平面连杆机构运动分析大作业（一）平面连杆机构的运动分析班级：姓名：姓名：姓名：指导教师：完成日期：一、题目及原始数据1.1、平面连杆机构的运动分析题目：如图1.1所示，为一平面六杆机构。

设已知各构件的尺寸如表 1.1 所示，又知原动件1以等角速度1ω= 1rad/s 沿逆时针方向回转，试求各从动件的角位移、角速度及角加速度以及位移E 点的位移、速度及加速度的变化情况。

表1.1 平面六杆机构的尺寸参数2'l =65mm,G x =153.5mm,G y =41.7mm题 号 1l 2l3l4l5l6lαABC1-A105.6 67.5 87.5 34.42560°1l =26.5 1l =241l =29.5算出原动件从 0º到 360º时（计算点数 N=36）所要求各运动变量的大小，并绘出各组应的运动线图以及 E 点的轨迹曲线。

图1.1二、平面连杆机构运动分析方程2.1、位移方程：4312l4cos cos l1cos 0h θθθ--=43311l4sin s sin l1sin 0h θθθ+--= 43l4cos l3cos s c 0θθ+-⋅= 43l4sin l3 sin h 0θθ+-=[]343c v v ωω2.2、速度方程：3433343314343cos l4sin s sin 0sin l4cos s cos 0V 0l4sin l3sin 10l4cos l3cos 0θθθθθθθθθθ--⎡⎤⎢⎥⎢⎥=⎢⎥---⎢⎥⎣⎦[]211V l1sin l1cos 00θθ=-[]3343V c v v ωω=3V V1\V2=2.3、加速度方程：3344333333443333311144334433sin 14cos v sin s cos 014sin ?v cos s sin 0014cos 13cos 0014sin 13sin 0A ωθωθθωθωωθθωθωθωθωθωθ+⎡⎤⎢⎥--+⎢⎥=⎢⎥⎢⎥⎣⎦[]112343c A =v v ωω11111112A A A =⨯[]1211A l1cos l1sin 00θθ=--11112A A A =+[]3343A a c a γγ=321A A \A =三、计算程序框图四、计算源程序4.1主程序%输入已知数据clearl1=0.0240;l2=0.1056;l3=0.0675;l4=0.0875;l5=0.0344;l6=0.025;l22=0.065;xg=0.1535;yg=0.0417;omega1=1;alph1=0;hd=pi/180;du=180/pi;t1=1:10:361;theta2=1:10:361;theta3=1:10:361;theta5=1:10:361;theta6=1:10:361;omega2=1:10:361;omega3=1:10:361;omega5=1:10:361;omega6=1:10:361;alph2=1:10:361;alph3=1:10:361;alph5=1:10:361;alph6=1:10:361;xe=1:10:361;ye=1:10:361;V=1:10:361;a=1:10:361;theta1=0;options=gaoptimset('PopulationSize',100,'Generations',10000,'StallGenLimit', 500,'TolFun',1e-100);theta0=ga(@(thet) weiyi_0(thet,theta1),4,options);if theta0(1)<0theta0(1)=theta0(1)+2*pi;endif theta0(1)>2*pitheta0(1)=theta0(1)-2*pi;endif theta0(2)<0theta0(2)=theta0(2)+2*pi;endif theta0(2)>2*pitheta0(2)=theta0(2)-2*pi;endif theta0(3)<0theta0(3)=theta0(3)+2*pi;endif theta0(3)>2*pitheta0(3)=theta0(3)-2*pi;endif theta0(4)<0theta0(4)=theta0(4)+2*pi;endif theta0(4)>2*pitheta0(4)=theta0(4)-2*pi;end%调用子函数Fun_jixie计算该六杆机构的各杆角位移、角速度、角加速度以及E点的角位移、角速度、角加速度for n1=1:10:361theta1=(n1-1)*hd;t1(n1)=theta1*du;theta=fsolve(@(thet) weiyi(thet,theta1),theta0);if theta(1)<0theta(1)=theta(1)+2*pi;endif theta(1)>2*pitheta(1)=theta(1)-2*pi;endif theta(2)<0theta(2)=theta(2)+2*pi;endif theta(2)>2*pitheta(2)=theta(2)-2*pi;endif theta(3)<0theta(3)=theta(3)+2*pi;endif theta(3)>2*pitheta(3)=theta(3)-2*pi;endif