When I run this code in Matlab, it pops up “Function or variable ‘six_bar’ is not recognized”. How to solve the error?
clear;
i1=0.1;
i3=0.59;
i4=0.159;
i6=0.36;
i61=0.578;
omega1=0.87;
alpha=0;
hd=pi/180;
du=180/pi;
%调用子函数,six_bar返回牛头刨床的位移,角速度,角加速度
for n1 = 1:459
theta1(n1)=-2*pi+5.8119+(n1-1)*hd;
ii=[i1,i3,i4,i6,i61];
[theta,omega,alpha]=six_bar(theta1(n1),omega1,ii);
s3(n1)=theta(1);
theta3(n1)=theta(2);
theta4(n1)=theta(3);
sE(n1)=theta(4);
v2(n1)=omega(1);
omega3(n1)=omega(2);
omega4(n1)=omega(3);
vE(n1)=omega(4);
a2(n1)=alpha(1);
alpha3(n1)=alpha(2);
alpha4(n1)=alpha(3);
aE(n1)=alpha(4);
end
%3.位移,角速度，角加速度和牛头刨床图形输出
figure(1);
n1=1:459;
t=(n1-1)*2*pi/360;
subplot(2,2,1);%绘角位移及位移线图
plot(t,theta3*du,’r-.’); %’r-.’表示线条是红色的，并且线型是点画线
grid on;
hold on;
title(‘角位移及位移线图’)
axis auto;
[haxes,~,~]=plotyy(t,theta4*du,t,sE); %
grid on;
hold on;
xlabel(‘时间/s’);
axes(haxes(1));%haxes(1)表示左边的坐标轴的句柄,这行代码表示下面的代码是在左边的坐标轴上作图,修改
ylabel(‘角位移/circ’);
axes(haxes(2));
ylabel(‘位移/m’);
hold on;
grid on;
text(1.15,-0.65,’theta_3′);
text(3.4,0.27,’theta_4′);
text(2.25,-0.15,’s_E’);
subplot(2,2,2); %绘角速度及速度线图
plot(t,omega3,’r-.’); %’r-.’表示线条是红色的，并且线型是点画线
grid on;
hold on;
title(‘角速度及速度线图’)
axis auto;
[haxes,~,~]=plotyy(t,omega4,t,vE); %
grid on;
hold on;
xlabel(‘时间/s’);
axes(haxes(1));%haxes(1)表示左边的坐标轴的句柄,这行代码表示下面的代码是在左边的坐标轴上作图,修改
ylabel(‘角速度/radcdots∧{-1}’);
axes(haxes(2));
ylabel(‘速度/mcdots∧{-1}’);
hold on;
grid on;
text(3.1,0.35,’omega_3′);
text(2.1,0.1,’omega_4′);
text(5.5,0.45,’v_E’);
subplot(2,2,3); %绘角加速度及加速度线图
plot(t,alpha3,’r-.’); %’r-.’表示线条是红色的，并且线型是点画线
grid on;
hold on;
title(‘角加速度及加速度线图’)
axis auto;
[haxes,~,~]=plotyy(t,alpha4,t,aE); %
grid on;
hold on;
xlabel(‘时间’);
axes(haxes(1));%haxes(1)表示左边的坐标轴的句柄,这行代码表示下面的代码是在左边的坐标轴上作图,修改
ylabel(‘角加速度/radcdots∧{-2}’);
axes(haxes(2));
ylabel(‘加速度/mcdots∧{-2}’);
hold on;
grid on;
text(1.5,0.3,’alpha_3′);
text(3.5,0.51,’alpha_4′);
text(1.5,-0.11,’a_E’);
subplot(2,2,4); %牛头刨床机构
n1=20;
x(1)=0;y(1)=0;
x(2)=(s3(n1)*1000-50)*cos(theta3(n1));
y(2)=(s3(n1)*1000-50)*sin(theta3(n1));
