牛头刨床运动仿真matlab程序

附录牛头刨床主运动机构MATLAB程序由主程序six」six_bar 两部分组成。

1.主程序six_bar_main文件%1.输入已知数据clear;11=0.125;13=0.600;14=0.150;16=0.275;161=0.575;omega1=1;alpha 仁0;hd=pi/180;du=180/pi;%2.调用子函数six_bar计算牛头刨床机构位移，角速度, for n1=1:459;theta1( n1)=-2*pi+5.8199+( n1-1)*hd; _main 和子函数角加速度II=[I1,I3,I4,I6,I61];[theta,omega,alpha]=six_bar(theta1( n1),omega1,alpha1,ll);s3( n1)=theta(1);theta3( n1)=theta(2);theta4( n1)=theta(3);sE( n1)=theta(4);v2( n1)=omega(1);omega3( n1)=omega(2);omega4 (n 1)=omega(3);vE( n1)=omega(4);a2( n1)=alpha(1);alpha3( n1)=alpha(2);alpha4( n1)=alpha(3);aE( n1)=alpha(4);end%3.位移、角速度、角加速度、和牛头刨床图形输出figure©);n1=1:459;t=( n1-1)*2*pi/360;subplot(2,2,1); %绘角位移及位移线图plot(t,theta3*du,'r-.');grid on;axis auto;[haxes,hli ne1,hli ne2]=plotyy(t,theta4*du,t,sE); grid on;hold on;xlabel('时间/s')axes(haxes(1));ylabel('角位移八circ')axes(haxes(2));ylabel('位移/m')hold on;grid on;text(1.15,-0.15,'\theta_3')text(3.40,0.27,'\theta_4')text(2.25,-0.15,'s_E')subplot(2,2,2); %绘角速度及速度线图plot(t,omega3,'r-.');grid on;hold on;[haxes,hli ne1,hli ne2]=plotyy(t,omega4,t,vE);grid on;hold on;xlabel('时间/s')axes(haxes(1));ylabel('角速度/rad\cdots A{-1}')axes(haxes(2));ylabel('速度/m\cdotsA{-1}')hold on;grid on;text(3.1,0.35,'\omega_3')text(2.1,0.1,'\omega_4')text(5.5,0.45,'v_E')subplot(2,2,3); %绘角加速度及加速度线图plot(t,alpha3,'r-.');grid on;hold on;axis auto;[haxes,hli ne1,hli ne2]=plotyy(t,alpha4,t,aE); grid on; hold on;xlabel('时间/s')axes(haxes(1));ylabel('角加速度/rad\cdots A{-2}')axes(haxes(2));ylabel('加速度/m\cdotsA{-2}')hold on;grid on;text(1.5,0.3,'\alpha_3')text(3.5,0.51,'\alpha_4')text(1.5,-0.11,'a_E')subplot(2,2,4); %牛头刨床机构n1=20;x(1)=0;y(i)=0;x(2)=(s3( n1)*1000-50)*cos(theta3( n1));y(2)=(s3( n1)*1000-50)*si n(theta3( n1));x(3)=0;y(3)=16*1000;x(4)=l1*1000*cos(theta1( n1));y⑷=s3( n1)*1000*si n(theta3( n1));x(5)=(s3( n1)*1000+50)*cos(theta3( n1));y(5)=(s3( n1)*1000+50)*si n(theta3( n1));x(6)=13*1000*cos(theta3( n1));y(6)=13*1000*si n(theta3( n1));x(7)=13*1000*cos(theta3( n1))+14*1000*cos(theta4( n1));y(7)=13*1000*si n(theta3( n1))+14*1000*si n(theta4( n1));x(8)=13*1000*cos(theta3( n1))+14*1000*cos(theta4( n1))-900;y(8)=161*1000;x(9)=13*1000*cos(theta3( n1))+14*1000*cos(theta4( n1))+600;y(9)=161*1000;x(10)=(s3( n1)*1000-50)*cos(theta3( n1));y(10)=(s3( n1)*1000-50)*si n(theta3( n1));x(11)=x(10)+25*cos(pi/2-theta3( n1));y(11)=y(10)-25*si n(pi/2-theta3( n1));x(12)=x(11)+100*cos(theta3( n1));y(12)=y(11)+100*si n(theta3( n1));x(13)=x(12)-50*cos(pi/2-theta3( n1));y(13)=y(12)+50*si n(pi/2-theta3( n1)); x(14)=x(10)-25*cos(pi/2-theta3( n1)); y(14)=y(10)+25*si n(pi/2-theta3( n1)); x(15)=x(10); y(15)=y(10);x(16)=0;y(16)=0;x(17)=0;y(17)=16*1000;k=1:2;plot(x(k),y(k));hold on;k=3:4;plot(x(k),y(k));hold on;k=5:9;plot(x(k),y(k));hold on;k=10:15;plot(x(k),y(k));hold on;k=16:17;plot(x(k),y(k));hold on;grid on;axis([-500 600 0 650]); title('牛头刨床运动仿真'); grid on;xlabel('mm')ylabel('mm') plot(x(1),y(1),'o'); plot(x (3),y (3) ,'o'); plot(x(4),y(4),'o'); plot(x(6),y(6),'o');plot(x ⑺,y(7),'o');hold on;grid on;xlabel('mm')ylabel('mm')axis([-400 600 0 650]);%4牛头刨床机构运动仿真figure(2)m=movie in( 20);j=0；for n仁1:5:360j=j+1；elf;x(1)=0;y(i)=0;x(2)=(s3( n1)*1000-50)*cos(theta3( n1));y(2)=(s3( n1)*1000-50)*si n(theta3( n1));x(3)=0;y(3)=l6*1000x⑷=l1*1000*cos(theta1( n1));y⑷=s3( n1)*1000*si n(theta3( n1));x(5)=(s3( n1)*1000+50)*cos(theta3( n1));y(5)=(s3( n1)*1000+50)*si n(theta3( n1));x(6)=l3*1000*cos(theta3( n1));y(6)=l3*1000*si n(theta3( n1));x(7)=l3*1000*cos(theta3( n1))+l4*1000*cos(theta4( n1));x(7)=l3*1000*cos(theta3( n1))+l4*1000*cos(theta4( n1)); y(7)=l3*1000*si n(theta3( n1))+l4*1000*si n(theta4( n1));x(8)=l3*1000*cos(theta3( n1))+l4*1000*cos(theta4( n1))-900;y(8)=l61*1000;x(9)=l3*1000*cos(theta3( n1))+l4*1000*cos(theta4( n1))+600;y(9)=l61*1000;x(10)=(s3( n1)*1000-50)*cos(theta3( n1));y(10)=(s3( n1)*1000-50)*si n(theta3( n1));x(11)=x(10)+25*cos(pi/2-theta3( n1));y(11)=y(10)-25*si n(pi/2-theta3( n1));x(12)=x(11)+100*cos(theta3( n1));y(12)=y(11)+100*si n(theta3( n1));x(13)=x(12)-50*cos(pi/2-theta3( n1)); y(13)=y(12)+50*si n(pi/2-theta3( n1)); x(14)=x(10)-25*cos(pi/2-theta3( n1)); y(14)=y(10)+25*si n(pi/2-theta3( n1)); x(15)=x(10);y(15)=y(10);x(16)=0;y(16)=0;x(17)=0;y(17)=l6*1000;k=1:2;plot(x(k),y(k));hold on;k=3:4plot(x(k),y(k));hold on;k=5:9;plot(x(k),y(k));hold on;k=10:15;plot(x(k),y(k));hold on;k=16:17;plot(x(k),y(k));hold on;grid on;axis([-500 600 0 650]);title('牛头刨床运动仿真'); grid on; xlabel('mm');ylabel('mm');plot(x(1),y(1),'o');plot(x (3),y (3) ,'o');plot(x(4),y(4),'o');plot(x(6),y(6),'o');plot(x ⑺,y(7),'o');axis equal;m(j)=getframe;endmovie(m)2.子函数six_bar文件fun ctio n[theta,omega,alpha]=six_bar(theta1,omega1,alpha1,ll)11=11(1);l3=ll(2);14=11(3);16=11(4);161=11(5);%1计算角位移和线位移s3=sqrt((l1*cos(theta1))*(l1*cos(theta1))+(l6+l1*si n(theta1))*(l6+l1*si n(t heta1)));theta3=acos((l1*cos(theta1))/s3);theta4=pi-asi n((l61-l3*si n(theta3))/l4);sE=l3*cos(theta3)+l4*cos(theta4);theta(1)=s3;theta(2)=theta3;theta(3)=theta4;theta (4)=sE;%2计算角速度和线速度A=[s in (theta3),s3*cos(theta3),0,0; -cos(theta3),s3*s in (theta3),0,0;0,l3*si n(theta3),l4*(theta4),1;0,l3*cos(theta3),l4*cos(theta4),0];%3计算角加速度和加速度A=[s in (theta3),s3*cos(theta3),0,0; % 从动件位置参数矩阵 cos(theta3),-s3*s in (theta3),0,0;0,l3*si n( theta3),l4*(theta4),1;0,l3*cos(theta3),l4*cos(theta4),0];At=[omega3*cos(theta3),(v2*cos(theta3)-s3*omega3*si n(theta3)),0,0; -omega3*si n( theta3),(-v2*si n(theta3)-s3*omega3*cos(theta3)),0,0; 0,l3*omega3*cos(theta3),l4*omega4*cos(theta4),0;0,-l3*omega3*si n(theta3),-l4*omega4*si n( theta4),0];Bt=[-l1*omega1*si n(theta1);-l1*omega1*cos(theta1);0;0];%从动件位置参数矩阵 B=[l1*cos(theta1);l1*si n(theta1);0;0]% omega=A\(omega1*B);v2=omega(1);omega3=omega(2); omega4=omega(3); vE=omega(4)原动件位置参数矩阵 %滑块2的速度 %构件3的角速度 %构件4的角速度 构件的速度alpha=A\(-At*omega+omega1*Bt); a2=alpha(1);alpha3=alpha (2);alpha4=alpha (3);aE=alpha(4);%机构从动件的加速度矩阵%a2表示滑块2的加速度%alpha3表示杆件3的角加速度%alpha4表示杆件4的角加速度%构件5的加速度。