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1、 1-1. 1-2. 1-3 1-4. 1-5. 1-6. 1-7. 1-8. 1-9. 2-1 1 2 3 45 6 789- 2-2 2-3 QPCDAB 2-4 2-5 1123474562-1A21BD3334- 11(2)3 324- 2A1123 4511Watts linkage4- 2- 1a2Stephensons linkage4- 2- 1b214- 2- 1 a4- 2- 2a b 24- 2- 1 b4- 2- 2cd314- 2- 2a4- 2- 3 a 24- 2- 2b34- 2- 2c4- 2- 3b 44- 2- 2d4- 2- 3c(b)cB31234 5
2、431234- 3A11 2 33 1415,63 22321 3 33 333 41,2,3,45,61,3,4,52511,2,3,45,6BG5- 11211500/60/i=1500/60=25325=2.9 22:1255346180231.4111800 KKK=1.4 030K=1.4 K=1.4 0305- 25.2:5- 3 ,5- 412316 11MMMMOx yMO1MP2MP11(,)MMxy=(5, 5)22(,)MMxy=(30, 5)11jFijMjFiijMxxyMycossin sincos 001iiMiiiiMix MyiMii=1,2,3FM jjj=
3、1,2 11111111cossincos( 5 )sin( 5 )10 sincossin( 5 )cos( 5 )45001001MMx My22222222cossincos( 30 )sin( 30 )30 sincossin( 30 )cos( 30 )50 001001MMx My33333333cossincos( 80 )sin( 80 )56 sincossin( 80 )cos( 80 )46 001001MMx My222 1 11 1222 1 21 2222 1 31 3()()()()()()FAFAAFAFAAFAFAAxxyyrxxyyrxxyyr(,)AAxy
4、Armatlab clear clc th1= 5*pi/180; th2= 30*pi/180; th3= 80*pi/180; M1=cos(th1) sin(th1) 10;sin(th1) cos(th1) 45;0,0,1; M2=cos(th2) sin(th2) 30;sin(th2) cos(th2) 50;0 0 1;001001001001001001001001cos( 30 )sin( 30 )30cos( 30 )sin( 30 )30cos( 30 )sin( 30 )30cos( 30 )sin( 30 )30cos( 30 )sin( 30 )30cos( 30
5、 )sin( 30 )30cos( 30 )sin( 30 )30cos( 30 )sin( 30 )30cos( 30 )sin( 30 )30cos( 30 )sin( 30 )30cos( 30 )sin( 30 )30 sin( 30 )cos( 30 )50sin( 30 )cos( 30 )50cos( 30 )sin( 30 )30cos( 30 )sin( 30 )30 sin( 30 )cos( 30 )50sin( 30 )cos( 30 )50sin( 30 )cos( 30 )50sin( 30 )cos( 30 )50sin( 30 )cos( 30 )50sin(
6、30 )cos( 30 )50sin( 30 )cos( 30 )50sin( 30 )cos( 30 )50sin( 30 )cos( 30 )50sin( 30 )cos( 30 )50sin( 30 )cos( 30 )50 001001001001001001001001001001cos( 30 )sin( 30 )30cos( 30 )sin( 30 )30cos( 30 )sin( 30 )30cos( 30 )sin( 30 )30cos( 30 )sin( 30 )30cos( 30 )sin( 30 )30 sin( 30 )cos( 30 )50sin( 30 )cos(
7、 30 )50cos( 30 )sin( 30 )30cos( 30 )sin( 30 )30 sin( 30 )cos( 30 )50sin( 30 )cos( 30 )50sin( 30 )cos( 30 )50sin( 30 )cos( 30 )50sin( 30 )cos( 30 )50sin( 30 )cos( 30 )50sin( 30 )cos( 30 )50sin( 30 )cos( 30 )50sin( 30 )cos( 30 )50sin( 30 )cos( 30 )50sin( 30 )cos( 30 )50sin( 30 )cos( 30 )50sin( 30 )cos
8、( 30 )50 001001001001001001001001001001001001cos( 80 )sin( 80 )56cos( 80 )sin( 80 )56cos( 80 )sin( 80 )56cos( 80 )sin( 80 )56cos( 80 )sin( 80 )56cos( 80 )sin( 80 )56cos( 80 )sin( 80 )56 sin( 80 )cos( 80 )46sin( 80 )cos( 80 )46cos( 80 )sin( 80 )56cos( 80 )sin( 80 )56 sin( 80 )cos( 80 )46sin( 80 )cos(