x(3)=0;y(3)=i6*1000;
x(4)=i1*1000*cos(theta1(n1));
y(4)=s3(n1)*1000*sin(theta3(n1));
x(5)=(s3(n1)*1000+50)*cos(theta3(n1));
y(5)=(s3(n1)*1000+50)*sin(theta3(n1));
x(6)=i3*1000*cos(theta3(n1));
y(6)=i3*1000*sin(theta3(n1));
x(7)=i3*1000*cos(theta3(n1))+i4*1000*cos(theta4(n1));
y(7)=i3*1000*sin(theta3(n1))+i4*1000*sin(theta4(n1));
x(8)=i3*1000*cos(theta3(n1))+i4*1000*cos(theta4(n1))-900;
y(8)=i61*1000;
x(9)=i3*1000*cos(theta3(n1))+i4*1000*cos(theta4(n1))+600;
y(9)=i61*1000;
x(10)=(s3(n1)*1000-50)*cos(theta3(n1));
y(10)=(s3(n1)*1000-50)*sin(theta3(n1));
x(11)=x(10)+25*cos(pi/2-theta3(n1));
y(11)=y(10)-25*sin(pi/2-theta3(n1));
x(12)=x(11)+100*cos(theta3(n1));
y(12)=y(11)+100*sin(theta3(n1));
x(13)=x(12)-50*cos(pi/2-theta3(n1));
y(13)=y(12)+50*sin(pi/2-theta3(n1));
x(14)=x(10)-25*cos(pi/2-theta3(n1));
y(14)=y(10)+25*sin(pi/2-theta3(n1));
x(15)=x(10);
y(15)=y(10);
x(16)=0;
y(16)=0;
x(17)=0;
y(17)=i6*1000;
k=1:2;
plot(x(k),y(k));
hold on;
k=3:4;
plot(x(k),y(k));
hold on;
k=5:9;
plot(x(k),y(k));
hold on;
k=10:15;
plot(x(k),y(k));
hold on;
k=16:17;
plot(x(k),y(k));
hold on;
grid on;
axis ([-500 600 0 650]);
title(‘牛头刨床’);
grid on;
xlabel(‘mm’);
ylabel(‘mm’);
plot(x(1),y(1),’o’);
plot(x(3),y(3),’o’);
plot(x(4),y(4),’o’);
plot(x(6),y(6),’o’);
plot(x(7),y(7),’o’);
hold on;
grid on;
xlabel(‘mm’);
ylabel(‘mm’);
axis([-400 600 0 650]);
function [theta, omega, alpha]=six_bar(theta1,omega1,ii)
i1=ii(1);
i3=ii(2);
i4=ii(3);
i6=ii(4);
i61=ii(5);
%1.计算角位移和线位移
s3 =sqrt((i1*cos(theta1))*(i1*cos(theta1))+(i6+i1*sin(theta1))*(i6+i1*sin(theta1)));
%s3表示滑块2相对于CD杆的位移
theta3 =acos((i1*cos(theta1 ))/s3 );
%theta3表示杆3转过角度
theta4 =pi-asin((i61-i3*sin(theta3 ))/i4);
%theta4表示杆4转过角度
sE =i3*cos(theta3 )+i4*cos(theta4 );
%sE表示杆5的位移
theta(1)=s3;
theta(2)=theta3;
theta(3)=theta4;
theta(4)=sE;
%2.计算角速度和线速度
A=[sin(theta3 ),s3 *cos(theta3 ),0,0;
-cos(theta3 ),s3 *sin(theta3 ),0,0;
0,i3*sin(theta3 ),i4*sin(theta4 ),1;
0,i3*cos(theta3 ),i4*cos(theta4 ),0];
B=[i1*cos(theta1 );i1*sin(theta1 );0;0];
omega=A(omega1*B);
v2 =omega(1);
