matlab平面五杆机构运动学仿真

平面连杆机构是由若干刚性构件用低副联接而 成. 其运动设计方法主要是图解法 、 解析法 、 图谱法

和模型实验法等 . 随着数值计算方法的发展和计算 机的普及应用, 解析法已成为各类平面连杆机构运

动设计的一种有效方法 .Matlab 的 Simulink 是一 种即拖即用的方框式模块化仿真工具箱, 只需编制

较少的脚本文件或 M 文件就可实现复杂的动态仿 真,

l0 = 200*sqrt(3)+125*sqrt(2);
delta0 = 0;
l1 = 100;
delta1 = 30/180*pi;
l2 = 300;
delta2 = 150/180*pi;
l3 = 250;
delta3 = 45/180*pi;
l4 = 125*sqrt(2)-100;
delta4 = 90/180*pi;
%% 
line1 = 0:1:l0;
x0 = line1*cos(delta0);
y0 = line1*sin(delta0);
% figure(1)
% plot(x0,y0,'LineWidth',3)

line1 = 0:1:l1;
x1 = line1*cos(delta1);
y1 = line1*sin(delta1);
% figure(2)
% plot(x1,y1,'LineWidth',3)

line2 = 0:1:l2;
x2 = line2*cos(pi-delta2)+x1(end);
y2 = -line2*sin(pi-delta2)+y1(end);
% figure(3)
% plot(x2,y2,'LineWidth',3)

line3 = 0:1:l3;
x3 = line3*cos(delta3)+x2(end);
y3 = line3*sin(delta3)+y2(end);
% figure(4)
% plot(x3,y3,'LineWidth',3)
% % plot(x0,y0,x1,y1,x2,y2,x3,y3)

line4 = 0:1:l4;
x4 = line4*cos(delta4)+x3(end);
y4 = -line4*sin(delta4)+y3(end);
% figure(5)
% plot(x4,y4,'LineWidth',3)

figure(11)
plot(x0,y0,x1,y1,x2,y2,x3,y3,x4,y4,'LineWidth',3)
legend('맷0','맷1','맷2','맷3','맷4')
xlim([0 600])
ylim([-200 200])
%% 
sim('untitled1.mdl')
delta0 = 0;
delta1 = yout(end,1);
delta2 = yout(end,2);
delta3 = yout(end,3);
delta4 = yout(end,4);
%% 
line1 = 0:1:l0;
x0 = line1*cos(delta0);
y0 = line1*sin(delta0);
% figure(1)
% plot(x0,y0,'LineWidth',3)

line1 = 0:1:l1;
x1 = line1*cos(-delta1);
y1 = line1*sin(-delta1);
% figure(2)
% plot(x1,y1,'LineWidth',3)
% figure(222)
% plot(x3,y3,x2,y2,x0,y0,x1,y1,'LineWidth',3)
line2 = 0:1:l2;
x2 = -line2*cos(delta2)+x1(end);
y2 = -line2*sin(delta2)+y1(end);
% figure(3)
% plot(x2,y2,'LineWidth',3)

line3 = 0:1:l3;
x3 = -line3*cos(pi/2-delta3)+x2(end);
y3 = line3*sin(delta3)+y2(end);
% figure(4)
% plot(x3,y3,'LineWidth',3)
% % plot(x0,y0,x1,y1,x2,y2,x3,y3)

% line4 = 0:1:l4;
% x4 = line4*cos(-delta4)+x3(end);
% y4 = line4*sin(-delta4)+y3(end);
x4 = linspace(x3(end),x0(end),30);
y4 = linspace(y3(end),y0(end),30);
% figure(5)
% plot(x4,y4,'LineWidth',3)
figure(12)
plot(x0,y0,x1,y1,x2,y2,x3,y3,x4,y4,'LineWidth',3)

xlim([0 600])
ylim([-200 200])