图310连杆机构计算程序（推荐）_连杆机构图谱
图310连杆机构计算程序（推荐）由刀豆文库小编整理，希望给你工作、学习、生活带来方便，猜你可能喜欢“连杆机构图谱”。
图3-10连杆机构计算程序
！本程序用于图3－10连杆机构运动分析，输出G点的位置、速度、加速度！本TB程序见“PRINT3-1.TRU”
!图3－10连杆机构的动画程序见“图3-10连杆机构动画程序.DOC”！若要绘制从动件的位移、速度、加速度曲线，见“在TB中绘制SVA三曲线.DOC”以及“在ACAD中绘制SVA三曲线.DOC”
！若要将图3－10连杆机构从动件的位移、速度、加速度具体数值打印出来，见“如何将TRUE BASIC的输出数值打印出来.DOC”
OPTION NOLET
FOR I =0 TO 360 STEP 2
CALL LINK(0, 0, 0, 0, 0, 0, I*PI/180, 10, 0, 14, XD, YD, VDX, VDY, ADX, ADY)CALL RRR(XD, YD, VDX, VDY, ADX, ADY, 41, 0, 0, 0, 0, 0, 39, 28, QDA, W3, E3，QBA, W2, E2)
QDC=QDA+35*PI/180 CALL LINK(XD, YD, VDX, VDY, ADX, ADY, QDC, W3, E3, 15, XC, YC, VCX, VCY，ACX, ACY)
CALL RPR(0, 0,-34, 0, 0, 0, 0, XC, YC, VCX, VCY, ACX, ACY, 0, QFG, W4, E4)
CALL LINK(0,-34, 0, 0, 0, 0, QFG, W4, E4, 55, XG, YG, VGX, VGY, AGX, AGY)
PRINT I, QFG*180/PI, W4, E4, XG, YG, VGX, VGY, AGX, AGY NEXT I END
SUB LINK(XA, YA, VAX, VAY, AAX, AAY, QAB, W, E, L, XB, YB, VBX, VBY, ABX, ABY)
XB=XA+L*COS(QAB)
YB=YA+L*SIN(QAB)
VBX=VAX-L*SIN(QAB)*W
VBY=VAY+L*COS(QAB)*W
ABX=AAX-L*COS(QAB)*W^2-L*SIN(QAB)*E
ABY=AAY-L*SIN(QAB)*W^2+L*COS(QAB)*E END SUB
SUB RRR(XA, YA, VAX, VAY, AAX, AAY, XC, YC, VCX, VCY, ACX, ACY, LAB, LCB, QAB，WAB, EAB, QCB, WCB, ECB)
LAC=SQR((XC-XA)^2+(YC-YA)^2)
COSQAC=(XC-XA)/LAC
SINQAC=(YC-YA)/LAC
QAC=ANGLE(COSQAC,SINQAC)
COSQCBA=(LAB^2+LAC^2-LCB^2)/(2*LAB*LAC)
SINQCBA=SQR(1-COSQCBA^2)
QCBA=ANGLE(COSQCBA,SINQCBA)
QAB=QAC-QCBA
XB=XA+LAB*COS(QAB)
YB=YA+LAB*SIN(QAB)
COSQCB=(XB-XC)/LCB
SINQCB=(YB-YC)/LCB
QCB=ANGLE(COSQCB,SINQCB)
WAB=((VAX-VCX)*COSQCB+(VAY-VCY)*SINQCB)/LAB/SIN(QAB-QCB)
WCB=((VAX-VCX)*COS(QAB)+(VAY-VCY)*SIN(QAB))/LCB/SIN(QAB-QCB)
G=AAX-ACX-LAB*COS(QAB)*WAB^2+LCB*COSQCB*WCB^2
F=AAY-ACY-LAB*SIN(QAB)*WAB^2+LCB*SINQCB*WCB^2
EAB=(G*COSQCB+F*SINQCB)/LAB/SIN(QAB-QCB)
ECB=(G*COS(QAB)+F*SIN(QAB))/LCB/SIN(QAB-QCB)END SUB
SUB RPR(M, XA, YA, VAX, VAY, AAX, AAY, XC, YC, VCX, VCY,ACX,ACY, LAB,QBD,W,E)
LAC=SQR((XC-XA)^2+(YC-YA)^2)
COSQAC=(XC-XA)/LAC
SINQAC=(YC-YA)/LAC
QAC=ANGLE(COSQAC,SINQAC)
LBC=SQR(LAC^2-LAB^2)
QACB=ATN(LAB/LBC)
QBD=QAC+M*QACB
DELTA=-(YC-YA)*SIN(QBD)-(XC-XA)*COS(QBD)
DELTAW=(VCX-VAX)*SIN(QBD)-(VCY-VAY)*COS(QBD)
DELTAV=-(YC-YA)*(VCY-VAY)-(XC-XA)*(VCX-VAX)
W=DELTAW/DELTA
VLBC=DELTAV/DELTA
T1=(ACX-AAX)+(VCY-VAY)*W+SIN(QBD)*W*VLBC
T2=(ACY-AAY)-(VCX-VAX)*W-COS(QBD)*W*VLBC
DELTAE=T1*SIN(QBD)-T2*COS(QBD)
E=DELTAE/DELTA END SUB