theta(4)<0theta(4)=theta(4)+2*pi;endif theta(4)>2*pitheta(4)=theta(4)-2*pi;end[xe(n1),ye(n1)]=weiyi_E(theta1,theta,l1,l2,l22);[omega,alph] = Fun_jixie(theta1,omega1,l1,l2,l3,l5,l6,l22,theta);[V(n1),a(n1)]=sudu_jasudu_E(omega(1),alph(1),theta,theta1,omega1,l1,l2,l22,a lph1);theta2(n1)=theta(1);theta3(n1)=theta(2);theta5(n1)=theta(3);theta6(n1)=theta (4);omega2(n1)=omega(1);omega3(n1)=omega(2);omega5(n1)=omega(3);omega6(n1)=o mega(4);alph2(n1)=alph(1);alph3(n1)=alph(2);alph5(n1)=alph(3);alph6(n1)=alph(4);theta0=theta;end%绘制各杆件的角位移、角速度、角加速度n2=1:10:361;n1=1:10:361;figure(1);%%%%%%subplot(2,2,1)%绘制位移线图plot((n1-1),theta2(n2)*du,'r-',(n1-1),theta3(n2)*du,'g-',(n1-1),theta5(n2)*d u,'y-',(n1-1),theta6(n2)*du,'k-','LineWidth',1.5);title('各杆角位移线图');xlabel('原动件1\theta_1/\circ');ylabel('角位移/\circ');grid on;hold on;text(200,60,'θ2');text(200,150,'θ3');text(200,350,'θ5');text(200,260,'θ6');%%%%%%subplot(2,2,2)%绘制角速度线图plot((n1-1),omega2(n2),'r-',(n1-1),omega3(n2),'g-',(n1-1),omega5(n2),'y-',(n 1-1),omega6(n2),'k-','LineWidth',1.5);title('各杆角速度线图');xlabel('原动件1\theta_1/\circ');ylabel('角速度/rad\cdots^{-1}');grid on;hold on;%%%%%%subplot(2,2,3)%绘制角加速度线图plot((n1-1),alph2(n2),'r-',(n1-1),alph3(n2),'g-',(n1-1),alph5(n2),'y-',(n1-1 ),alph6(n2),'k-','LineWidth',1.5);title('各杆角加速度线图');xlabel('原动件1\theta_1/\circ');ylabel('角加速度/rad\cdots^{-2}');grid on;hold on;%%%%%%%%求E点的位移figure(2)subplot(2,2,1)plot(xe(n1),ye(n1),'r-','LineWidth',1.5);title('E的位移线图');xlabel('E在x方向位移');ylabel('E在y方向位移');grid on;hold on;%求E点角速度与角加速度subplot(2,2,2)%绘制E点角速度plot((n1-1),V(n1),'r-','LineWidth',1.5);title('E点角速度');xlabel('原动件1\theta_1/\circ');ylabel('E点角速度/rad\cdots^{-1}');grid on;hold on;subplot(2,2,3)%绘制E点角加速度plot((n1-1),a(n1),'r-','LineWidth',1.5);title('E点角加速度');xlabel('原动件1\theta_1/\circ');ylabel('E点角加速度/rad\cdots^{-2}');grid on;hold on;%将数据输出到Exel表shuju1.xls中xlswrite('E:\机械原理大作业\平面六杆机构\Matlab程序\shuju3.xls',t1(n1)','sheet1','A1');xlswrite('E:\机械原理大作业\平面六杆机构\Matlab程序\shuju3.xls',theta2(n1)'*du,'sheet1','B1'); xlswrite('E:\机械原理大作业\平面六杆机构\Matlab程序\shuju3.xls',theta3(n1)'*du,'sheet1','C1'); xlswrite('E:\机械原理大作业\平面六杆机构\Matlab程序\shuju3.xls',theta5(n1)'*du,'sheet1','D1'); xlswrite('E:\机械原理大作业\平面六杆机构\Matlab程序\shuju3.xls',theta6(n1)'*du,'sheet1','E1'); xlswrite('E:\机械原理大作业\平面六杆机构\Matlab程序\shuju3.xls',omega2(n1)','sheet1','F1'); xlswrite('E:\机械原理大作业\平面六杆机构\Matlab程序\shuju3.xls',omega3(n1)','sheet1','G1'); xlswrite('E:\机械原理大作业\平面六杆机构\Matlab程序\shuju3.xls',omega5(n1)','sheet1','H1'); xlswrite('E:\机械原理大作业\平面六杆机构\Matlab程序\shuju3.xls',omega6(n1)','sheet1','I1'); xlswrite('E:\机械原理大作业\平面六杆机构\Matlab程序\shuju3.xls',alph2(n1)','sheet1','J1');xlswrite('E:\机械原理大作业\平面六杆机构\Matlab程序\shuju3.xls',alph3(n1)','sheet1','K1');xlswrite('E:\机械原理大作业\平面六杆机构\Matlab程序\shuju3.xls',alph5(n1)','sheet1','L1');xlswrite('E:\机械原理大作业\平面六杆机构\Matlab程序\shuju3.xls',alph6(n1)','sheet1','M1');xlswrite('E:\机械原理大作业\平面六杆机构\Matlab程序\shuju3.xls',V(n1)','sheet1','N1');xlswrite('E:\机械原理大作业\平面六杆机构\Matlab程序\shuju3.xls',a(n1)','sheet1','O1');4.2从动件角位移，角速度，角加速度function [omega,alph ] = Fun_jixie( theta1,omega1,l1,l2,l3,l5,l6,l22,theta) %从动件角位移theta2=theta(1);theta3=theta(2);theta5=theta(3);theta6=theta(4);%%%%%%%计算从动件角速度A=[ -l2*sin(theta2), l3*sin(theta3), 0, 0;l2*cos(theta2), -l3*cos(theta3), 0, 0;-l22*sin(theta2 - pi/3), -l3*sin(theta3), -l5*sin(theta5),l6*sin(theta6);l22*cos(theta2 - pi/3), l3*cos(theta3), l5*cos(theta5),-l6*cos(theta6)];B=[l1*sin(theta1);-l1*cos(theta1);0;0];omega=A\(omega1*B);omega2=omega(1);omega3=omega(2);omega5=omega(3);omega6=omega(4);%%%%%%计算角从动件角加速度A=[ -l2*sin(theta2), l3*sin(theta3), 0, 0;l2*cos(theta2), -l3*cos(theta3), 0, 0;-l22*sin(theta2 - pi/3), -l3*sin(theta3), -l5*sin(theta5),l6*sin(theta6);l22*cos(theta2 - pi/3), l3*cos(theta3), l5*cos(theta5),-l6*cos(theta6)];At=[-l2*omega2*cos(theta2),l3*omega3*cos(theta3), 0, 0;-l2*omega2*sin(theta2),l3*omega3*sin(theta3), 0, 0;-l22*omega2*cos(theta2 -pi/3),-l3*omega3*cos(theta3),-l5*omega5*cos(theta5),l6*omega6*cos(theta6);-l22*omega2*sin(theta2 -pi/3),-l3*omega3*sin(theta3),-l5*omega5*sin(theta5),l6*omega6*sin(theta6)]; Bt=[omega1*l1*cos(theta1);omega1*l1*sin(theta1);0;0;];alph=A\(-At*omega+omega1*Bt);end4.3 E≠® ƒ ® ƒfunction [V,a]=sudu_jasudu_E(omega,alph,theta,theta1,omega1,l1,l2,l22,alph1) %求E点角速度A=[-l1*sin(theta1),-l2*sin(theta(2))+l22*sin(pi/3-theta(1));l1*cos(theta1),l 2*cos(theta(1))-l22*cos(pi/3-theta(1))];B=[omega1;omega(1)];Vx=-l1*sin(theta1)*omega1-l2*sin(theta(2))+l22*sin(pi/3-theta(1))*omega(1); Vy=l1*cos(theta1)*omega1+l2*cos(theta(1))-l22*cos(pi/3-theta(1))*omega(1);V=sqrt(Vx^2+Vy^2);%求E点角加速度D1=[alph1;alph(1)];D2=[-l1*cos(theta1)*omega1,-l2*cos(theta(1))*omega(1)-l22*cos(pi/3-theta(1)) *omega(1);-l1*sin(theta1)*omega1,-l2*sin(theta(2))*omega(1)+l22*sin(pi/3-the