%滑块2的速度
omega3 =omega(2);
%构件3的角速度
omega4 =omega(3);
%构件4的角速度
vE =omega(4);
%构件5的速度
%3.计算角加速度和加速度
A=[sin(theta3 ),s3 *cos(theta3 ),0,0;
%从动件位置参数矩阵
cos(theta3 ),-s3 *sin(theta3 ),0,0;
0,i3*sin(theta3 ),i4*sin(theta4 ),1;
0,i3*cos(theta3 ),i4*cos(theta4 ),0];
At=[omega3 *cos(theta3 ),(v2 *cos(theta3 )-s3*omega3 *sin(theta3 )),0,0;
-omega3 *sin(theta3 ),(-v2 *sin(theta3 )-s3 *omega3 *cos(theta3 )),0,0;
0,i3*omega3 *cos(theta3 ),i4*omega4 *cos(theta4 ),0;
0,-i3*omega3 *sin(theta3 ),-i4*omega4 *sin(theta4 ),0];
Bt=[-i1*omega1*sin(theta1 );-i1*omega1*cos(theta1 );0;0];
alpha=A(-At*omega+omega1*Bt);
%机构从动件的加速度列阵
a2 =alpha(1);
%a2表示滑块2的加速度
alpha3 =alpha(2);
%alpha3表示杆3的角加速度
alpha4 =alpha(3);
%alpha4表示杆4的角加速度
aE =alpha(4);
%构件5的加速度
endclear;
i1=0.1;
i3=0.59;
i4=0.159;
i6=0.36;
i61=0.578;
omega1=0.87;
alpha=0;
hd=pi/180;
du=180/pi;
%调用子函数,six_bar返回牛头刨床的位移,角速度,角加速度
for n1 = 1:459
theta1(n1)=-2*pi+5.8119+(n1-1)*hd;
ii=[i1,i3,i4,i6,i61];
[theta,omega,alpha]=six_bar(theta1(n1),omega1,ii);
s3(n1)=theta(1);
theta3(n1)=theta(2);
theta4(n1)=theta(3);
sE(n1)=theta(4);
v2(n1)=omega(1);
omega3(n1)=omega(2);
omega4(n1)=omega(3);
vE(n1)=omega(4);
a2(n1)=alpha(1);
alpha3(n1)=alpha(2);
alpha4(n1)=alpha(3);
aE(n1)=alpha(4);
end
%3.位移,角速度，角加速度和牛头刨床图形输出
figure(1);
n1=1:459;
t=(n1-1)*2*pi/360;
subplot(2,2,1);%绘角位移及位移线图
plot(t,theta3*du,’r-.’); %’r-.’表示线条是红色的，并且线型是点画线
grid on;
hold on;
title(‘角位移及位移线图’)
axis auto;
[haxes,~,~]=plotyy(t,theta4*du,t,sE); %
grid on;
hold on;
xlabel(‘时间/s’);
axes(haxes(1));%haxes(1)表示左边的坐标轴的句柄,这行代码表示下面的代码是在左边的坐标轴上作图,修改
ylabel(‘角位移/circ’);
axes(haxes(2));
ylabel(‘位移/m’);
hold on;
grid on;
text(1.15,-0.65,’theta_3′);
text(3.4,0.27,’theta_4′);
text(2.25,-0.15,’s_E’);
subplot(2,2,2); %绘角速度及速度线图
plot(t,omega3,’r-.’); %’r-.’表示线条是红色的，并且线型是点画线
grid on;
hold on;
title(‘角速度及速度线图’)
axis auto;
[haxes,~,~]=plotyy(t,omega4,t,vE); %
grid on;
hold on;
xlabel(‘时间/s’);
axes(haxes(1));%haxes(1)表示左边的坐标轴的句柄,这行代码表示下面的代码是在左边的坐标轴上作图,修改
ylabel(‘角速度/radcdots∧{-1}’);
axes(haxes(2));
ylabel(‘速度/mcdots∧{-1}’);
hold on;
