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目录一压床机构设计要求1.压床机构简介-32.设计数据-33.设计内容-4（1）导杆机构的设计及运动分析-4（2）导杆机构的动态静力分析-4（3）用解析法校核机构运动分析和动态静力分析结果-4（4）飞轮设计-4二压床机构的设计-51. 连杆机构的设计-52. 导杆机构的运动分析-6（1）简化曲柄摇杆机构-6（2）简化摇杆滑块机-83. 导杆机构的动态静力分析-84. 机构的运动分析和动态静力分析主程序及结果-11（1）机构的运动分析主程序及结果-11（2）机构的动态静力分析主程序及结果-175. 飞轮的设计-24三心得体会-26一压床机构设计要求1压床机构简介： 压床是一种广泛使用的加工机械，主要由齿轮机构、连杆机构和凸轮机构等组成，如图9-6所示。电动机经过减速装置（三对齿轮z1-z2、z3-z4、z5-z6）使曲柄1转动，再通过六杆机构ABCDEF带动滑块5克服阻力Fr而运动。为了减小主轴的速度波动，在曲柄A上装有飞轮，在曲柄轴的另一端装有供润滑连杆机构各运动副用的油泵凸轮。2.设计数据内容连杆机构设计及运动分析符号x1x2yHCE/CDEF/DEn1BS2BCDS3DE单位mmmmr/min方案70200310601202101/21/4901/21/2内容导杆机构的动态静力分析及飞轮转动惯量确定符号G2 G3G5Js2Js3Frma单位Nkg.m2N方案160010408401.350.39110001/303.设计内容（1）连杆机构的设计及运动已知：中心距x1、x2、y, 构件3的上、下极限角、，滑块的冲程H，比值CECD、EFDE，各构件质心S的位置，曲柄转速n1。要求：设计连杆机构 , 作机构运动简图、机构12个位置的速度多边形和加速度多边形、滑块的运动线图。（2）机构的动态静力分析已知：各构件的重量G及其对质心轴的转动惯量Js(曲柄1和连杆4的重力和转动惯量（略去不计)，阻力线图(如下图所示)以及连杆机构设计和运动分析中所得的结果。要求：确定机构一个位置的各运动副中的反作用力及加于曲柄上的平衡力矩。（3）用解析法校核机构运动分析和动态静力分析结果 编写机构运动分析和动态静力分析主程序，并调试通过，得到给定位置的计算结果。（4）飞轮的设计 已知：机器运转的速度不均匀系数，曲轴A的转数n1，由动态静力分析所得的平衡力矩Mb；驱动力矩Md为常数。要求：用简易方法确定安装在轴A上的转惯量JF。等效力矩图和能量指示图画在坐标纸上。二压床机构的设计1. 连杆机构的设计及运动分析机构运动简图如下图所示杆长计算： 最终求得：ABBCBS2CDDEDS3EF69.00mm314.5mm157.25mm140mm210mm105mm52.5mm2. 导杆机构的运动分析（1）简化曲柄摇杆机构： +=+=式1设E、F、G：E=F=G=将式1对时间求导：式2 将式2对时间求导：对BC杆中点即质心处分析： 式3将式3对时间求导：式4将式4对时间求导：对CD杆质心处分析（2）简化摇杆滑块机构：式5 将式5对时间求导： 式6 将式6对时间求导：3. 导杆机构的动态静力分析对各构件列平衡方程：构件一：+=0； +=0；.-.+=0构件二：-.+.-+（+）/2+（+）/2+=0+=0；+=0=- =- =-构件三：+=0； +=0-+-+（+）/2- （+）/2+=0=- =- =-构件四： 构件五：+=0=- =- 4. 机构的运动分析和动态静力分析主程序及结果（1）机构的运动分析主程序：#include#include#define pi 3.1415926main()float l=210,l1=69,l2=314.5,l3=140,l4=52.5,E,F,G,H,p1,p2,p3,p4,o1,o2,o3,o4,w1=3*pi,w2,w3,w4,b2,b3,b4,a2x,a2y,a3x,a3y,a5,v2x,v2y,v3,v5,x1=70,y=310,cs1,cs2,cs3,cs4,cs5,cs6,cs7,cs8,cs9,cs10,cs11,cs12,cs14,cs15;for (p1=0;p1=360;p1=p1+5)o1=pi*p1/180;E=x1-l1*cos(o1);F=y-l1*sin(o1);G=96.47-34.5*cos(o1)-152.8*sin(o1);cs1=sqrt(E*E+F*F-G*G);cs2=F+cs1;cs3=E-G;o3=2*atan(cs2/cs3);H=81344+400*l*cos(o3);cs4=F+l3*sin(o3);cs5=E+l3*cos(o3);o2=atan(cs4/cs5);cs6=l*cos(o3)+200;cs7=cs6/l4;cs8=sin(o1-o2);cs9=sin(o3-o2);cs10=sin(o1-o3);cs11=sin(o2-o3);cs12=cos(o1-o3);cs14=cos(o1-o2);cs15=cos(o3-o2);o4=acos(cs7);w2=-w1*l1*cs10/(l2*cs11);w3=w1*l1*cs8/(l3*cs9);w4=l*w3*sin