机械原理课程设计铰链式颚式破碎机

一 设计题目：铰链式颚式破碎机方案分析二 已知条件及设计要求2.1 已知条件 图1.1 六杆铰链式破碎机 图1.2 工艺阻力 图1.3 四杆铰链式破碎机图(a)所示为六杆铰链式破碎机方案简图。主轴1的转速为n1 = 170r/min，各部尺寸为：lO1A = 0.1m, lAB = 1.250m, lO3B = 1m, lBC = 1.15m, lO5C = 1.96m, l1=1m, l2=0.94m, h1=0.85m, h2=1m。各构件质量和转动惯量分别为：m2 = 500kg, Js2 = 25.5kgm2, m3 = 200kg, Js3 = 9kgm2, m4 = 200kg, Js4 = 9kgm2, m5=900kg, Js5=50kgm2, 构件1的质心位于O1上，其他构件的质心均在各杆的中心处。D为矿石破碎阻力作用点，设LO5D = 0.6m，破碎阻力Q在颚板5的右极限位置到左极限位置间变化，如图(b)所示，Q力垂直于颚板。图(c)是四杆铰链式颚式破碎机方案简图。主轴1 的转速n1=170r/min。lO1A = 0.04m, lAB = 1.11m, l1=0.95m, h1=2m, lO3B=1.96m，破碎阻力Q的变化规律与六杆铰链式破碎机相同，Q力垂直于颚板O3B，Q力作用点为D，且lO3D = 0.6m。各杆的质量、转动惯量为m2 = 200kg, Js2=9kgm2，m3 = 900kg, Js3=50kgm2。曲柄1的质心在O1 点处，2、3构件的质心在各构件的中心。2.2 设计要求试比较两个方案进行综合评价。主要比较以下几方面：1. 进行运动分析，画出颚板的角位移、角速度、角加速度随曲柄转角的变化曲线。2. 进行动态静力分析，比较颚板摆动中心运动副反力的大小及方向变化规律，曲柄上的平衡力矩大小及方向变化规律。3. 飞轮转动惯量的大小。三 机构的结构分析3.1六杆铰链式破碎机六杆铰链式粉碎机拆分为机架和主动件，构件组成的RRR杆组，构件组成的RRR杆组。+3.2四杆铰链式破碎机四杆铰链式破碎机拆分为机架和主动件，构件组成的RRR杆组。+四 机构的运动分析4.1六杆铰链式颚式破碎机的运动分析（1）调用bark函数对主动件进行运动分析。见表4.1。表4.1形式参数n1n2n3kr1r2gamtwepvpap实值1201r120.00.0twepvpap（2）调用rrrk函数对由构件组成的RRR杆组进行运动分析。见表4.2。表4.2形式参数mn1n2n3k1k2r1r2twepvpap实值142332r34r23twepvpap（3）调用rrrk函数对由构件组成的RRR杆组进行运动分析。见表4.3。表4.3形式参数mn1n2n3k1k2r1r2twepvpap实值136545,r35r56twepvpap（4）程序清单：#include graphics.h#include subk.c#include draw.cmain() static double p202,vp202,ap202; static double t10,w10,e10,del; static double pdraw370,vpdraw370,apdraw370,wdraw370; static int ic; double r12,r23,r34,r35,r56; double pi,dr; int i; FILE *fp; r12=0.1; r34=1.0; r23=1.250; r35=1.15; r56=1.96; p11=0.0; p12=0.0; p41=0.94; p42=-1.0; p61=-1.0; p62=0.85; pi=4.0*atan(1.0); dr=pi/180.0; t1=0.0; w1=-17*pi/3; e1=0.0; del=15; printf(n The Kinematic Parameters of Point6n); printf(No THETA1 t5 w5 e5n); printf( deg rad rad/s rad/s/sn); ic=(int)(360.0/del); for(i=0;i=ic;i+) t1=(-i)*del*dr-90*dr; bark(1,2,0,1,r12,0.0,0.0,t,w,e,p,vp,ap); rrrk(1,4,2,3,3,2,r34,r23,t,w,e,p,vp,ap); rrrk(1,3,6,5,4,5,r35,r56,t,w,e,p,vp,ap); wdrawi=t1/dr; pdrawi=t5; vpdrawi=w5; apdrawi=e5; if(fp=fopen(六杆运动8888888.txt,w)=NULL) printf(Cant open this file./n); exit(0); for(i=0;i=ic;i+)printf(%12.3f %12.3f %12.3f %12.3fn,wdrawi,pdrawi,vpdrawi,apdrawi);fprintf(fp,%e %e %e %en,wdrawi,pdrawi,vpdrawi,apdrawi); if(i%18)=0)getch(); fclose(fp); getch(); draw1(del,pdraw,vpdraw,apdraw,ic);运算结果：The Kinematic Parameters of Point5THETA1 t5 w5 e5deg rad rad/s rad/s/s-9.00000e+01 -1.63238e+00 -1.37677e-03 -1.01835e+01-1.05000e+02 -1.63348e+00 -1.45454e-01 -9.16482e+00-1.20000e+02 -1.63654e+00 -2.64803e-01 -6.90406e+00-1.35000e+02 -1.64108e+00 -3.45263e-01 -3.98081e+00-1.50000e+02 -1.64647e+00 -3.81662e-01 -1.00778e+00-1.65000e+02 -1.65210e+00 -3.77125e-01 1.51876e+00-1.80000e+02 -1.65741e+00 -3.40696e-01 3.29712e+00-1.95000e+02 -1.66202e+00 -2.84290e-01 4.23741e+00-2.10000e+02 -1.66573e+00 -2.19724e-01 4.43601e+00-2.25000e+02 -1.66849e+00 -1.56345e-01 4.12137e+00-2.40000e+02 -1.67036e+00 -9.95969e-02 3.58405e+00-2.55000e+02 -1.67146e+00 -5.06328e-02 3.10541e+00-2.70000e+02 -1.67188e+00 -6.91431e-03 2.89782e+00-2.85000e+02 -1.67166e+00 3.64486e-02 3.06340e+00-3.00000e+02 -1.67078e+00 8.48847e-02 3.57078e+00-3.15000e+02 -1.66912e+00 1.42323e-01 4.24740e+00-3.30000e+02 -1.66655e+00 2.09172e-01 4.79134e+00-3.45000e+02 -1.66295e+00 2.80705e-01 4.81744e+00-3.60000e+02 -1.65832e+00 3.46484e-01 3.95596e+00-3.75000e+02 -1.65286e+00 3.91648e-01 2.00206e+00-3.90000e+02 -1.64698e+00 4.00498e-01 -9.32100e-01-4.05000e+02 -1.64131e+00 3.61788e-01 -4.35539e+00-4.20000e+02 -1.63658e+00 2.73734e-01 -7.50567e+00-4.35000e+02 -1.63346e+00 1.46198e-01 -9.61223e+00-4.50000e+02 -1.63238e+00 -1.37677e-03 -1.01835e+01图4.1六杆机构颚板角位置、角速度、角加速度随曲柄转角的变化曲线4.2四杆铰链式颚式破碎机的运动分析（1）调用bark函数对主动件进行运动分析。见表4.4。表4.4形式参数n1n2n3kr1r2gamtwepvpap实值1201r120.00.0twepvpap（2）调用rrrk函数对由构件组成的RRR杆组进行运动分析。见表4.5。表4.5形式参数mn1n2n3k1k2r1r2twepvpap实值124323r23r34twepvpap（3）程序清单#include graphics.h#include subk.c#include draw.cmain()static double p202,vp202,ap202;static double t10,w10,e10,del;static double pdraw370,vpdraw370,apdraw370,wdraw370; static int ic; double r12,r23,r34; double pi,dr; double r2,vr2,ar2; int i; FILE *fp; r12=0.04; r23=1.11; r34=1.96; p11=0.0; p12=0.0; p41=-0.95; p42=2.0; pi=4.0*atan(1.0); dr=pi/180.0; w1=-17*pi/3; e1=0.0; del=15; printf(n The Kinematic Parameters of Point6n); printf(No THETA1 t3 w3 e3n); printf( deg rad rad/s rad/s/sn); ic=(int)(360.0/del); for(i=0;i=ic;i+) t1=(-i)*del*dr-3*dr; bark(1,2,0,1,r12,0.0,0.0,t,w,e,p,vp,ap); rrrk(1,2,4,3,2,3,r23,r34,t,w,e,p,vp,ap); wdrawi=t1/dr; pdrawi=t3; vpdrawi=w3; apdrawi=e3; if(fp=fopen(四杆运动8888888.txt,w)=NULL) printf(Cant open this file./n); exit(0); for(i=0;i=ic;i+)printf(%12.3f %12.3f %12.3f %12.3fn,wdrawi,pdrawi,vpdrawi,apdrawi);fprintf(fp,%e %e %e %en,wdrawi,pdrawi,vpdrawi,apdrawi); if(i%18)=0)getch(); fclose(fp); getch(); draw1(del,pdraw,vpdraw,apdraw,ic);运算结果：The Kinematic Parameters of Point3THETA1 t3 w3 e3deg rad rad/s rad/s/s-3.00000e+00 -1.63161e+00 -4.05618e-03 -6.23548e+00-1.80000e+01 -1.63234e+00 -9.46782e-02 -6.02631e+00-3.30000e+01 -1.63436e+00 -1.79482e-01 -5.44663e+00-4.80000e+01 -1.63756e+00 -2.53165e-01 -4.51911e+00-6.30000e+01 -1.64173e+00 -3.10889e-01 -3.28467e+00-7.80000e+01 -1.64661e+00 -3.48569e-01 -1.80535e+00-9.30000e+01 -1.65187e+00 -3.63197e-01 -1.65406e-01-1.08000e+02 -1.65717e+00 -3.53157e-01 1.53056e+00-1.23000e+02 -1.66213e+00 -3.18490e-01 3.16304e+00-1.38000e+02 -1.66642e+00 -2.61053e-01 4.60652e+00-1.53000e+02 -1.66972e+00 -1.84521e-01 5.74117e+00-1.68000e+02 -1.67178e+00 -9.42091e-02 6.46611e+00-1.83000e+02 -1.67245e+00 3.30455e-03 6.71231e+00-1.98000e+02 -1.67168e+00 1.00725e-01 6.45290e+00-2.13000e+02 -1.66953e+00 1.90711e-01 5.70852e+00-2.28000e+02 -1.66614e+00 2.66566e-01 4.54585e+00-2.43000e+02 -1.66178e+00 3.22868e-01 3.06898e+00-2.58000e+02 -1.65676e+00 3.55913e-01 1.40521e+00-2.73000e+02 -1.65144e+00 3.63939e-01 -3.11702e-01-2.88000e+02 -1.64618e+00 3.47101e-01 -1.95669e+00-3.03000e+02 -1.64134e+00 3.07263e-01 -3.42418e+00-3.18000e+02 -1.63724e+00 2.47662e-01 -4.63297e+00-3.33000e+02 -1.63413e+00 1.72551e-01 -5.52594e+00-3.48000e+02 -1.63222e+00 8.68636e-02 -6.06671e+00图4.1四杆机构颚板角位置、角速度、角加速度随曲柄转角的变化曲线五.机构的动态静力分析5.1六杆铰链式颚式破碎机的静力分析（1）调用bark函数对主动件进行运动分析。见表4.1。（2）调用rrrk函数对由构件组成的RRR杆组进行运动分析。见表4.2。（3）调用rrrk函数对由构件组成的RRR杆组进行运动分析。见表4.3。（4）求各构件的质心7、8、9、10点及矿石破碎阻力作用点11点的运动参数。见表5.1表5.5。表5.1 7点运动参数形式参数n1n2n3kr1r2gamtwepvpap实值20720.0r270.0twepvpap表5.2 8点运动参数形式参数n1n2n3kr1r2gamtwepvpap实值40830.0r480.0twepvpap表5.3 9点运动参数形式参数n1n2n3kr1r2gamtwepvpap实值30940.0r390.0twepvpap表5.4 10点运动参数形式参数n1n2n3kr1r2gamtwepvpap实值601050.0r6100.0twepvpap表5.5 11点运动参数形式参数n1n2n3kr1r2gamtwepvpap实值601150.0r6110.0twepvpap（5）调用rrrf对由杆组成的RRR杆组进行静力分析。见表5.6。表5.6形式参数n1n2n3ns1ns2nn1nn2nexfk1k2pvpaptwefr实值3659100111145pvpaptwefr（6）调用rrrf对由杆组成的RRR杆组进行静力分析。见表5.7。表5.7形式参数n1n2n3ns1ns2nn1nn2nexfk1k2pvpaptwefr实值4238730032pvpaptwefr（7）调用barf对主动件进行静力分析。见表5.8。表5.8形式参数n1ns1nn1k1papefrtb实值1121papefr&tb程序清单#include graphics.h#include subk.c#include subf.c#include draw.cmain() static double p202,vp202,ap202,del; static double t10,w10,e10; static double sita1370,fr1draw370,sita2370,fr2draw370,sita3370,fr3draw370,tbdraw370,tb1draw370; static double fr202,fe202; static int ic; double r12,r23,r34,r35,r56; double r27,r48,r39,r610,r611; int i; double pi,dr; double