ta(1))*omega(1)];a1=A*D1+D2*B;a=sqrt(a1(1)^2+a1(2)^2);end4.4 E点位移function [ xe,ye ] = weiyi_E( theta1,theta,l1,l2,l22)xe=l1*cos(theta1)+l2*cos(theta(1))+l22*cos(pi/3-theta(1));ye=l1*sin(theta1)+l2*sin(theta(2))+l22*sin(pi/3-theta(1));end五、计算结果1-C1- A各杆角位移变化：主动杆1 从动杆2 从动杆3 从动杆5 从动杆6 角速度变化：主动杆1 从动杆2 从动杆3 从动杆5 从动杆6 角加速度变化：从动杆2 从动杆3 从动杆5 从动杆6 E点速度 E点加速度0 37.5874 73.3953 132.3244 -249.1610 -0.4173 -0.4173 -2.9518 -3.9210 0.1853 0.7684 11.4966 12.2492 0.1750 0.066210 33.9922 70.5461 112.3625 83.0629 -0.3725 -0.2752 -1.6190 -2.3483 0.3312 0.8861 5.4435 7.2001 0.1771 0.069820 30.8938 68.3522 100.7887 66.3895 -0.3099 -0.1240 -1.0223 -1.4183 0.3947 0.8748 2.2858 4.2935 0.1769 0.065230 28.3939 68.8217 92.8061 56.3457 -0.2421 0.0176 -0.7802 -0.8393 0.3918 0.7725 0.7957 2.6200 0.1756 0.056540 26.4980 68.0969 86.1429 50.4847 -0.1776 0.1386 -0.7120 -0.4874 0.35250.6300 0.0186 1.3992 0.1737 0.047150 25.1553 70.3847 79.6002 46.9508 -0.1203 0.2355 -0.7470 -0.3233 0.3016 0.4844 -0.5568 0.2390 0.1717 0.038860 24.2950 73.9013 72.3014 44.0020 -0.0710 0.3093 -0.8813 -0.3641 0.2533 0.3542 -1.2895 -1.2162 0.1695 0.032370 23.8476 75.1559 63.1407 39.4490 -0.0289 0.3627 -1.1655 -0.6919 0.2131 0.2447 -2.4793 -3.4059 0.1670 0.027680 23.7541 78.6178 50.5946 30.3211 0.0074 0.3991 -1.6505 -1.4058 0.1823 0.1547 -3.5724 -5.7645 0.1640 0.024490 23.9684 82.3428 33.3226 13.5585 0.0393 0.4213 -2.1120 -2.2571 0.1598 0.0808 -1.6008 -4.2438 0.1604 0.0224100 24.4557 86.2130 14.0722 351.3272 0.0679 0.4315 -2.0322 -2.5206 0.1440 0.0194 2.3723 0.6473 0.1560 0.0210110 25.1910 90.1287 357.8431 329.7360 0.0942 0.4316 -1.5207 -2.1913 0.1332 -0.0326 3.5937 2.8204 0.1509 0.0199120 26.1562 94.0046 346.5251 311.9913 0.1188 0.4229 -0.9979 -1.7317 0.1258 -0.0774 2.9022 2.6888 0.1450 0.0190130 27.3381 97.7660 339.3348 298.1684 0.1421 0.4065 -0.6212 -1.3498 0.1203 -0.1166 1.9341 2.0410 0.1384 0.0179140 28.7259 101.3476 334.8721 287.2791 0.1642 0.3833 -0.3835 -1.0652 0.1154 -0.1510 1.1653 1.4750 0.1312 0.0168150 30.3094 104.6913 332.0658 278.6109 0.1852 0.3541 -0.2503 -0.8573 0.1096 -0.1812 0.6238 