(o3)/(l4*sin(o4);b2=(l3*w3*w3-l1*w1*w1*cs12-l2*w2*w2*cs15)/(l2*cs11);b3=(l2*w2*w2+l1*w1*w1*cs14-l3*w3*w3*cs15)/(l3*cs9);b4=(l*b3*sin(o3)+l*w3*w3*cos(o3)-l4*w4*w4*cos(o4)/(l4*sin(o4);a2x=-l1*w1*w1*cos(o1)-l2*(w2*w2*cos(o2)+b2*sin(o2)/2;a2y=-l1*w1*w1*sin(o1)-l2*(w2*w2*sin(o2)-b2*cos(o2)/2;a3x=-105*w3*w3*cos(o3);a3y=-105*w3*w3*sin(o3);a5=(l*b3*cos(o3)-l4*b4*cos(o4)-l*w3*w3*sin(o3)+l4*w4*w4*sin(o4);v2x=-l1*w1*sin(o1)-(l2*w2*sin(o2)/2;v2y=(l1*w1*cos(o1)+(l2*cos(o2)/2;v3=105*w3;v5=l*w3*cos(o3)-l4*w4*cos(o4);printf(%5.2f %5.2f %5.2f %5.2f %5.2f %5.2f %5.2f %5.2f %5.2f %5.2f %5.2f %5.2f %5.2f %5.2f %5.2f %5.2f %5.2f %5.2f %5.2f n, p1,o2*180/pi,o3*180/pi,o4*180/pi,w2,w3,w4,b2,b3,b4,a2x,a2y,v2x,v2y,a3x,a3y,v3,a5,v5);运行结果如下：12342342340-64.25-168.6596.45-0.42-4.323.4228.35-24.8-52.645-64.09-17198.12.-0.15-4.542.8729.9-22.6-66.6210-64.09-173.4699.470.13-4.742.1931.21-20.7-80.0115-64.24-176.02100.420.43-4.911.3932.25-18.9-92.3120-64.54-178.67100.920.73-5.070.4832.99-17.4-102.925-65.01178.61100.911.03-5.19-0.5133.37-16-11130-65.63175.83100.361.32-5.26-1.5633.33-14.6-116.235-66.41173.0399.261.61-5.29-2.632.8-13.2-117.840-67.34170.2397.611.87-5.25-3.631.69-11.4-115.845-68.4167.4795.462.11-5.15-4.4929.92-9.03-11050-69.58164.7892.882.31-4.97-5.2327.42-5.89-100.355-70.85162.2189.952.47-4.71-5.7624.17-1.77-86.7260-72.2159.886.812.59-4.37-6.0420.213.35-69.1265-73.59157.5983.592.65-3.94-6.0515.679.37-47.670-75.01155.6380.442.67-3.45-5.7710.7515.99-22.775-76.42153.9477.522.64-2.89-5.195.7122.774.3780-77.81152.5774.982.56-2.28-4.350.8529.231.5685-79.14151.5372.952.45-1.64-3.27-3.5634.7756.1690-80.41150.8371.542.32-0.99-2.04-7.3139.1275.3995-81.6150.4870.82.16-0.35-0.73-10.342.0287.07100-82.71150.4670.761.990.270.57-12.543.4490.35105-83.72150.7671.391.820.871.78-13.943.4985.82110-84.64151.3772.631.651.422.84-14.742.3775.19115-85.47152.2674.381.481.923.72-1540.3560.58120-86.22153.476.531.322.384.38-14.937.6843.98125-86.88154.7778.991.172.794.84-14.634.5726.84130-87.46156.3581.641.023.155.11-1431.2310.11135-87.97158.1184.370.893.465.19-13.427.79-5.75140-88.41160.0287.110.763.745.11-12.824.33-20.54145-88.78162.0689.770.643.974.89-12.220.94-34.2150-89.09164.2292.280.534.164.53-11.617.63-46.68155-89