grid on;
text(3.1,0.35,’omega_3′);
text(2.1,0.1,’omega_4′);
text(5.5,0.45,’v_E’);
subplot(2,2,3); %绘角加速度及加速度线图
plot(t,alpha3,’r-.’); %’r-.’表示线条是红色的，并且线型是点画线
grid on;
hold on;
title(‘角加速度及加速度线图’)
axis auto;
[haxes,~,~]=plotyy(t,alpha4,t,aE); %
grid on;
hold on;
xlabel(‘时间’);
axes(haxes(1));%haxes(1)表示左边的坐标轴的句柄,这行代码表示下面的代码是在左边的坐标轴上作图,修改
ylabel(‘角加速度/radcdots∧{-2}’);
axes(haxes(2));
ylabel(‘加速度/mcdots∧{-2}’);
hold on;
grid on;
text(1.5,0.3,’alpha_3′);
text(3.5,0.51,’alpha_4′);
text(1.5,-0.11,’a_E’);
subplot(2,2,4); %牛头刨床机构
n1=20;
x(1)=0;y(1)=0;
x(2)=(s3(n1)*1000-50)*cos(theta3(n1));
y(2)=(s3(n1)*1000-50)*sin(theta3(n1));
x(3)=0;y(3)=i6*1000;
x(4)=i1*1000*cos(theta1(n1));
y(4)=s3(n1)*1000*sin(theta3(n1));
x(5)=(s3(n1)*1000+50)*cos(theta3(n1));
y(5)=(s3(n1)*1000+50)*sin(theta3(n1));
x(6)=i3*1000*cos(theta3(n1));
y(6)=i3*1000*sin(theta3(n1));
x(7)=i3*1000*cos(theta3(n1))+i4*1000*cos(theta4(n1));
y(7)=i3*1000*sin(theta3(n1))+i4*1000*sin(theta4(n1));
x(8)=i3*1000*cos(theta3(n1))+i4*1000*cos(theta4(n1))-900;
y(8)=i61*1000;
x(9)=i3*1000*cos(theta3(n1))+i4*1000*cos(theta4(n1))+600;
y(9)=i61*1000;
x(10)=(s3(n1)*1000-50)*cos(theta3(n1));
y(10)=(s3(n1)*1000-50)*sin(theta3(n1));
x(11)=x(10)+25*cos(pi/2-theta3(n1));
y(11)=y(10)-25*sin(pi/2-theta3(n1));
x(12)=x(11)+100*cos(theta3(n1));
y(12)=y(11)+100*sin(theta3(n1));
x(13)=x(12)-50*cos(pi/2-theta3(n1));
y(13)=y(12)+50*sin(pi/2-theta3(n1));
x(14)=x(10)-25*cos(pi/2-theta3(n1));
y(14)=y(10)+25*sin(pi/2-theta3(n1));
x(15)=x(10);
y(15)=y(10);
x(16)=0;
y(16)=0;
x(17)=0;
y(17)=i6*1000;
k=1:2;
plot(x(k),y(k));
hold on;
k=3:4;
plot(x(k),y(k));
hold on;
k=5:9;
plot(x(k),y(k));
hold on;
k=10:15;
plot(x(k),y(k));
hold on;
k=16:17;
plot(x(k),y(k));
hold on;
grid on;
axis ([-500 600 0 650]);
title(‘牛头刨床’);
grid on;
xlabel(‘mm’);
ylabel(‘mm’);
plot(x(1),y(1),’o’);
plot(x(3),y(3),’o’);
plot(x(4),y(4),’o’);
plot(x(6),y(6),’o’);
plot(x(7),y(7),’o’);
hold on;
grid on;
xlabel(‘mm’);
ylabel(‘mm’);
axis([-400 600 0 650]);
function [theta, omega, alpha]=six_bar(theta1,omega1,ii)