1.0709 0.1237 0.0156160 32.0769 107.7461 330.1164 271.5735 0.2048 0.3196 -0.1901 -0.7032 0.1019 -0.2074 0.2498 0.7872 0.1161 0.0145170 34.0134 110.4673 328.4700 265.7510 0.2225 0.2806 -0.1804 -0.5877 0.0910 -0.2297 -0.0073 0.5761 0.1086 0.0136180 36.0993 112.8168 326.7451 260.8343 0.2377 0.2377 -0.2052 -0.5024 0.0762 -0.2485 -0.1801 0.4041 0.1015 0.0131190 38.3086 114.7624 324.6851 256.5725 0.2496 0.1915 -0.2526 -0.4427 0.0567 -0.2641 -0.2889 0.2529 0.0949 0.0132200 40.6082 116.2773 322.1285 252.7450 0.2575 0.1426 -0.3135 -0.4061 0.0318 -0.2774 -0.3478 0.1167 0.0893 0.0140210 42.9568 117.3387 318.9886 249.1546 0.2603 0.0914 -0.3804 -0.3899 0.0013 -0.2895 -0.3685 0.0004 0.0847 0.0157220 45.3047 117.9264 315.2360 245.6335 0.2571 0.0380 -0.4480 -0.3900 -0.0353 -0.3017 -0.3620 -0.0853 0.0813 0.0181230 47.5932 118.0211 310.8823 242.0595 0.2470 -0.0175 -0.5127 -0.4004 -0.0782 -0.3151 -0.3403 -0.1278 0.0794 0.0211240 49.7540 117.6023 305.9627 238.3738 0.2288 -0.0754 -0.5729 -0.4132 -0.1278 -0.3310 -0.3164 -0.1187 0.0791 0.0247250 51.7094 116.6472 300.5166 234.5934 0.2014 -0.1360 -0.6293 -0.4199 -0.1843 -0.3501 -0.3049 -0.0572 0.0803 0.0288260 53.3719 115.1293 294.5668 230.8117 0.1639 -0.1997 -0.6848 -0.4124 -0.2475-0.3721 -0.3194 0.0467 0.0834 0.0333270 54.6447 113.0192 288.1003 227.1842 0.1152 -0.2668 -0.7443 -0.3852 -0.3165 -0.3955 -0.3688 0.1726 0.0882 0.0379280 55.4237 110.2873 281.0562 223.8989 0.0548 -0.3369 -0.8133 -0.3370 -0.3886 -0.4161 -0.4543 0.2910 0.0949 0.0419290 55.6019 106.9102 273.3252 221.1329 -0.0173 -0.4090 -0.8967 -0.2718 -0.4578 -0.4262 -0.5690 0.3631 0.1034 0.0442300 55.0787 102.8823 264.7607 218.9966 -0.0997 -0.4800 -0.9979 -0.2008 -0.5135 -0.4125 -0.7072 0.3318 0.1136 0.0430310 53.7760 98.2358 255.1855 217.4477 -0.1886 -0.5444 -1.1213 -0.1481 -0.5388 -0.3560 -0.9028 0.0758 0.1253 0.0358320 51.6630 93.0677 244.3304 216.0976 -0.2772 -0.5934 -1.2883 -0.1739 -0.5122 -0.2347 -1.4134 -0.8402 0.1379 0.0210330 48.7870 87.5711 231.3350 213.4091 -0.3551 -0.6148 -1.6460 -0.5258 -0.4142 -0.0335 -4.1473 -5.1606 0.1504 0.0016340 45.3000 82.0541 210.8268 201.0289 -0.4101 -0.5961 -3.3535 -2.9018 -0.2419 0.2382 -21.6876 -31.2573 0.1615 0.0280350 41.4594 76.9211 168.4185 155.7385 -0.4319 -0.5293 -5.0122 -5.8883 -0.0235 