Matlab运动和动态360度旋转6杆机构

编程问答 2022-08-13

问题描述

我需要编写代码来帮助在MATLAB中模拟6 bar机制。我已包含图像和数据。假设可以旋转360度。

enter image description here

enter image description here

我正在使用的数据在第4行。

这是我尝试使用的某些代码结构，但是某些功能出现错误，例如“联合驱动程序功能”

如果有人可以帮助我，我将不胜感激。

% R-RRR-TR Mechanism
% complete rotation of the driver

clear all; clc; close all
OA = 0.040;
AB = 0.100 ;        % m     
BC = 0.070 ;        % m     
OC = 0.120;     % m     
CE = 0.060 ;        % m     
DE = 0.065 ;        % m

n = 1200;        % rpm
% I need to represent 320 degrees
omega=pi*n/30.; % rad/s 
alpha = 0.;     % rad/s^2

xA = 0; yA = 0;
xD = 0; yD = -AD;
rD_ = [xD yD 0];

% initial moment phi=pi/4 => increment = 0
increment = 0 ; 

% the step has to be small for this method
step=pi/18; 
for phi=pi/4:step:2*pi+pi/4

% position of joint B 
jointB = xA;yA;AB;phi;omega;alpha;
xB = jointB(1);
yB = jointB(2);

% position of joint C
posC = p3Pn(xD,yD,xB,yB,CD);
xC = posC(1); 
yC = posC(2); 

% position of joint E
phi5 = pi;
posE = pRRT(xC,yC,yE,CE,phi5);
xE1 = posE(1); 
xE2 = posE(3); 

if increment == 0
  if xE1 < xC xE = xE1; 
  else xE = xE2; end
else
  dist1 = dist(xE1,xEold,yE);
  dist2 = dist(xE2,yE);
  if dist1<dist2 xE=xE1; 
  else xE=xE2; end
end
xEold=xE;

increment=increment+1;


phi4 = atan((yE-yC)/(xE-xC));



% centroid of link 4
xC4(increment)=(xC+xE)/2;
yC4(increment)=(yC+yE)/2;

% graphic of the mechanism
axis manual
axis equal
hold on
grid on
axis([-0.65 0.65 -0.4 0.4])
xlabel('x (m)'),ylabel('y (m)')

pM=plot(...
[xA,xB],[yA,yB],'r-o',...
[xD,xC],[yD,yC],'b-o',...   
[xC,xE],[yC,yE],'k-o');

plot(xC4,yC4,'k.','Color','red')

pause(1)
delete(pM)

end

text(xA,yA,'  A') 
text(xB,'  B')
text(xC,'  C') 
text(xD,'  D')
text(xE,'  E')

plot(...
[xA,'k-o')

title('Path described by C_4')

解决方法

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