i1=ii(1);
i3=ii(2);
i4=ii(3);
i6=ii(4);
i61=ii(5);
%1.计算角位移和线位移
s3 =sqrt((i1*cos(theta1))*(i1*cos(theta1))+(i6+i1*sin(theta1))*(i6+i1*sin(theta1)));
%s3表示滑块2相对于CD杆的位移
theta3 =acos((i1*cos(theta1 ))/s3 );
%theta3表示杆3转过角度
theta4 =pi-asin((i61-i3*sin(theta3 ))/i4);
%theta4表示杆4转过角度
sE =i3*cos(theta3 )+i4*cos(theta4 );
%sE表示杆5的位移
theta(1)=s3;
theta(2)=theta3;
theta(3)=theta4;
theta(4)=sE;
%2.计算角速度和线速度
A=[sin(theta3 ),s3 *cos(theta3 ),0,0;
-cos(theta3 ),s3 *sin(theta3 ),0,0;
0,i3*sin(theta3 ),i4*sin(theta4 ),1;
0,i3*cos(theta3 ),i4*cos(theta4 ),0];
B=[i1*cos(theta1 );i1*sin(theta1 );0;0];
omega=A(omega1*B);
v2 =omega(1);
%滑块2的速度
omega3 =omega(2);
%构件3的角速度
omega4 =omega(3);
%构件4的角速度
vE =omega(4);
%构件5的速度
%3.计算角加速度和加速度
A=[sin(theta3 ),s3 *cos(theta3 ),0,0;
%从动件位置参数矩阵
cos(theta3 ),-s3 *sin(theta3 ),0,0;
0,i3*sin(theta3 ),i4*sin(theta4 ),1;
0,i3*cos(theta3 ),i4*cos(theta4 ),0];
At=[omega3 *cos(theta3 ),(v2 *cos(theta3 )-s3*omega3 *sin(theta3 )),0,0;
-omega3 *sin(theta3 ),(-v2 *sin(theta3 )-s3 *omega3 *cos(theta3 )),0,0;
0,i3*omega3 *cos(theta3 ),i4*omega4 *cos(theta4 ),0;
0,-i3*omega3 *sin(theta3 ),-i4*omega4 *sin(theta4 ),0];
Bt=[-i1*omega1*sin(theta1 );-i1*omega1*cos(theta1 );0;0];
alpha=A(-At*omega+omega1*Bt);
%机构从动件的加速度列阵
a2 =alpha(1);
%a2表示滑块2的加速度
alpha3 =alpha(2);
%alpha3表示杆3的角加速度
alpha4 =alpha(3);
%alpha4表示杆4的角加速度
aE =alpha(4);
%构件5的加速度
end clear;
i1=0.1;
i3=0.59;
i4=0.159;
i6=0.36;
i61=0.578;
omega1=0.87;
alpha=0;
hd=pi/180;
du=180/pi;
%调用子函数,six_bar返回牛头刨床的位移,角速度,角加速度
for n1 = 1:459
theta1(n1)=-2*pi+5.8119+(n1-1)*hd;
ii=[i1,i3,i4,i6,i61];
[theta,omega,alpha]=six_bar(theta1(n1),omega1,ii);
s3(n1)=theta(1);
theta3(n1)=theta(2);
theta4(n1)=theta(3);
sE(n1)=theta(4);
v2(n1)=omega(1);
omega3(n1)=omega(2);
omega4(n1)=omega(3);
vE(n1)=omega(4);
a2(n1)=alpha(1);
alpha3(n1)=alpha(2);
alpha4(n1)=alpha(3);
aE(n1)=alpha(4);
end
%3.位移,角速度，角加速度和牛头刨床图形输出
figure(1);
n1=1:459;
t=(n1-1)*2*pi/360;
subplot(2,2,1);%绘角位移及位移线图
plot(t,theta3*du,’r-.’); %’r-.’表示线条是红色的，并且线型是点画线
grid on;
hold on;
title(‘角位移及位移线图’)