0.5314 8.8888 5.4742 0.1699 0.0516360 37.5877 72.6042 132.2974 110.8020 -0.4173 -0.4173 -2.9504 -3.9199 0.1853 0.7684 11.4947 12.2491 0.1750 0.06621-B0 35.6084 60.6281 114.9568 35.1604 (0.4138) (0.4138) (1.3994) (2.4028) 0.2650 0.8169 4.9187 6.0195 0.1719 0.067410 30.8924 61.5362 102.5057 52.3535 (0.3491) (0.2488) (0.7314) (1.4428) 0.4055 0.9214 1.8880 3.9732 0.1722 0.066520 27.0862 59.5197 95.1924 39.9378 (0.2697) (0.0818) (0.5036) (0.8102) 0.4334 0.8595 0.5233 2.7968 0.1705 0.057730 24.2472 59.4280 89.3810 31.1071 (0.1938) 0.0619 (0.4624) (0.3856) 0.3926 0.7106 (0.0275) 1.9043 0.1684 0.047340 22.2711 140.9068 83.5433 28.1206 (0.1299) 0.1734 (0.4953) (0.1313) 0.3304 0.5471 (0.2483) 1.1174 0.1668 0.038350 21.0007 63.5668 77.0508 28.9672 (0.0788) 0.2548 (0.5661) (0.0309) 0.2720 0.4034 (0.4096) 0.3728 0.1656 0.031560 20.2899 67.0707 69.4300 27.5319 (0.0384) 0.3117 (0.6815) (0.0875) 0.2257 0.2872 (0.6704) (0.4521) 0.1645 0.026770 20.0246 71.1528 59.9933 25.8948 (0.0059) 0.3497 (0.8738) (0.3374) 0.1915 0.1952 (1.1162) (1.5252) 0.1633 0.023480 20.1229 75.6089 47.5321 18.8230 0.0211 0.3732 (1.1685) (0.8300) 0.1673 0.1216 (1.5023) (2.6442) 0.1615 0.021190 20.5287 80.2819 31.3070 3.1795 0.0444 0.3855 (1.4432) (1.4342) 0.1505 0.0613 (0.7095) (2.2750) 0.1590 0.0194100 21.2050 85.0474 13.4384 343.3043 0.0653 0.3886 (1.3945) (1.7156) 0.1392 0.0103 1.1740 (0.0114) 0.1556 0.0181110 22.1289 89.8033 358.3468 322.8561 0.0848 0.3841 (1.0340) (1.5613) 0.1316 (0.0341) 1.9259 1.3830 0.1511 0.0170120 23.2870 94.4630 348.1012 305.4924 0.1035 0.3731 (0.6457) (1.2608) 0.1263 (0.0736) 1.5727 1.4852 0.1457 0.0160130 24.6719 98.9508 342.0222 291.7128 0.1218 0.3562 (0.3633) (0.9917) 0.1222 (0.1093) 1.0026 1.1989 0.1394 0.0150140 26.2796 103.1990 338.7246 280.8735 0.1398 0.3342 (0.1907) (0.7861) 0.1181 (0.1414) 0.5346 0.9222 0.1324 0.0141150 28.1066 107.1472 337.0058 272.1948 0.1574 0.3075 (0.1002) (0.6314) 0.1130 (0.1702) 0.1940 0.7220 0.1249 0.0134160 30.1477 110.7413 336.0186 265.1882 0.1745 0.2767 (0.0684) (0.5128) 0.1058 (0.1953) (0.0484) 0.5816 0.1172 0.0128170 32.3934 113.9345 335.1552 259.4739 0.1906 0.2424 (0.0776) (0.4204) 0.0957 (0.2167) (0.2185) 0.4726 0.1095 0.0125180 34.8277 116.6874 333.9947 254.7617 0.2051 0.2051 (0.1149) (0.3496) 0.0820 (0.2344) (0.3316) 0.3726 0.1021 0.0124190 37.4267 118.9678 332.2590 250.7928 0.2173 0.1656 (0.1697) (0.2996) 0.0640 (0.2485) (0.3968) 0.2695 0.0953 0.0128200 40.1568 120.7503 329.7869 247.3079 0.2263 0.1242 (0.2334) (0.2710) 0.0415 (0.2597) (0.4221) 0.1623 0.0893 0.0136210 42.9741 122.0147 326.5127 244.0423 0.2314 0.0813 (0.2992) (0.2638) 0.0142 (0.2689) (0.4160) 0.0599 0.0844 0.0149220 45.8240 122.7435 322.4443 240.7458 0.2315 0.0370 (0.3619) (0.2754) (0.0179) (0.2774) (0.3882) (0.0229) 0.0807 0.0168230 48.6401 122.9190 317.6404 237.2170 0.2257 (0.0088) (0.4185) (0.3004) (0.0551) (0.2865) (0.3487) (0.0700) 0.0783 0.0191240 51.3440 122.5200 312.1854 233.3408 0.2130 (0.0565) (0.4679) (0.3304) (0.0975) (0.2975) (0.3093) (0.0696) 0.0775 0.0219250 53.8440 121.5184 306.1608 229.1163 0.1923 (0.1070) (0.5117) (0.3554) (0.1456) (0.3113) (0.2837) (0.0185) 0.0782 0.0252260 56.0339 119.8763 299.6105 224.6626 0.1623 (0.1609) (0.5545) (0.3662) (0.1998) (0.3288) (0.2867) 0.0751 0.0805 0.0290270 57.7910 117.5442 292.5046 220.1994 0.1217 (0.2194) (0.6036) (0.3562) (0.2602) (0.3495) (0.3303) 0.1914 0.0845 0.0332280 58.9751 114.4610 284.7079 215.9974 0.0689 (0.2832) (0.6685) (0.3240) (0.3261) (0.3717) (0.4196) 0.2997 0.0904 0.0374290 59.4298 110.5579 275.9639 212.3007 0.0028 (0.3527) (0.7594) (0.2760) (0.3941) (0.3903) (0.5541) 0.3545 0.0982 0.0407300 58.9895 105.7702 265.8876 209.2070 (0.0767) (0.4268) (0.8875) (0.2308) (0.4565) (0.3950) (0.7431) 0.2768 0.1079 0.0416310 57.4975 100.0632 253.9196 206.4448 (0.1677) (0.5013) (1.0725) (0.2342) (0.4980) (0.3666) (1.0676) (0.1314) 0.1196 0.0371320 54.8443 93.4792 239.0430 202.7655 (0.2641) (0.5674) (1.3812) (0.4193) (0.4928) (0.2761) (1.9610) (1.6144) 0.1328 0.0243330 51.0310 86.2118 218.3537 193.4778 (0.3539) (0.6096) (2.1083) (1.2930) (0.4088)(0.0908) (5.3673) (7.3843) 0.1466 0.0020340 46.2458 78.6793 183.1568 163.4391 (0.4189) (0.6068) (3.6292) (3.7627) (0.2266)0.1995 (4.3728) (10.1287) 0.1589 0.0281350 40.9100 71.5539 140.2853 112.7881 (0.4411) (0.5414) (2.8607) (3.8254) 0.02620.5421 8.5057 7.1362 0.1678 0.0542360 35.6084 65.6281 114.9501 74.8328 (0.4138) (0.4138) (1.3993) (2.4028) 0.26500.8169 4.9188 6.0200 0.1719 0.0674六、运动线图及分析本作业通过MATLAB软件进行机构动力学建模，并输出了机构E点的运动轨迹曲线；从动件的角位移线图、角速度线图，以及角加速度线图。