.35166.4794.560.424.324.05-11.114.42-57.92160-89.54168.896.560.324.443.48-10.711.31-67.76165-89.69171.1898.230.234.542.81-10.38.28-75.96170-89.78173.6199.530.134.62.08-10.15.32-82.24175-89.83176.06100.430.044.641.3-9.932.41-86.3180-89.83178.52100.9-0.054.650.49-9.87-0.5-87.94185-89.77-179.01100.95-0.144.63-0.32-9.9-3.41-87.04190-89.67-176.57100.56-0.244.59-1.12-10-6.35-83.63195-89.52-174.1599.77-0.334.52-1.87-10.2-9.35-77.9200-89.32-171.7898.59-0.434.42-2.56-10.5-12.4-70.1205-89.07-169.4697.07-0.524.3-3.17-10.8-15.6-60.58210-88.76-167.2295.24-0.624.16-3.69-11.2-18.9-49.65215-88.4-165.0693.17-0.733.99-4.12-11.7-22.2-37.58220-87.99-16390.89-0.843.79-4.43-12.1-25.7-24.61225-87.51-161.0488.48-0.953.57-4.64-12.6-29.2-10.89230-86.98-159.2185.99-1.063.33-4.74-13-32.73.46235-86.38-157.5183.48-1.173.06-4.72-13.4-36.218.31240-85.73-155.9681-1.292.78-4.59-13.7-39.633.49245-85.01-154.5778.63-1.412.48-4.34-13.9-42.948.78250-84.23-153.3476.41-1.522.16-3.99-13.8-4663.85255-83.4-152.2874.41-1.631.83-3.54-13.6-48.778.27260-82.5-151.3972.67-1.731.5-3-13.1-51.191.49265-81.55-150.6971.24-1.831.16-2.39-12.4-53.1102.93270-80.56-150.1770.15-1.910.81-1.72-11.4-54.6112.02275-79.52-149.8369.42-1.990.47-1.01-10.1-55.6118.27280-78.45-149.6769.07-2.050.13-0.29-8.57-56.2121.39285-77.34-149.6869.11-2.09-0.20.43-6.78-56.2121.28290-76.22-149.8869.53-2.12-0.521.12-4.76-55.8118.1295-75.09-150.2470.3-2.13-0.841.78-2.55-55112.18300-73.96-150.7771.4-2.12-1.152.37-0.18-53.7103.97305-72.83-151.4672.8-2.1-1.452.92.31-52.293.98310-71.73-152.3174.47-2.05-1.743.364.89-50.382.68315-70.66-153.3176.36-1.98-2.033.757.51-48.170.46320-69.63-154.4678.44-1.89-2.314.0610.15-45.857.65325-68.65-155.7580.65-1.78-2.584.2912.78-43.344.46330-67.74-157.1982.97-1.65-2.844.4415.35-40.631.04335-66.9-158.7785.35-1.49-3.14.5117.85-37.917.44340-66.15-160.4887.75-1.32-3.364.4920.25-35.23.68345-65.5-162.3390.1-1.12-3.614.3822.52-32.5-10.22350-64.96-164.3192.38-0.91-3.854.1724.64-29.8-24.28355-64.54-166.4294.51-0.67-4.093.8526.59-27.2-38.46a2xa2yV2xV2ya3xa3yV3a5V5-21261961.92-59.49393.481920.82385.44-453.556185.89909.54-18781522.99-77.99392.622133.21337.74-476.215302.99961.96-16231082.61-94.2388.932339.08268.02-497.24400.871006.82-1365643