C# Winform自制多轴力臂(简单易懂，方便扩展)

      WinForms框架广泛应用于上位机开发领域，其中对力臂的精准控制是常见需求之一。本文深入探讨了如何创建自定义的多轴力臂图形控件，不仅涵盖了力臂图形控件的角度调节机制，还详细展示了如何实现力臂运动的生动动态效果，为开发者提供了一套高效、直观的力臂控制解决方案。

通过本文，您将学习到：

• 如何设计并实现一个功能全面的多轴力臂图形控件，该控件能够直观地反映力臂的当前状态。
• 控件中角度控制的实现细节，包括如何通过编程手段调整力臂的角度，以及角度变化时的实时反馈。
• 利用动画或图形渲染技术，为力臂的运动添加流畅的动态效果，提升用户体验。

示例代码：

        /// <summary>
        /// 重绘图形轨迹
        /// </summary>
        /// <param name="e"></param>
        protected override void OnPaint(PaintEventArgs e)
        {
            base.OnPaint(e);
            Graphics g = e.Graphics;
            g.SmoothingMode = System.Drawing.Drawing2D.SmoothingMode.AntiAlias;
             绘制背景
            //g.Clear(Color.White);

            // 定义机械手臂的起点和终点
            PointF basePoint1 = new PointF(baseX, baseY);
            PointF endPoint1 = new PointF(baseX, baseY);
            // 计算手臂的终点位置
            double radians1 = rotateAngle1 * (Math.PI / 180);
            endPoint1.X = (float)(basePoint1.X - EgeLength1 * Math.Cos(radians1));
            endPoint1.Y = (float)(basePoint1.Y + EgeLength1 * Math.Sin(radians1));
            // 绘制手臂1
            g.DrawLine(new Pen(Encoder1Color, 3), basePoint1, endPoint1);
            // 绘制编码器1
            g.FillEllipse(Brushes.LightBlue, baseX - EncoderSize / 2, baseY - EncoderSize / 2, EncoderSize, EncoderSize);


            PointF basePoint2 = endPoint1;
            PointF endPoint2 = new PointF(baseX - EgeLength1, EgeLength1);
            // 计算手臂的终点位置
            double radians2 = rotateAngle2 * (Math.PI / 180);
            endPoint2.X = (float)(basePoint1.X - (EgeLength1 * Math.Cos(radians1) + EgeLength2 * Math.Cos(radians1 + radians2)));
            endPoint2.Y = (float)(basePoint1.Y + (EgeLength1 * Math.Sin(radians1) + EgeLength2 * Math.Sin(radians1 + radians2)));
            // 绘制手臂2
            g.DrawLine(new Pen(Encoder2Color, 3), basePoint2, endPoint2);
            // 绘制编码器2
            g.FillEllipse(Brushes.LightBlue, endPoint1.X - EncoderSize / 2, endPoint1.Y - EncoderSize / 2, EncoderSize, EncoderSize);

            PointF basePoint3 = endPoint2;
            PointF endPoint3 = new PointF(baseX - 2 * EgeLength1, EgeLength1);
            // 计算手臂的终点位置
            double radians3 = rotateAngle3 * (Math.PI / 180);
            endPoint3.X = (float)(basePoint1.X - (EgeLength1 * Math.Cos(radians1) + EgeLength2 * Math.Cos(radians1 + radians2) + EgeLength3 * Math.Cos(radians1 + radians2 + radians3)));
            endPoint3.Y = (float)(basePoint1.Y + (EgeLength1 * Math.Sin(radians1) + EgeLength2 * Math.Sin(radians1 + radians2) + EgeLength3 * Math.Sin(radians1 + radians2 + radians3)));
            // 绘制手臂3
            g.DrawLine(new Pen(Encoder3Color, 3), basePoint3, endPoint3);
            // 绘制编码器3
            g.FillEllipse(Brushes.LightBlue, endPoint2.X - EncoderSize / 2, endPoint2.Y - EncoderSize / 2, EncoderSize, EncoderSize);

            if (PositiveFlag)
            {
                // 绘制电批
                g.FillEllipse(ScrewPositiveColor, endPoint3.X - ScrewSize / 2, endPoint3.Y - ScrewSize / 2, ScrewSize, ScrewSize);
            }
            else
            {
                int recWidth = 40;
                int recHeight = 13;
                //double tanValue = (endPoint3.Y - basePoint1.Y) / (basePoint1.X - endPoint3.X);
                //double angle = Math.Tanh(tanValue) * (180 / Math.PI);
                // 设置矩形的位置和大小
                Rectangle rect = new Rectangle((int)(endPoint3.X - recWidth / 2), (int)(endPoint3.Y - recHeight / 2), recWidth, recHeight);
                RotateRectangle(g, rect, ScrewNegativeColor, 90 - rotateAngle1- rotateAngle2- rotateAngle3);
            }

        }

实例链接：https://download.csdn.net/download/lvxingzhe3/89506988