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clc0 p8 A u+ [' e9 L, z
clear9 z3 Y" i; P4 R' {% Y& s5 T
syms thetal1 thetal6 thetal4 thetal5 thetal8 s r5 i) s& {; Q0 P3 h* {
thetal1set=[90:1:120];
- i2 ?1 R9 l6 ]thetal2=348;
$ l$ J" a6 K0 zthetal3=12;' b' X! x' y ~9 S4 v0 \) |
thetal8=12;
' o! a2 @% h1 ?, |0 k; @thetal6=zeros(size(thetal1set));
( U6 v6 Q- E5 Q/ u( w2 L( L! zthetal4=zeros(size(thetal1set));7 x4 J. ]4 \6 s* p" d( {
thetal5=zeros(size(thetal1set));
. |( G$ [) G7 x3 i9 v4 Q; O1 ^thetal8=zeros(size(thetal1set));
- G, V5 D- f1 D2 c) C# x5 vs=zeros(size(thetal1set));* L; n. l5 l8 I; g \/ ~
r=zeros(size(thetal1set));
% {0 v& H% S; o6 }# y# A, ka=0.55;* J) t) P5 t9 Y1 a+ _4 Y: @
b=0.89;
& U! K& ~2 y3 N: wl1=0.19;
$ H& Z: x- c% |, F+ `l2=0.38;/ m0 y8 }+ t: s1 T: q. D
l4=1.007;+ ?% \' Q9 d* _4 l( W
l5=0.15;( ^1 W8 `: L p# H" o/ I2 t
l7=0.45;
+ e# r: y" m1 B2 l& B B% cl8=0.22;
. n) \# h) y& u6 W$ ~/ Sl9=0.18;! q1 p; U8 `3 u- L3 x
f2=2034/4*cos(12*2*pi/360)*0.4*2;
0 t+ m2 n: I5 }( w6 vfor i=1:1:numel(thetal1set); B" h- e2 |6 C
thetal1=thetal1set(i);+ `. r* j4 w ]9 f
eq1=l4.*cos(thetal6*2*pi/360)+l1.*cos(thetal1*2*pi/360)==l5.*cos(thetal4*2*pi/360)+s.*cos(thetal3*2*pi/360);" ^6 p; N: B: g4 J
eq2=l4.*sin(thetal6*2*pi/360)+l1.*sin(thetal1*2*pi/360)==l5.*sin(thetal4*2*pi/360)+s.*sin(thetal3*2*pi/360)-l8;" _/ x6 W3 L8 x5 y/ t
eq3=l7.*cos(thetal4*2*pi/360)+l9.*cos(thetal5*2*pi/360)+s.*cos(thetal3*2*pi/360)==b;
* S0 |# k. G6 l! e! E; M eq4=l7.*sin(thetal4*2*pi/360)+l9.*sin(thetal5*2*pi/360)+s.*sin(thetal3*2*pi/360)==l8+a;
1 N: D4 k. e: V! Q C0 O% s eq5=l4.*cos(thetal6*2*pi/360)+l5.*cos(thetal4*2*pi/360+pi)+l1.*cos(thetal1*2*pi/360)==r.*cos(thetal8*2*pi/360);
/ U9 V G* h7 j) c( u) Q0 W eq6=l4.*sin(thetal6*2*pi/360)+l5.*sin(thetal4*2*pi/360+pi)+l1.*sin(thetal1*2*pi/360)==r.*sin(thetal8*2*pi/360);
/ o) {1 M" _$ Y* `6 U, T sol=vpasolve([eq1,eq2,eq3,eq4,eq5,eq6],[thetal6,thetal4,thetal5,thetal8,s,r])7 ~# @0 N6 |$ d, c. K, J+ p
thetal6(i)=double(sol.thetal6);
# h) V; o4 t& e- a thetal4(i)=double(sol.thetal4);" |& a- m2 }; ^% y3 [
thetal5(i)=double(sol.thetal5);! |7 z7 i2 O2 Y% U/ n: ]5 G* \# o
thetal8(i)=double(sol.thetal8);
' h6 d, j" J y" l s(i)=double(sol.s);. p ]* @ j. o* W% M% A' I
r(i)=double(sol.r);
% t! e# {/ X* T7 {, ~. l t=sqrt(l1^2+r^2-2*l1*r*cos(thetal1*2*pi/360+thetal8*2*pi/360));
, I3 h( t0 E' ~( F thetal7=acos((l4^2+t^2-l5^2)/(2*l4*t))+acos((l1^2+t^2-r^2)/(2*l1*t));
$ L9 z6 `: p8 K* A F1=f2*l7*sin(thetal4*2*pi/360-thetal3*2*pi/360)/((l5*sin(pi-acos((l4^2+l5^2-t^2)/(2*l4*l5)))));
+ X& ~' G( l4 }0 t1 |3 e- m! p F=F1*l1*sin(thetal7)/(l2*sin(pi-thetal1*2*pi/360));
6 k' N! J3 y2 q% fend# K1 j a0 d% Q3 i: w& p
plot(thetal1,F)
1 l$ V3 m; l: i$ fxlabel('角度/。');9 z( I6 N1 L! D4 S+ B
ylabel('缓解力/N');) o8 @7 Z* d0 I* b/ j* o
hold on
" |0 f: F6 h0 E; S5 c* ]- z' X. C" o" zgrid on
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