.69-108.01382.432529.79175.82-516.013533.281042.7-1111208.2-119.42373.142694.8662.4-532.012757.821068.49-868.6-223.25-128.58361.132822.3-68.72-544.452125.871083.47-646.6-651.72-135.81346.472899.38-211.3-552.41669.371087.36-455.9-1080.02-141.59329.272913.83-356.19-5551387.861080.2-308.6-1512.2-146.62309.672855.59-491.62-5511240.531062.16-217.2-1952.6-151.7287.812718.8-604.3-540.71147.061033.35-192.5-2404.19-157.73263.882503.83-681.2-521.9998.27993.57-240.6-2866.68-165.59238.092218.73-712.01-494.64675.16924.22-360.1-3334.96-176.01210.661879.58-691.69-458.5872.88878.38-538.8-3798.48-189.45181.831509.37-622.48-414.04-873.64801.01-753.1-4242.01-206.01151.881135.34-514.41-361.77-2116.7709.33-969.8-4647.94-225.36121.07785.27-383.96-302.95-3731.2603.23-1151-4999.31-246.7689.68483.63-250.99-233.19-5415.8483.74-1262-5282.58-269.1657.97248.57-134.79-172.31-7016.1353.33-1274-5489.37-291.326.290.3-50.4-104.2-8321215.89-1175-5616.69-311.87-5.3711.14-6.31-36.669168.6176.38-962.6-5666.07-329.67-36.56.86-3.89-28.779491.16-59.95-648-5641.98-343.66-66.9568.58-38.3990.84-9325.2-188.42-249.9-5550.37-353.04-96.53184.83-100.9148.69-8785.4-305.61209.06-5397.53-357.3-125.01343.13-180.48201.76-8019.2-409.68705.61-5189.43-356.15-152.21531.3-266.05249.78-7164.2-500.251218.3-4931.48-349.51-177.94738.05-347.73292.69-6324.9-578.11728.5-4628.48-337.49-202.04953.43-417.54330.59-5565.6-644.652220.9-4284.79-320.33-224.351168.87-469.74363.69-4915.9-701.642683.6-3904.44-298.37-244.711377.12-500.75392.25-4378.8-750.783107.1-3491.31-272.03-2631572.19-508.93416.55-3939.7-793.623484.5-3049.18-241.78-279.11749.17-494.29436.87-3572-831.363810.7-2581.86-208.14-292.91904.14-458.14453.48-3241.8-864.874081.9-2093.19-171.64-304.32034-402.83466.6-2911.5-894.574295.5-1587.1-132.85-313.222136.46-331.45476.46-2542.1-920.514449.7-1067.55-92.33-319.622209.91-247.59483.21-2097.6-942.344543.6-538.59-50.65-323.452253.42-155.21487-1548-959.384576.5-4.28-8.38-324.682266.66-58.4487.93-873.87-970.74548.7531.3133.92-323.292249.9338.73486.08-69.61-975.264460.81064.0975.68-319.312204.12132.18481.51855.38-972.034313.91590.04116.37-312.762130.73218.23474.231877.3-960.174109.82105.18155.46-303.682031.83293.52464.282960.93-939.083851.12605