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1、w1=1;l1=;l3=;l4=;l6=;l61=;for i=1:3601 theta1(i)=pi*(i-1)/1800;theta31(i)=atan(l6+l1*sin(theta1(i)/(l1*cos(theta1(i);if theta31(i)=0 theta3(i)=theta31(i);else theta3(i)=pi+theta31(i);end;s3(i)=(l1*cos(theta1(i)/cos(theta3(i);theta4(i)=pi-asin(l61-l3*sin(theta3(i)/l4);sE(i)=l3*cos(theta3(i)+l4*cos(th
2、eta4(i);if theta1(i)=pi/2 theta3(i)=pi/2;s3(i)=l1+l6;end;if theta1(i)=3*pi/2 theta3(i)=pi/2;s3(i)=l6-l1;end;A1=cos(theta3(i),-s3(i)*sin(theta3(i),0,0;sin(theta3(i),s3(i)*cos(theta3(i),0,0;0,-l3*sin(theta3(i),-l4*sin(theta4(i),-1;0,l3*cos(theta3(i),l4*cos(theta4(i),0;B1=w1*-l1*sin(theta1(i);l1*cos(th
3、eta1(i);0;0;C1=A1B1;D1(:,i)=C1;s31(i)=D1(1,i);w3(i)=D1(2,i);w4(i)=D1(3,i);vE(i)=D1(4,i);A2=cos(theta3(i),-s3(i)*sin(theta3(i),0,0;sin(theta3(i),s3(i)*cos(theta3(i),0,0;0,-l3*sin(theta3(i),-l4*sin(theta4(i),-1;0,l3*cos(theta3(i),l4*cos(theta4(i),0;B2=-w3(i)*sin(theta3(i),(-s31(i)*sin(theta3(i)-s3(i)*
4、w3(i)*cos(theta3(i),0,0;w3(i)*cos(theta3(i),(s31(i)*cos(theta3(i)-s3(i)*w3(i)*sin(theta3(i),0,0;0,-l3*w3(i)*cos(theta3(i),-l4*w4(i)*cos(theta4(i),0;0,-l3*w3(i)*sin(theta3(i),-l4*w4(i)*sin(theta4(i),0*s31(i);w3(i);w4(i);vE(i);C2=w1*-l1*w1*cos(theta1(i);-l1*w1*sin(theta1(i);0;0;D2=B2+C2;E=A2D2;F(:,i)=
5、E;s311(i)=F(1,i);a3(i)=F(2,i);a4(i)=F(3,i);aE(i)=F(4,i);end;theta11=theta1*180/pi;y=theta3*180/pi;theta4*180/pi;w=w3;w4;a=a3;a4;figure;subplot(221);h1=plotyy(theta11,y,theta11,sE);axis equal;title(位移线图);xlabel(ittheta1);ylabel(ittheta3,theta4,Se);text(315,215,sE);text(180,180,theta4);text(70,105,the
6、ta3);subplot(222);h2=plotyy(theta11,w,theta11,vE);title(速度线图);text(300,vE);text(165,w3);text(90,w4);xlabel(ittheta1);ylabel(itomega3,omega4,vE);subplot(223);h3=plotyy(theta11,a,theta11,aE);title(加速度线图);text(185,a3);text(100,a2);text(100,aE);xlabel(ittheta1);ylabel(italpha3,alpha4,aE);G=theta11;theta3./pi*180;theta4./pi*180;sE;w3;w4;vE;a3;a4;aE;H=F(1:100:3601)