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1、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forn1=1:459;theta1(n1)=-2*pi+5.8199+(n1-1)*hd;ll=[l1,l3
2、,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)
3、=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-.');gridon;holdon;axisauto;[haxes,hline1,hline2]=plotyy(t,theta4*du,t,sE);gridon;holdon;xlabel('时间/s')axes(haxes(1));ylabel(
4、'角位移/circ')axes(haxes(2));ylabel('位移/m')holdon;gridon;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-.');gridon;holdon;axisauto;[haxes,hline1,hline2]=plotyy(t,omega4,t,vE);gridon;holdon;xl
5、abel('时间/s')axes(haxes(1));ylabel('角速度/radcdots^{-1}')axes(haxes(2));ylabel('速度/mcdots^{-1}')holdon;gridon;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-.');gridon;holdon;axisauto;[haxes,hli
6、ne1,hline2]=plotyy(t,alpha4,t,aE);gridon;holdon;xlabel('时间/s')axes(haxes(1));ylabel('角加速度/radcdots^{-2}')axes(haxes(2));ylabel('加速度/mcdots^{-2}')holdon;gridon;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;
7、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*100
8、0*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*10