.66192.47-292.131910.08355.23451.664063.87-908.573540.93087.72226.93-278.191768.69401.19436.385141.18-868.863183.43547.79258.43-261.971611.39429.99418.476149.41-820.582783.53982.47286.59-243.561442.33441.1397.967049.87-764.752347.44388.6311.12-223.091266.03434.9374.917810.85-702.6918824763.29331.77-200.721087.19412.76349.448409.41-635.971395.25103.98348.37-176.58910.59376.92321.688832.6-566.31895.885408.45360.84-150.86740.83330.41291.859078.64-495.43393.185674.88369.18-123.74582.19276.84260.179157.73-424.98-103.55901.89373.44-95.41438.38220.13226.959092.17-356.41-585.16088.53373.78-66.07312.45164.2192.518915.6-290.86-10436234.3370.4-35.94206.63112.69157.28670.62-229.05-14716339.11363.53-5.24122.3468.69121.378404.76-171.3-18616403.24353.4725.860.234.5285.368164.87-117.43-22116427.28340.556.9420.1511.7249.487990.93-66.87-25176412.1324.9287.961.610.9413.987910.45-18.73-27776358.71307.03118.613.62.11-20.937934.9428.07-29926268.3287.12148.6624.9914.5-55.088059.3774.64-31626142.1265.44177.8864.636.94-88.398264.55122.05-32885981.44242.26206.04121.3167.89-120.828521.42171.15-33735787.67217.82232.92194.2105.63-152.368796.04222.62-34175562.19192.37258.3282.54148.29-183.049054.02276.87-34235306.47166.15282385.79193.97-212.939263.58334.06-33945022.06139.41303.83503.64240.69-242.19397.4394.15-33304710.65112.41323.6635.89286.41-270.619433.3456.89-32354374.0785.43341.17782.39329.03-298.539354.28521.84-31104014.458.74356.38942.9366.31-325.99148.4588.38-29583633.9632.65369.121116.98395.9-352.758808.79655.7-27813235.397.47379.281303.78415.26-379.048333.95722.75-25812821.65-16.49386.771501.81421.76-404.717728.66788.36-23612396-38.9391.521708.68412.68-429.627005.37851.14各个图表绘制如下：（2）机构的动态静力分析主程序：clcclearl=0.210;l1=0.069;l2=0.3145;l3=0.140;l4=0.0525;l5=0.0525;w1=3*pi;XD=0.070;YD=0.310;G2=1600;G3=1040;G5=840;m2=G2/9.8;m3=G3/9.8;m5=G5/9.8;J2=1.35;J3=0.39;S1=;S2=;S3=;S4=;for p1=-75:5:95 