fr6,bt6,we1,we2,we3,we4,we5,tb,tb1; FILE*fp; sm1=0.0;sm2=500.0;sm3=200.0;sm4=200.0;sm5=900.0; sj1=0.0;sj2=25.5;sj3=9.0;sj4=9.0;sj5=50.0; r12=0.1; r23=1.25; r34=1.0; r35=1.15;r56=1.96; r27=r23/2; r48=r34/2; r39=r35/2; r610=r56/2; r611=0.6; pi=4.0*atan(1.0); dr=pi/180.0; w1=-170*2*pi/60; e1=0.0; del=15; p11=0.0; p12=0.0; p41=0.94; p42=-1.0; p61=-1.0; p62=0.85; printf(n The Kineto-static Analysis of a Six-bar Linkasen);printf( NO THETA1 FR6 BT6 TB TB1n);printf( (deg.) (N) (deg.) (N.m) (N.m)n); if(fp=fopen(六杆受力8888888.txt,w)=NULL) printf(Cant open this file./n); exit(0); fprintf(fp,n The Kineto-static Analysis of a Six-bar Linkasen);fprintf(fp,NO THETA1 FR6 BT6 TB TB1n );fprintf(fp, (deg.) (N) (deg.) (N.m) (N.m)n ); ic=(int)(360.0/del); for(i=0;i=ic;i+) t1=(-i)*del*dr; bark(1,2,0,1,r12,0.0,0.0,t,w,e,p,vp,ap); rrrk(1,4,2,3,3,2,r34,r23,t,w,e,p,vp,ap); rrrk(1,3,6,5,4,5,r35,r56,t,w,e,p,vp,ap); bark(2,0,7,2,0.0,r27,0.0,t,w,e,p,vp,ap); bark(4,0,8,3,0.0,r48,0.0,t,w,e,p,vp,ap); bark(3,0,9,4,0.0,r39,0.0,t,w,e,p,vp,ap); bark(6,0,10,5,0.0,r610,0.0,t,w,e,p,vp,ap); bark(6,0,11,5,0.0,r611,0.0,t,w,e,p,vp,ap); rrrf(3,6,5,9,10,0,11,11,4,5,p,vp,ap,t,w,e,fr); rrrf(4,2,3,8,7,3,0,0,3,2,p,vp,ap,t,w,e,fr); barf(1,1,2,1,p,ap,e,fr,&tb); fr6=sqrt(fr61*fr61+fr62*fr62); bt6=atan2(fr62,fr61); we1=-(ap11*vp11+(ap12+9.81)*vp12)*sm1-e1*w1*sj1; we2=-(ap71*vp71+(ap72+9.81)*vp72)*sm2-e2*w2*sj2; we3=-(ap81*vp81+(ap82+9.81)*vp82)*sm3-e3*w3*sj3; we4=-(ap91*vp91+(ap92+9.81)*vp92)*sm4-e4*w4*sj4; extf(p,vp,ap,t,w,e,11,fe); we5=-(ap101*vp101+(ap102+9.81)*vp102)*sm5-e5*w5*sj5+fe111*vp111+fe112*vp112; tb1=-(we1+we2+we3+we4+we5)/w1; printf(%3d %10.3f %10.3f %10.3f %10.3f %10.3f n,i+1,t1/dr,fr6,bt6/dr,tb,tb1);fprintf(fp,%3d %10.3f %10.3f %10.3f %10.3f %10.3f n,i+1,t1/dr,fr6,bt6/dr,tb,tb1); tbdrawi=tb; tb1drawi=tb1; fr1drawi=fr6;sita1i=bt6; fr2drawi=fr6;sita2i=bt6; fr3drawi=fr6;sita3i=bt6; if(i%16)=0)getch(); fclose(fp); getch(); draw2(del,tbdraw,tb1draw,ic); draw3(del,sita1,fr1draw,sita2,fr2draw,sita3,fr3draw,ic); #include math.hextf(p,vp,ap,t,w,e,nexf,fe) double p202,vp202,ap202,t10,w10,e10,fe202; double pi,dr; pi=4.0*atan(1.0); dr=pi/180.0; if(w50) fenexf1=(-t1/dr-90.0)*(85000.0/182.0)*cos(-t5-pi/2); fenexf2=-(-t1/dr-90.0)*(85000.0/182.0)*sin(-t5-pi/2); elsefenexf1=0;fenexf2=0; 运行结果： The Kineto-static Analysis of a Six-bar LinkaseNO THETA1 FR1 BT1 FR4 BT4 FR6 BT6 TB TB1 (deg.) (N) (deg.) (N) (deg.) (N) (deg.) (N.m) (N.m) 1 0.000 6464.189 124.258 769.703 95.965 9904.580 77.690 534.273 534.273 2 -15.000 12140.033 106.228 2532.978 168.621 10248.086 82.670 1038.104 1038.104 3 -30.000 18594.244 99.513 5575.144 -179.005 10522.852 89.576 1434.513 1434.513 