牛头刨床程序设计

1、#include,lstdio.hH#include,stdlib.hM#include,math.hH const double Pl=3.14159;double L10;double X10,Y10;double V10,U10;double A10,B10;double F10,W10,E10;double S10,C10;double Sgn(double Xin)double Resf;if(Xin>=0) Resf=1.0;if(Xin<0) Resf=-1.0;return Resf;double Angle(double Xin,double Yin) doubl

2、e Resf;if(fabs(Xin)>le-10)Resf=atan(Yin/Xi n);Resf=Resf-(Sgn(Xin)-l)*PI/2;else Resf=PI/2;Resf=Resf-(Sgn(Yin)-l)*Resf; return(Resf);void mcrank(int i,int jjnt a,int bdouble F9) 厂杆的转角/*杆长在x,y轴上投影长度-7/怡点的x,y轴上坐标*/厂B点在x,y方向上速度*/厂B点在x,y方向上加速度穴/Fj=FU+F9;Si=Li*sin(FU);Ci=Li*cos(Fj);Xb=Xa+Ci;Yb=Ya+Si;Vb=

3、Va-Wj*Si;Ub=Ua+Wj*Ci;Ab=Aa-WU*WU*Ci-EU*Si;Bb=Ba-Wj*WU*Si+EU*Si;int mrpr(int int j,int kjnt bjnt cnt dnt e,int m,double Res3) double AO.BOXO.Xlll.AcAk;double G：l,G4,G5,G6,s：Lv：Lal;AO=Xb-Xd;BO=Yb-Yd;CO=Li+Lk;G1=AO*AO+BO*BO-CO*CO;if(GKO) return(O);sl=sqrt(Gl);X1=CO-BO;Yl=A0+m*sl;Fl=Angle(Xl,Yl);if(FKPI

4、)Fj=2*(Fl+Sgn(Xl)*PI/2);if(Fl>PI| Fl<0)Fj=2*(Fl+Sgn(Xl)*PI);if(fabs(Fl)<0.001)FQ=2*PI;Si=Li*sin(FU)；Ci=Li*cos(Fj);Sk=Lk*sin(FU);Ck=Lk*cos(Fj);Sj=Lj*sin(FU)；CU=LU*cos(FU);Xc=Xb-Si;Yc=Yb+Ci;Xe=Xc+Cj-sl*cos(Fj)；Ye=Yc+SU-sl*sin(FUl)；G6=(Xb-Xd)*cos(FD)+(Yb-Yd)*sin(FUJ);WU=(Ub-Ud)*cos(Fj)-(Vb-Vd)

5、*sin(FU)/G6; vl=(Vb-Vd)*(Xb-Xd)+(Ub-Ud)*(Yb-Yd)/G6; Vc=Vb-Wj*Ci;Uc=Ub-WU*Si;Ve=Vd-WU*(Sj-Ck);Ue=Ud+Wj*(CU+Sk);G4=Ab-Ad+Wj*Wj*(Xb-Xd)+2*Wj*vl*sin(Fj)；G5=Bb-Bd+Wj*Wj*(Yb-Yd)-2*Wj*vl*cos(Fj);Ej=(G5*cos(FU)-G4*sin(FU)/G6; al=(G4*(Xb-Xd)+G5*(Yb-Yd)/G6;Ar=al;Ak=2*WQ*vl;Ae=Ad-EU*(SU-Ck)-WU*WU*(CU+Sk);Be=Bd

6、+EU*(CU+Sk)-WU*WU*(Sj-Ck);ResO=sl; Resl=vl; Res2=al;return(l);int mrrp(int ijnt jjnt bnt cnt r,int m)double BOXO.ZLSltYtFl; double QbQ2,Q3,Q4,Q5,Al,V：l;厂定义中间变量*/BO=2*(Xr-Xb)*cos(Fj)+2*(Yrl-Yb)*sin(FU);Sj=Lj*sin(FU)；Cj=Lj*cos(Fj);C0=pow(Xr-Xb),2)+pow(Yr-Yb),2)+pow(Lj/2)-pow(Li/2)-2*(Xr-Xb)*SU+2*(Yr-Y

7、b)*Cjl；if (B0*B0-4*C0<0)return(O);Zl=sqrt(B0*B0-4*C0);Sl=(-B0+m*Zl)/2;Xc=Xr+Sl*cos(Fj)-Sj;Yc=Yr+Sl*sin(Fj)+Cj;Xl=Xc-Xb;Yl=Yc-Yb;Fl=Angle(Xl/Yl);Fi=Fl;Si=Li*sin(Fi);Ci=Li*cos(Fi);Ql=Vr-Vb-Wj*(Sl*sin(Fj)+Cj)；Q2=Ur-Ub+W0*(Sl*cos(FU)-Sj);Q3=Si*sin(Fj)+Ci*cos(Fj);Wi=(-Ql*sin(Fj)+Q2*cos(Fj)/Q3;Vl=-(Ql*

8、Ci+Q2*Si)/Q3;Vc=Vb-Wi*Si;Uc=Ub+Wi*Ci;Q4=Ar-Ab+Ci*pow(WiL2)-E0*(Sl*sin(Fj)+Cj) -pow(Wj,2)*(Sl*cos(Fj)-SD)-2*WU*Vl*sin(Fj);Q5=Br-Bb+Si*pow(Wi/2)+EU*(Sl*cos(FU)-SUl) -pow(Wj,2)*(Sl*sin(Fj)+Cj)+2*WU*Vl*cos(F0)； Al=(-Q4*Ci-Q5*Si)/Q3;Ei=(-Q4*sin(Fj)+Q5*cos(FU)/Q3;Ac=Ab-Ei*Si-Ci*pow(Wi,2)；厂机构无法装配*/厂计算失败，返回

9、0*/%十算C点坐标璟/厂计算C点速度*/厂计算C点加速度*/Bc=Bb+Ei*Ci-Si*pow(Wi/2);return(l);void main ()int iiJndexJFIageaJFIageb; double Pl,F9,Res，N1KM,N,P；ER;Pl=PI/180;Ll=110;L2=0 ;L3=810;L4=0;L5=291.6;L6=0;Xl=0;Yl=430;Nl=72;X4=0;Y4=0;X7=0; printfLl=：110;L2=0;L3=810;L4=0;L5=2916;L6=0;rr);printf(HFl=DEG X6mm Y6mm V6m/sA6m/s

10、A2nH)；T=sqrt(Yl*Yl-Ll*Ll);P=T*L3/Y1;R=(L3-P)/2;Y7=L3-R;W1=-N1*PI/3O;M=L1/Y1;K=asin(M);F9=0;Fl=-PI+K;mcran k(l/l,l/2/F9);iFlagea=mrpr(2,3,4,2,3,4,54,Res);if(iFlagea=O)prin tf(HBecause of wrong data,the Caculati on failednJ;F6=0;iFlageb=mrrp(5/6z5,6,7,1)；N=X6;Xl=-N;Yl=-Y7+Yl;X4=-N;Y4=-Y7;Y7=-N;Y7=0;for(ii=0;ii<=12;ii+)Fl=-PI+K+ii*(-3O)*Pl;F9=0;mcran k(l/l,l/2/F9);iFlagea=mrpr(2,3,4,2,3,4,54,Res);if(iFlagea=O)prin tf(HBecause of wrong data,the Caculati on failednJ;F6=0;iFlageb=mrrp(5/6z5,6,7,1)；if(i