axis auto;
[haxes,~,~]=plotyy(t,theta4*du,t,sE); %
grid on;
hold on;
xlabel(‘时间/s’);
axes(haxes(1));%haxes(1)表示左边的坐标轴的句柄,这行代码表示下面的代码是在左边的坐标轴上作图,修改
ylabel(‘角位移/circ’);
axes(haxes(2));
ylabel(‘位移/m’);
hold on;
grid on;
text(1.15,-0.65,’theta_3′);
text(3.4,0.27,’theta_4′);
text(2.25,-0.15,’s_E’);
subplot(2,2,2); %绘角速度及速度线图
plot(t,omega3,’r-.’); %’r-.’表示线条是红色的，并且线型是点画线
grid on;
hold on;
title(‘角速度及速度线图’)
axis auto;
[haxes,~,~]=plotyy(t,omega4,t,vE); %
grid on;
hold on;
xlabel(‘时间/s’);
axes(haxes(1));%haxes(1)表示左边的坐标轴的句柄,这行代码表示下面的代码是在左边的坐标轴上作图,修改
ylabel(‘角速度/radcdots∧{-1}’);
axes(haxes(2));
ylabel(‘速度/mcdots∧{-1}’);
hold on;
grid on;
text(3.1,0.35,’omega_3′);
text(2.1,0.1,’omega_4′);
text(5.5,0.45,’v_E’);
subplot(2,2,3); %绘角加速度及加速度线图
plot(t,alpha3,’r-.’); %’r-.’表示线条是红色的，并且线型是点画线
grid on;
hold on;
title(‘角加速度及加速度线图’)
axis auto;
[haxes,~,~]=plotyy(t,alpha4,t,aE); %
grid on;
hold on;
xlabel(‘时间’);
axes(haxes(1));%haxes(1)表示左边的坐标轴的句柄,这行代码表示下面的代码是在左边的坐标轴上作图,修改
ylabel(‘角加速度/radcdots∧{-2}’);
axes(haxes(2));
ylabel(‘加速度/mcdots∧{-2}’);
hold on;
grid on;
text(1.5,0.3,’alpha_3′);
text(3.5,0.51,’alpha_4′);
text(1.5,-0.11,’a_E’);
subplot(2,2,4); %牛头刨床机构
n1=20;
x(1)=0;y(1)=0;
x(2)=(s3(n1)*1000-50)*cos(theta3(n1));
y(2)=(s3(n1)*1000-50)*sin(theta3(n1));
x(3)=0;y(3)=i6*1000;
x(4)=i1*1000*cos(theta1(n1));
y(4)=s3(n1)*1000*sin(theta3(n1));
x(5)=(s3(n1)*1000+50)*cos(theta3(n1));
y(5)=(s3(n1)*1000+50)*sin(theta3(n1));
x(6)=i3*1000*cos(theta3(n1));
y(6)=i3*1000*sin(theta3(n1));
x(7)=i3*1000*cos(theta3(n1))+i4*1000*cos(theta4(n1));
y(7)=i3*1000*sin(theta3(n1))+i4*1000*sin(theta4(n1));
x(8)=i3*1000*cos(theta3(n1))+i4*1000*cos(theta4(n1))-900;
y(8)=i61*1000;
x(9)=i3*1000*cos(theta3(n1))+i4*1000*cos(theta4(n1))+600;
y(9)=i61*1000;
x(10)=(s3(n1)*1000-50)*cos(theta3(n1));
y(10)=(s3(n1)*1000-50)*sin(theta3(n1));
x(11)=x(10)+25*cos(pi/2-theta3(n1));
y(11)=y(10)-25*sin(pi/2-theta3(n1));
x(12)=x(11)+100*cos(theta3(n1));
y(12)=y(11)+100*sin(theta3(n1));
x(13)=x(12)-50*cos(pi/2-theta3(n1));
y(13)=y(12)+50*sin(pi/2-theta3(n1));
