2025年平面六杆机构动力学分析与仿真优化研究

平面六杆机构的运动分析班级如右图所示平面六杆机构，试用计算机完毕其运动分析。已知其尺寸参数如下表所示：组号a题目规定：三人一组计算出原动件从0到360时(计算点数37)所规定的各运动变量的大小，并绘出运1)建立封闭图形：2)机构运动分析由图形封闭性得：将上式化简b、角速度分析c、角加速度分析：3、流程图调用牛顿迭代法子程序求解位置(1)调用系数矩阵A调用原动件位置参数列阵B调用高斯消去法子程序求解速度方程(2)调用计算A调用计算B子程序，并计算列阵DB调用高斯消去法子程序求解加速度方程(3),结束打印结果#defineAngle(PI/1doubletheta[5];/*theta1,2,3,5,6*/doublew[4];/*w2,3,5,6*/doubleXYe[2],Ve[3],ae[3];doubleL[7]={65.0,24.0,105.6,67.5,87{doublex[4]={26.23*Angle,49.75*Angle,87.16*Angle,37.25*Angle};fp=fopen("num-outputa[0][0]=-L[2]*sin((*p)a[0][1]=L[3]*sin((*p)a[1][0]=L[2]*cos(*p)a[1][1]=-L[3]*cos((*p)a[2][0]=-L[0]*sin((*p).thetaa[2][1]=-L[3]*sin((*p)a[2][2]=-L[5]*sin((*p)a[2][3]=L[6]*sin((*p)a[3][0]=L[0]*cos(*p).thetaa[3][1]=L[3]*cos((*p)a[3][2]=L[5]*cos((*p)a[3][3]=-L[6]*cos((*p)b[0]=L[1]*sin((*p).theta[0])*b[1]=-L[1]*cos((*p).theta[0])*a[0][0]=-L[2]*sin(*p)a[0][1]=L[3]*sin((*p)a[1][0]=L[2]*cos((*p)a[1][1]=-L[3]*cos((*p)a[2][0]=-L[0]*sin((*p).thetaa[2][1]=-L[3]*sin((*p)a[2][2]=-L[5]*sin((*p)a[2][3]=L[6]*sin((*p)a[3][0]=L[0]*cos(*p).thetaa[3][1]=L[3]*cos((*p)a[3][2]=L[5]*cos((*p)a[3][3]=-L[6]*cos((*p)b[0]=L[2]*cos(*p).theta[1]*(*p).w[0]*(*p.w[0]-L[3]*cos(*p).theta[2])*(*p).w[1]*(*p).w[1]+w1*w1*L[1]*cos(*p).b[2]=L[0]*cos(*p).theta[1]-Alpha)*(*p).w[0]*(*p).w[0]+L[3]*cos((*p).theta[2])*(*p).w[1]*(*p).w[1]+L[5]*cos(*p).3])*(*p).w[2]*(*p).w[2]-L[6]*cos((*p).theta[4])*(*p).w[3b[3]=L[0]*sin(*p).theta[1]-Alpha)*(*p).w[0]*(*p).w[0]+L[3]*sin(*p).theta[2])*(*p).w[1]*(*p).w[1]+L[5]*sin(*p).the)*(*p).w[2]*(*p).w[2]-L[6]*sin((*p).theta[4])*(*p).w[3]*(*p(*p).XYe[0]=XG+L[6]*cos(*p).theta[4])-L[5]*cos((*(*p).XYe[1]=YG+L[6]*sin((*p).theta[4])-L[5]*sin((*(*p).Ve[0]=-L[6]*sin(*p).theta[4])*(*p).w[3]+L[5]*sin((*p).theta[3(*p).Ve[1]=L[6]*cos((*p).theta[4])*(*p).w[3]-L[5]*cos((*p).theta[3(*p).Ve[2]=sqrt(*p).Ve[0]*(*p).Ve[0]+(*p).Ve[1]*(*p).ae[0]=-L[6]*cos(*p).theta[4])*(*p).w[3]*(*p).w[3]-L[6]*sin(*p).theta[4])*(*p).alpha[3]+L[5]*cos(*p).w[2]*(*p).w[2]+L[5]*sin((*p).theta[3])*(*p).alph(*p).ae[1]=-L[6]*sin(*p).theta[4])*(*p).w[3]*(*p).w[3]+L[6]*cos(*p).theta[4]*(*p).alpha[3]+L[5]*sin(*p).w[2]*(*p).w[2]-L[5]*cos((*p).theta[3])*(*p).alph(*p).ae[2]=sqrt((*p).ae[0]*(*p).ae[0]+(*p).ae[1]fprintf(fp,"%d\t",(*fprintf(fp,"%lf\t",(*pfprintf(fp,"%lf\t",fprintf(fp,"%lf\t",(*p)fprintf(fp,"%lf\t",(*{{fprintf(fp,"%lf\t"fprintf(fp,"%lf\t"}y[0]=L[1]*cos((*p).theta[0])+L[2]*cos(x[0])-L[3]*cos(xy[1]=L[1]*sin((*p).theta[0])+L[2]*sin(x[0])-L[3]*y[2]=L[3]*cos(x[1])+L[0]*cos(x[0]-Alpha)+L[5]*cos(x[2])-L[6]*cos(x[3]y[3]=L[3]*sin(x[1])+L[0]*sin(x[0]-Alpha)+L[5]*sin(x[2])-L[6]*sin}001903.3161260.668612003.4906590.70872103.6651910.749732203.8397240.7907162.02304.0142570.8306572.03105.4105210.9385691.73305.7595870.8514961.5284332100-0.37795-0.37795-2.20-0.28069-0.11229-0.60-0.06430.280093-0.800.0067040.361488900.0355650.381560.390826-1.84048-2.2820.390901-1.3772500w31③各从动件角加速度与θ1的关系曲线和计算成果 005050 593745263436796596 -0.112290.0159110.1255180.2132890.2800930.3285260.361488 0.3908260.3909010.2541190.2152470.1734360.1291660.0827780.034444-0.92514-0.67648-0.79782-1.05428-1.9127-1.84048-0.56169-0.34696-0.22655-0.17209-0.16332-0.18581-0.22879-0.28388-0.34451-0.40574-0.46434 w2-0.21926-0.108932905.0614550.970433506.1086520.7236-0.1-0.47-2.62-5.32E点位移曲线E点位移曲线00—Ve0E点速度E点速度Vex与Vey的曲线0E点加速度曲线