4 -45.000 24798.893 96.382 8791.463 -174.111 10757.314 97.329 1547.760 1547.760 5 -60.000 29754.383 94.713 11296.855 -171.709 10967.175 104.339 1270.987 1270.987 6 -75.000 32606.285 93.605 12322.386 -170.890 11112.158 109.009 644.228 644.228 7 -90.000 32912.594 92.518 11514.476 -171.622 11132.496 110.330 -144.608 -144.608 8 -105.000 31996.601 91.034 11227.703 -171.652 13356.757 128.454 -883.773 -883.773 9 -120.000 29068.031 88.968 9795.299 -172.849 16176.401 139.007 -1407.830 -1407.830 10 -135.000 24808.593 85.962 7962.955 -174.722 19186.867 145.561 -1626.344 -1626.344 11 -150.000 19908.523 81.555 6419.120 -176.329 22374.519 150.172 -1559.245 -1559.245 12 -165.000 14937.569 74.940 5662.152 -176.164 25846.624 153.746 -1292.854 -1292.854 13 -180.000 10336.426 64.277 5972.185 -173.877 29700.830 156.609 -931.213 -931.213 14 -195.000 6553.236 44.603 7407.676 -171.433 33968.451 158.869 -565.243 -565.243 15 -210.000 4432.642 6.066 9812.374 -170.222 38602.952 160.602 -260.954 -260.954 16 -225.000 4766.284 -38.055 12891.374 -170.034 43497.372 161.905 -57.628 -57.628 17 -240.000 6137.776 -63.013 16303.169 -170.298 48515.553 162.900 32.265 32.265 18 -255.000 7161.722 -76.919 19734.118 -170.628 53525.123 163.703 23.978 23.978 19 -270.000 7326.704 -86.885 22956.013 -170.818 58424.813 164.412 -39.809 -39.809 20 -285.000 11975.478 -95.129 2703.861 3.602 8481.823 78.617 -205.306 -205.306 21 -300.000 10744.698 -101.624 2437.780 5.040 8583.465 77.292 -338.729 -338.729 22 -315.000 8639.883 -110.269 2351.157 8.846 8793.293 75.658 -361.459 -361.459 23 -330.000 5826.445 -127.009 2176.748 15.111 9113.158 74.602 -227.576 -227.576 24 -345.000 3709.749 -177.584 1592.370 27.896 9506.210 75.059 80.824 80.824 25 -360.000 6464.189 124.258 769.703 95.965 9904.580 77.690 534.273 534.273 图5.1 六杆机构曲柄上的平衡力矩的变化规律图5.2六杆机构颚板摆动中心运动副反力的大小及方向变化规律5.2四杆铰链式颚式破碎机的静力分析（1）调用bark函数对主动件进行运动分析。见表4.4。（2）调用rrrk函数对由构件组成的RRR杆组进行运动分析。见表4.5。（3）求各构件的质心5、6点及矿石破碎阻力作用点7点的运动参数。见表5.9表5.11。表5.9 5点运动参数形式参数n1n2n3kr1r2gamtwepvpap实值20520.0r250.0twepvpap表5.10 6点运动参数形式参数n1n2n3kr1r2gamtwepvpap实值40630.0r460.0twepvpap表5.11 7点运动参数形式参数n1n2n3kr1r2gamtwepvpap实值40730.00.60.0twepvpap（4）调用rrrf对由杆组成的RRR杆组进行静力分析。见表5.12。表5.12形式参数n1n2n3ns1ns2nn1nn2nexfk1k2pvpaptwefr实值2435607723pvpaptwefr（5）调用barf对主动件进行静力分析。