o1=pi*p1/180;Fr=-1100;E=XD-l1*cos(o1);F=YD-l1*sin(o1);G=(XD2+YD2+l12+l32-l22-2*XD*l1*cos(o1)-2*YD*l1*sin(o1)/(2*l3);cs1=sqrt(E*E+F*F-G*G);cs2=F+cs1;cs3=E-G;o3=2*atan(cs2/cs3);cs4=F+l3*sin(o3);cs5=E+l3*cos(o3);o2=atan(cs4/cs5);cs6=l*cos(o3)+0.200;cs7=cs6/l4;cs8=sin(o1-o2);cs9=sin(o3-o2);cs10=sin(o1-o3);cs11=sin(o2-o3);cs12=cos(o1-o3);cs14=cos(o1-o2);cs15=cos(o3-o2);o4=acos(cs7);w2=-w1*l1*cs10/(l2*cs11);w3=w1*l1*cs8/(l3*cs9);w4=l*w3*sin(o3)/(l4*sin(o4);b2=(l3*w3*w3-l1*w1*w1*cs12-l2*w2*w2*cs15)/(l2*cs11);b3=(l2*w2*w2+l1*w1*w1*cs14-l3*w3*w3*cs15)/(l3*cs9);b4=(l*b3*sin(o3)+l*w3*w3*cos(o3)-l4*w4*w4*cos(o4)/(l4*sin(o4);a2x=-l1*w1*w1*cos(o1)-l2*(w2*w2*cos(o2)+b2*sin(o2)/2;a2y=-l1*w1*w1*sin(o1)-l2*(w2*w2*sin(o2)-b2*cos(o2)/2;a3x=-0.105*w3*w3*cos(o3);a3y=-0.105*w3*w3*sin(o3);a5=(l*b3*cos(o3)-l4*b4*cos(o4)-l*w3*w3*sin(o3)+l4*w4*w4*sin(o4);XB=l1*cos(o1);YB=l1*sin(o1);XC=l1*cos(o1)+l2*cos(o2);YC=l1*sin(o1)+l2*sin(o2);XE=l1*cos(o1)+l2*cos(o2)+l5*cos(o3);YE=l1*sin(o1)+l2*sin(o2)+l5*sin(o3);R34y=G5+m5*a5-Fr;R34x=R34y/tan(o4);P=1 0 1 0 0 0 0 0 0;0 1 0 1 0 0 0 0 0;0 0 -YB XB 0 0 0 0 1;. 0 0 -1 0 -1 0 0 0 0;0 0 0 -1 0 -1 0 0 0;0 0 YB -XB YC -XC 0 0 0;. 0 0 0 0 1 0 1 0 0;0 0 0 0 0 1 0 1 0; 0 0 0 0 -YC XC -YD XD 0;M=0 0 0 m2*a2x m2*a2y+G2 (m2*a2y+G2)*(XB+XC)/2)-m2*a2x*(YB+YC)/2)+J2*b2 . m3*a3x+R34y/tan(o4) G3+m3*a3y+R34y R34y*XE-R34y*YE/tan(o4)+(m3*a3y+G3)*(XE+XD)/2)-m3*a3x*(YE+YD)/2)+J3*b3;Q=PM;S1=S1;Q;endfor p1=100:5:205 o1=pi*p1/180;Fr=1100;E=XD-l1*cos(o1);F=YD-l1*sin(o1);G=(XD2+YD2+l12+l32-l22-2*XD*l1*cos(o1)-2*YD*l1*sin(o1)/(2*l3);cs1=sqrt(E*E+F*F-G*G);cs2=F+cs1;cs3=E-G;o3=2*atan(cs2/cs3);cs4=F+l3*sin(o3);cs5=E+l3*cos(o3);o2=atan(cs4/cs5);cs6=l*cos(o3)+0.200;cs7=cs6/l4;cs8=sin(o1-o2);cs9=sin(o3-o2);cs10=sin(o1-o3);cs11=sin(o2-o3);cs12=cos(o1-o3);cs14=cos(o1-o2);cs15=cos(o3-o2);o4=acos(cs7);w2=-w1*l1*cs10/(l2*cs11);w3=w1*l1*cs8/(l3*cs9);w4=l*w3*sin(o3)/(l4*sin(o4);b2=(l3*w3*w3-l1*w1*w1*cs12-l2*w2*w2*cs15)/(l2*cs11);b3=(l2*w2*w2+l1*w1*w1*cs14-l3*w3*w3*cs15)/(l3*cs9);b4=(l*b3*sin(o3)+l*w3*w3*cos(o3)-l4*w4*w4*cos(o4)/(l4*sin(o4);a2x=-l1*w1*w1*cos(o1)-l2*(w2*w2*cos(o2)+b2*sin(o2)/2;a2y=-l1*w1*w1*sin(o1)-l2*(w2*w2*sin(o2)-b2*cos(o2)/2;a3x=-0.105*w3*w3*cos(o3);a3y=-0.105*w3*w3*sin(o3);a5=(l*b3*cos(o3)-l4*b4*cos(o4)-l*w3*w3*sin(o3)+l4*w4*w4*sin(o4);XB=l1*cos(o1);YB=l1*sin(o1);XC=l1*cos(o1)+l2*cos(o2);YC=l1*sin(o1)+l2*sin(o2);XE=l1*cos(o1)+l2*cos(o2)+l5*cos(o3);YE=l1*sin(o1)+l2*sin(o2)+l5*sin(o3);R34y=G5+m5*a5-Fr;R34x=R34y/tan(o4);P=1 0 1 0 0 0 0 0 0;0 1 0 1 0 0 0 0 0;0 0 -YB XB 0 0 0 0 1;. 