9、 80 )46sin( 80 )cos( 80 )46sin( 80 )cos( 80 )46sin( 80 )cos( 80 )46sin( 80 )cos( 80 )46sin( 80 )cos( 80 )46sin( 80 )cos( 80 )46sin( 80 )cos( 80 )46 0010010010010010012222222222222 FAFAAFAFAAxyyrFAFAAFAFAA()()()()2222()()()()222222xyyrxyyrxyyr()()()()FAFAAFAFAA()()()()()()22xyyrM3=cos(th3) sin(th3) 5
10、6;sin(th3) cos(th3) 46;0 0 1; x1m=5; y1m= 5; x2m=30;y2m= 5; m1=x1m;y1m;1; m2=x2m;y2m;1;f11=M1*m1; f12=M2*m1;f13=M3*m1;f21=M1*m2; f22=M2*m2; f23=M3*m2;A=solve(f11(1) xa)2+(f11(2) ya)2 ra2. ,(f12(1) xa)2+(f12(2) ya)2 ra2. ,(f13(1) xa)2+(f13(2) ya)2 ra2. ,xa,ya,ra);B=solve(f21(1) xb)2+(f21(2) yb)2 rb2,
11、. (f22(1) xb)2+(f22(2) yb)2 rb2,. (f23(1) xb)2+(f23(2) yb)2 rb2,. xb,yb,rb);Xa=eval(A.xa) Ya=eval(A.ya)Ra=eval(A.ra) Xb=eval(B.xb) Yb=eval(B.yb) Rb=eval(B.rb)Xa = 34.0979 Ya = 11.2030 Ra =54.4201 Xb =39.8915 Yb =20.3409Rb =17.0691rb2,.rb2,.yb)2yb)2 rb2,.rb2,. yb)2yb)2 rb2,.rb2,.21matlab clear clc th
12、1= 5*pi/180; th2= 30*pi/180; th3= 80*pi/180;M1=cos(th1) sin(th1) 10;sin(th1) cos(th1) 45;0,0,1; M2=cos(th2) sin(th2) 30;sin(th2) cos(th2) 50;0 0 1; M3=cos(th3) sin(th3) 56;sin(th3) cos(th3) 46;0 0 1;M1_n=inv(M1) M2_n=inv(M2) M3_n=inv(M3)M1_n =0.99620.08726.0399 0.08720.996245.7003 001.0000M2_n = 0.8
13、6600.50000.9808 0.50000.866058.3013 001.0000M3_n =0.17360.984835.5769 0.98480.173663.1371 001.0000jMiPjij=1,2i=1,2,30A0BCD C(22.54, 41.39)D(2.12,4.43)6 2x=1000mm1FP2FP3FP4FPMO(1000,y)(950,y)(865,y)(745,y).cossin sincosM0204060 clear clc th1=0; th2= 20*pi/180; th3= 40*pi/180; th4= 60*pi/180;M1=cos(th
14、1) sin(th1);sin(th1) cos(th1); M2=cos(th2) sin(th2);sin(th2) cos(th2); M3=cos(th3) sin(th3);sin(th3) cos(th3); M4=cos(th4) sin(th4);sin(th4) cos(th4);syms y; m1=1000;y; m2=950;y; m3=865;y;m4=745;y;f1=M1*m1 f2=M2*m2 f3=M3*m3 f4=M4*m41110001FFxfyy22892.71 0.342324.920.94FFxyfyy33662.630.643556.01 0.77
15、FFxyfyy44372.500.874645.190.5FFxyfyyC(xc,yc)222 11222 22222 33222 44()()()()()()()()FCFCCFCFCCFCFCCFCFCCxxyyrxxyyrxxyyrxxyyrC6 3ADAEAD=150mmAECC1CBA1CAB1ABC D6 53 23C13A 21 BO21CAsOsO C=2sO A21ssO CO A212120/rad s210/rad ss sO Os6 6463434P2323P2424P23P1414P1212P24P1412P P24P24424434.54/rad s215225.1
16、29/rad s14 414121412P PP P1412141214122323P P232314P141 14 425.129/5.129/226P66226P26v212265.129*0.7884.042/P Pm s26cos24.042*cos24.040/vvm s21226212265.129*0.7884.042/5.129*0.7884.042/P Pm sP Pm s212265.129*0.7884.042/5.129*0.7884.042/P Pm sP Pm sP Pm s5.129*0.7884.042/5.129*0.7884.042/cos24.042*cos24.040/cos24.042*cos24.040/cos24.042*cos24.040/cos24.042*co