见表5.13表5.13形式参数n1ns1nn1k1papefrtb实值1121papefr&tb程序清单：#include graphics.h#include subk.c#include subf.c#include draw.cmain() static double p202,vp202,ap202,del; static double t10,w10,e10; static double sita1370,fr1draw370,sita2370,fr2draw370,sita3370,fr3draw370,tbdraw370,tb1draw370; static double fr202,fe202; static int ic; double r12,r23,r34; double r25,r46,r47; int i; double pi,dr; double fr1,fr4,bt1,bt4,we1,we2,we3,tb,tb1; FILE*fp; sm1=0.0;sm2=200.0;sm3=900.0; sj1=0.0;sj2=9.0;sj3=50.0 ; r12=0.04; r23=1.11; r34=1.96; r25=r23/2; r46=r34/2; r47=0.6; pi=4.0*atan(1.0); w1=-170*2*pi/60; e1=0.0; del=15; dr=pi/180.0; p11=0.0; p12=0.0; p41=-0.95; p42=2.0; printf(n The Kineto-static Analysis of a Six-bar Linkasen);printf( NO THETA1 FR4 BT4 TB TB1n);printf( (deg.) (N) (deg.) (N.m) (N.m)n); if(fp=fopen(四杆受力88888888.txt,w)=NULL) printf(Cant open this file./n); exit(0); fprintf(fp,n The Kineto-static Analysis of a Six-bar Linkasen);fprintf(fp,NO THETA1 FR4 BT4 TB TB1n );fprintf(fp, (deg.) (N) (deg.) (N.m) (N.m)n ); ic=(int)(360.0/del); for(i=0;i=ic;i+) t1=(-i)*del*dr; bark(1,2,0,1,r12,0.0,0.0,t,w,e,p,vp,ap); rrrk(1,2,4,3,2,3,r23,r34,t,w,e,p,vp,ap); bark(2,0,5,2,0.0,r25,0.0,t,w,e,p,vp,ap); bark(4,0,6,3,0.0,r46,0.0,t,w,e,p,vp,ap); bark(4,0,7,3,0.0,0.6,0.0,t,w,e,p,vp,ap); rrrf(2,4,3,5,6,0,7,7,2,3,p,vp,ap,t,w,e,fr); barf(1,1,2,1,p,ap,e,fr,&tb); fr1=sqrt(fr11*fr11+fr12*fr12); bt1=atan2(fr12,fr11); fr4=sqrt(fr41*fr41+fr42*fr42); bt4=atan2(fr42,fr41); we1=-(ap11*vp11+(ap12+9.81)*vp12)*sm1-e1*w1*sj1; we2=-(ap51*vp51+(ap52+9.81)*vp52)*sm2-e2*w2*sj2; extf(p,vp,ap,t,w,e,7,fe); we3=-(ap61*vp61+(ap62+9.81)*vp62)*sm3-e3*w3*sj3+fe71*vp71+fe72*vp72; tb1=-(we1+we2+we3)/w1; printf(%3d %10.3f %10.3f %10.3f %10.3f %10.3f n,i+1,t1/dr,fr4,bt4/dr,tb,tb1);fprintf(fp,%3d %10.3f %10.3f %10.3f %10.3f %10.3f n,i+1,t1/dr,fr4,bt4/dr,tb,tb1); tbdrawi=tb; tb1drawi=tb1; fr1drawi=fr4;sita1i=bt4; fr2drawi=fr4;sita2i=bt4; fr3drawi=fr4;sita3i=bt4; if(i%18)=0)getch(); fclose(fp); getch(); draw2(del,tbdraw,tb1draw,ic); draw3(del,sita1,fr1draw,sita2,fr2draw,sita3,fr3draw,ic); #include math.hextf(p,vp,ap,t,w,e,nexf,fe) double p202,vp202,ap202,t10,w10,e10,fe202; double pi,dr; pi=4.0*atan(1.0); dr=pi/180.0; if(w30) fenexf1=(-t1/dr-3.0)*(85000.0/180.0)*cos(-t3-pi/2); fenexf2=-(-t1/dr-3.0)*(85000.0/180.0)*sin(-t3-pi/2); elsefenexf1=0;fenexf2=0; 运行结果： The Kineto-static Analysis of a Six-bar LinkaseNO THETA1 FR1 BT1 FR4 BT4 TB TB1 (deg.) (N) (deg.) (N) (deg.) (N.m) (N.m) 1 0.000 5842.221 168.261 10261.396 102.685 47.546 47.546 2 -15.000 7481.334 168.442 12042.546 120.500 -17.966 -17.966 3 -30.000 9231.338 168.538 15267.454 134.964 -117.399 -117.399 4 -45.000 10679.760 168.379