0 0 -1 0 -1 0 0 0 0;0 0 0 -1 0 -1 0 0 0;0 0 YB -XB YC -XC 0 0 0;. 0 0 0 0 1 0 1 0 0;0 0 0 0 0 1 0 1 0; 0 0 0 0 -YC XC -YD XD 0;M=0 0 0 m2*a2x m2*a2y+G2 (m2*a2y+G2)*(XB+XC)/2)-m2*a2x*(YB+YC)/2)+J2*b2 . m3*a3x+R34y/tan(o4) G3+m3*a3y+R34y R34y*XE-R34y*YE/tan(o4)+(m3*a3y+G3)*(XE+XD)/2)-m3*a3x*(YE+YD)/2)+J3*b3;Q=PM;S2=S2;Q;endfor p1=-150:5:-80 o1=pi*p1/180;E=XD-l1*cos(o1);F=YD-l1*sin(o1);G=(XD2+YD2+l12+l32-l22-2*XD*l1*cos(o1)-2*YD*l1*sin(o1)/(2*l3);cs1=sqrt(E*E+F*F-G*G);cs2=F+cs1;cs3=E-G;o3=2*atan(cs2/cs3);H=0.081344+0.400*l*cos(o3);ss=YD+l*sin(o3)-sqrt(l2*sin(o3)*sin(o3)-H);Fr=40351-188571*ss;cs4=F+l3*sin(o3);cs5=E+l3*cos(o3);o2=atan(cs4/cs5);cs6=l*cos(o3)+0.200;cs7=cs6/l4;cs8=sin(o1-o2);cs9=sin(o3-o2);cs10=sin(o1-o3);cs11=sin(o2-o3);cs12=cos(o1-o3);cs14=cos(o1-o2);cs15=cos(o3-o2);o4=acos(cs7);w2=-w1*l1*cs10/(l2*cs11);w3=w1*l1*cs8/(l3*cs9);w4=l*w3*sin(o3)/(l4*sin(o4);b2=(l3*w3*w3-l1*w1*w1*cs12-l2*w2*w2*cs15)/(l2*cs11);b3=(l2*w2*w2+l1*w1*w1*cs14-l3*w3*w3*cs15)/(l3*cs9);b4=(l*b3*sin(o3)+l*w3*w3*cos(o3)-l4*w4*w4*cos(o4)/(l4*sin(o4);a2x=-l1*w1*w1*cos(o1)-l2*(w2*w2*cos(o2)+b2*sin(o2)/2;a2y=-l1*w1*w1*sin(o1)-l2*(w2*w2*sin(o2)-b2*cos(o2)/2;a3x=-0.105*w3*w3*cos(o3);a3y=-0.105*w3*w3*sin(o3);a5=(l*b3*cos(o3)-l4*b4*cos(o4)-l*w3*w3*sin(o3)+l4*w4*w4*sin(o4);XB=l1*cos(o1);YB=l1*sin(o1);XC=l1*cos(o1)+l2*cos(o2);YC=l1*sin(o1)+l2*sin(o2);XE=l1*cos(o1)+l2*cos(o2)+l5*cos(o3);YE=l1*sin(o1)+l2*sin(o2)+l5*sin(o3);R34y=G5+m5*a5-Fr;R34x=R34y/tan(o4);P=1 0 1 0 0 0 0 0 0;0 1 0 1 0 0 0 0 0;0 0 -YB XB 0 0 0 0 1;. 0 0 -1 0 -1 0 0 0 0;0 0 0 -1 0 -1 0 0 0;0 0 YB -XB YC -XC 0 0 0;. 0 0 0 0 1 0 1 0 0;0 0 0 0 0 1 0 1 0; 0 0 0 0 -YC XC -YD XD 0;M=0 0 0 m2*a2x m2*a2y+G2 (m2*a2y+G2)*(XB+XC)/2)-m2*a2x*(YB+YC)/2)+J2*b2 . m3*a3x+R34y/tan(o4) G3+m3*a3y+R34y R34y*XE-R34y*YE/tan(o4)+(m3*a3y+G3)*(XE+XD)/2)-m3*a3x*(YE+YD)/2)+J3*b3;Q=PM;S3=S3;Q;end运行结果如下：R01xR01yR21xR21yR23xR23yR03xR04yMb0450.62-614.7-450.62614.66795.08-2535-881.76081-42.4115410.1-530.6-410.1530.57714.1-2380-837.75844.6-38.93610385.22-485.1-385.22485.12647.46-2262-790.95643.2-37.5815377.19-479.9-377.19479.92597.25-2186-743.65483.4-38.72220385.11-513.7-385.11513.74563.57-2149-6975369.4-42.39825406.02-582.7-406
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