+r_5*ao_5*cos(a_5(i))=0','ao_5','ro_6')
%ao_5=simple(ao_5);
%ro_6=simple(ro_6);
%ao_5 =(r_3*ao_3(i)*cos(a_3(i))-r_4*ao_4(i)*cos(a_4(i)))/r_5/cos(a_5(i));
%ro_6 =(ao_3(i)*sin(a_2(i))-1/cos(a_5(i))*sin(a_5(i))*ao_3(i)*cos(a_3(i)))*r_3-r_4*ao_4(i)*sin(a_4(i))+1/cos(a_5(i))*sin(a_5(i))*r_4*ao_4(i)*cos(a_4(i));
 
[aoo_5 roo_6]=solve('+r_3*ao_3(i)^2*cos(a_3(i))+r_3*aoo_3(i)*sin(a_3(i))-r_4*ao_4(i)^2*cos(a_4(i))-r_4*aoo_4(i)*sin(a_4(i))-r_5*ao_5(i)^2*cos(a_5(i))-r_5*aoo_5*sin(a_5(i))-roo_6=0','r_3*ao_3(i)^2*sin(a_3(i))-r_3*aoo_3(i)*cos(a_3(i))-r_4*ao_4(i)^2*sin(a_4(i))+r_4*aoo_4(i)*cos(a_4(i))-r_5*ao_5(i)^2*sin(a_5(i))+r_5*aoo_5*cos(a_5(i))=0','aoo_5','roo_6')
aoo_5=simple(aoo_5);
roo_6=simple(roo_6);
aoo_5=simple(aoo_5);
roo_6=simple(roo_6);
aoo_5=simple(aoo_5);
roo_6=simple(roo_6);
aoo_5=simple(aoo_5);
roo_6=simple(roo_6);
aoo_5=simple(aoo_5);
roo_6=simple(roo_6);
aoo_5=simple(aoo_5);
roo_6=simple(roo_6);
aoo_5=simple(aoo_5);
roo_6=simple(roo_6);
aoo_5=simple(aoo_5)
roo_6=simple(roo_6)