x(14)=x(10)-25*cos(pi/2-theta3(n1));
y(14)=y(10)+25*sin(pi/2-theta3(n1));
x(15)=x(10);
y(15)=y(10);
x(16)=0;
y(16)=0;
x(17)=0;
y(17)=i6*1000;
k=1:2;
plot(x(k),y(k));
hold on;
k=3:4;
plot(x(k),y(k));
hold on;
k=5:9;
plot(x(k),y(k));
hold on;
k=10:15;
plot(x(k),y(k));
hold on;
k=16:17;
plot(x(k),y(k));
hold on;
grid on;
axis ([-500 600 0 650]);
title(‘牛头刨床’);
grid on;
xlabel(‘mm’);
ylabel(‘mm’);
plot(x(1),y(1),’o’);
plot(x(3),y(3),’o’);
plot(x(4),y(4),’o’);
plot(x(6),y(6),’o’);
plot(x(7),y(7),’o’);
hold on;
grid on;
xlabel(‘mm’);
ylabel(‘mm’);
axis([-400 600 0 650]);
function [theta, omega, alpha]=six_bar(theta1,omega1,ii)
i1=ii(1);
i3=ii(2);
i4=ii(3);
i6=ii(4);
i61=ii(5);
%1.计算角位移和线位移
s3 =sqrt((i1*cos(theta1))*(i1*cos(theta1))+(i6+i1*sin(theta1))*(i6+i1*sin(theta1)));
%s3表示滑块2相对于CD杆的位移
theta3 =acos((i1*cos(theta1 ))/s3 );
%theta3表示杆3转过角度
theta4 =pi-asin((i61-i3*sin(theta3 ))/i4);
%theta4表示杆4转过角度
sE =i3*cos(theta3 )+i4*cos(theta4 );
%sE表示杆5的位移
theta(1)=s3;
theta(2)=theta3;
theta(3)=theta4;
theta(4)=sE;
%2.计算角速度和线速度
A=[sin(theta3 ),s3 *cos(theta3 ),0,0;
-cos(theta3 ),s3 *sin(theta3 ),0,0;
0,i3*sin(theta3 ),i4*sin(theta4 ),1;
0,i3*cos(theta3 ),i4*cos(theta4 ),0];
B=[i1*cos(theta1 );i1*sin(theta1 );0;0];
omega=A(omega1*B);
v2 =omega(1);
%滑块2的速度
omega3 =omega(2);
%构件3的角速度
omega4 =omega(3);
%构件4的角速度
vE =omega(4);
%构件5的速度
%3.计算角加速度和加速度
A=[sin(theta3 ),s3 *cos(theta3 ),0,0;
%从动件位置参数矩阵
cos(theta3 ),-s3 *sin(theta3 ),0,0;
0,i3*sin(theta3 ),i4*sin(theta4 ),1;
0,i3*cos(theta3 ),i4*cos(theta4 ),0];
At=[omega3 *cos(theta3 ),(v2 *cos(theta3 )-s3*omega3 *sin(theta3 )),0,0;
-omega3 *sin(theta3 ),(-v2 *sin(theta3 )-s3 *omega3 *cos(theta3 )),0,0;
0,i3*omega3 *cos(theta3 ),i4*omega4 *cos(theta4 ),0;
0,-i3*omega3 *sin(theta3 ),-i4*omega4 *sin(theta4 ),0];
Bt=[-i1*omega1*sin(theta1 );-i1*omega1*cos(theta1 );0;0];
alpha=A(-At*omega+omega1*Bt);
%机构从动件的加速度列阵
a2 =alpha(1);
%a2表示滑块2的加速度
alpha3 =alpha(2);
%alpha3表示杆3的角加速度
alpha4 =alpha(3);
%alpha4表示杆4的角加速度
aE =alpha(4);
%构件5的加速度
end six_bar MATLAB Answers — New Questions
