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_bar_main 和子函数six_bar两部分组成。
1. 主程序 six_bar_main文件
%1.输入已知数据
clear;
l1=0.125;
l3=0.600;
l4=0.150;
l6=0.275;
l61=0.575;
omega1=1;
alpha1=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，角加速度 for n1=1:459;
theta1(n1)=-2*pi+5.8199+(n1-1)*hd;
ll=[l1,l3,l4,l6,l61];
[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(n1)=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(3);
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;
hold on;
axis auto;
[haxes,hline1,hline2]=plotyy(t,theta4*du,t,sE);
grid on;
hold on;
xlabel('时间/s')
axes(haxes(1));
ylabel('角位移/\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;
axis auto;
[haxes,hline1,hline2]=plotyy(t,omega4,t,vE);
grid on;
xlabel('时间/s')
axes(haxes(1));
ylabel('角速度/rad\cdots^{-1}')
axes(haxes(2));
ylabel('速度/m\cdots^{-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,hline1,hline2]=plotyy(t,alpha4,t,aE);
grid on;
hold on;
xlabel('时间/s')
axes(haxes(1));
ylabel('角加速度/rad\cdots^{-2}')
axes(haxes(2));
ylabel('加速度/m\cdots^{-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
x(1)=0;
y(1)=0;
x(2)=(s3(n1)*1000-50)*cos(theta3(n1));
y(2)=(s3(n1)*1000-50)*sin(theta3(n1));
x(3)=0;
y(3)=16*1000;
x(4)=l1*1000*cos(theta1(n1));
y(4)=s3(n1)*1000*sin(theta3(n1));
x(5)=(s3(n1)*1000+50)*cos(theta3(n1));
y(5)=(s3(n1)*1000+50)*sin(theta3(n1));
x(6)=13*1000*cos(theta3(n1));
y(6)=13*1000*sin(theta3(n1));
x(7)=13*1000*cos(theta3(n1))+14*1000*cos(theta4(n1));
y(7)=13*1000*sin(theta3(n1))+14*1000*sin(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)*sin(theta3(n1));
x(11)=x(10)+25*cos(pi/2-theta3(n1));
y(11)=y(10)-25*sin(pi/2-theta3(n1));
x(12)=x(11)+100*cos(theta3(n1));
y(12)=y(11)+100*sin(theta3(n1));
x(13)=x(12)-50*cos(pi/2-theta3(n1));
y(13)=y(12)+50*sin(pi/2-theta3(n1));
x(14)=x(10)-25*cos(pi/2-theta3(n1));
y(14)=y(10)+25*sin(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(7),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=moviein(20);
j=0;
for n1=1:5:360
j=j+1;
clf;
x(1)=0;
y(1)=0;
x(2)=(s3(n1)*1000-50)*cos(theta3(n1));
y(2)=(s3(n1)*1000-50)*sin(theta3(n1));
x(3)=0;
y(3)=l6*1000
x(4)=l1*1000*cos(theta1(n1));
y(4)=s3(n1)*1000*sin(theta3(n1));
x(5)=(s3(n1)*1000+50)*cos(theta3(n1));
y(5)=(s3(n1)*1000+50)*sin(theta3(n1));
x(6)=l3*1000*cos(theta3(n1));
y(6)=l3*1000*sin(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*sin(theta3(n1))+l4*1000*sin(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)*sin(theta3(n1));
x(11)=x(10)+25*cos(pi/2-theta3(n1));
y(11)=y(10)-25*sin(pi/2-theta3(n1));
x(12)=x(11)+100*cos(theta3(n1));
y(12)=y(11)+100*sin(theta3(n1));
x(13)=x(12)-50*cos(pi/2-theta3(n1));
y(13)=y(12)+50*sin(pi/2-theta3(n1));
x(14)=x(10)-25*cos(pi/2-theta3(n1));
y(14)=y(10)+25*sin(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=3:4
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(7),y(7),'o');
axis equal;
m(j)=getframe;
end
movie(m)
2. 子函数six_bar文件
function[theta,omega,alpha]=six_bar(theta1,omega1,alpha1,ll) l1=ll(1);
l3=ll(2);
l4=ll(3);
l6=ll(4);
l61=ll(5);
%1计算角位移和线位移
s3=sqrt((l1*cos(theta1))*(l1*cos(theta1))+(l6+l1*sin(theta1))*(l6+l1*sin(theta1)));
theta3=acos((l1*cos(theta1))/s3);
theta4=pi-asin((l61-l3*sin(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=[sin(theta3),s3*cos(theta3),0,0; %从动件位置参数矩阵
-cos(theta3),s3*sin(theta3),0,0;
0,l3*sin(theta3),l4*(theta4),1;
0,l3*cos(theta3),l4*cos(theta4),0];
B=[l1*cos(theta1);l1*sin(theta1);0;0]% 原动件位置参数矩阵
omega=A\(omega1*B);
v2=omega(1); %滑块2的速度
omega3=omega(2); %构件3的角速度
omega4=omega(3); %构件4的角速度
vE=omega(4) %构件5的速度
%3计算角加速度和加速度
A=[sin(theta3),s3*cos(theta3),0,0; %从动件位置参数矩阵
cos(theta3),-s3*sin(theta3),0,0;
0,l3*sin(theta3),l4*(theta4),1;
0,l3*cos(theta3),l4*cos(theta4),0];
At=[omega3*cos(theta3),(v2*cos(theta3)-s3*omega3*sin(theta3)),0,0; -omega3*sin(theta3),(-v2*sin(theta3)-s3*omega3*cos(theta3)),0,0; 0,l3*omega3*cos(theta3),l4*omega4*cos(theta4),0;
0,-l3*omega3*sin(theta3),-l4*omega4*sin(theta4),0];
Bt=[-l1*omega1*sin(theta1);-l1*omega1*cos(theta1);0;0];
alpha=A\(-At*omega+omega1*Bt); %机构从动件的加速度矩阵 a2=alpha(1); %a2
alpha3=alpha(2); %alpha3
alpha4=alpha(3); %alpha4
aE=alpha(4); %表示滑块2的加速度 表示杆件3的角加速度 表示杆件4的角加速度 构件5的加速度