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大小: 33KB文件類型: .m金幣: 1下載: 0 次發(fā)布日期: 2024-01-28
- 語言: Matlab
- 標簽: 并聯(lián)機構(gòu)??程序代碼??誤差分析??
資源簡介
六自由度并聯(lián)機構(gòu)在最近幾年是一個熱點研究方向,由于其結(jié)構(gòu)的特殊性,彌補了串聯(lián)機構(gòu)剛度低、負載能力差、關(guān)節(jié)累積誤差大等缺點。因此要分析并聯(lián)機構(gòu)參數(shù)對誤差的影響
代碼片段和文件信息
syms?l1
a1x=?0.32385;a1y=-0.45686;a1z=0;a2x=0.32385;a2y=0.45686;a2z=0;a3x=0.23373;a3y=0.50889;a3z=0;a4x=-0.55758;a4y=0.05203;a4z=0;a5x=-0.55758;a5y=-0.05203;a5z=0;a6x=0.23373;a6y=-0.50889;a6z=0;b1x=1.18837;b1y=-0.16668;b1z=0;b2x=1.18837;b2y=0.16668;b2z=0;b3x=-0.44984;b3y=1.11250;b3z=0;b4x=-0.73853;b4y=0.94582;b4z=0;b5x=-0.73853;b5y=-0.94582;b5z=0;b6x=-0.44983;b6y=-1.11250;b6z=0;x1=0;x2=0;x3=0;p1=0;p2=0;p3=2;
F=[(p1?-?a1x?-?b1y*(cos(x3)*sin(x1)?-?cos(x1)*sin(x2)*sin(x3))?+?b1z*(sin(x1)*sin(x3)?+?cos(x1)*cos(x3)*sin(x2))?+?b1x*cos(x1)*cos(x2))^2?+?(p2?-?a1y?+?b1y*(cos(x1)*cos(x3)?+?sin(x1)*sin(x2)*sin(x3))?-?b1z*(cos(x1)*sin(x3)?-?sin(x1)*sin(x2)*sin(x3))?+?b1x*cos(x2)*sin(x1))^2?+?(p3?-?a1z?-?b1x*sin(x2)?+?b1z*cos(x2)*cos(x3)?+?b1y*cos(x2)*sin(x3))^200000;
????0(p1?-?a2x?-?b2y*(cos(x3)*sin(x1)?-?cos(x1)*sin(x2)*sin(x3))?+?b2z*(sin(x1)*sin(x3)?+?cos(x1)*cos(x3)*sin(x2))?+?b2x*cos(x1)*cos(x2))^2?+?(p2?-?a2y?+?b2y*(cos(x1)*cos(x3)?+?sin(x1)*sin(x2)*sin(x3))?-?b2z*(cos(x1)*sin(x3)?-?sin(x1)*sin(x2)*sin(x3))?+?b2x*cos(x2)*sin(x1))^2?+?(p3?-?a2z?-?b2x*sin(x2)?+?b2z*cos(x2)*cos(x3)?+?b2y*cos(x2)*sin(x3))^20000;
????00(p1?-?a3x?-?b3y*(cos(x3)*sin(x1)?-?cos(x1)*sin(x2)*sin(x3))?+?b3z*(sin(x1)*sin(x3)?+?cos(x1)*cos(x3)*sin(x2))?+?b3x*cos(x1)*cos(x2))^2?+?(p2?-?a3y?+?b3y*(cos(x1)*cos(x3)?+?sin(x1)*sin(x2)*sin(x3))?-?b3z*(cos(x1)*sin(x3)?-?sin(x1)*sin(x2)*sin(x3))?+?b3x*cos(x2)*sin(x1))^2?+?(p3?-?a3z?-?b3x*sin(x2)?+?b3z*cos(x2)*cos(x3)?+?b3y*cos(x2)*sin(x3))^2000;
????000(p1?-?a4x?-?b4y*(cos(x3)*sin(x1)?-?cos(x1)*sin(x2)*sin(x3))?+?b4z*(sin(x1)*sin(x3)?+?cos(x1)*cos(x3)*sin(x2))?+?b4x*cos(x1)*cos(x2))^2?+?(p2?-?a4y?+?b4y*(cos(x1)*cos(x3)?+?sin(x1)*sin(x2)*sin(x3))?-?b4z*(cos(x1)*sin(x3)?-?sin(x1)*sin(x2)*sin(x3))?+?b4x*cos(x2)*sin(x1))^2?+?(p3?-?a4z?-?b4x*sin(x2)?+?b4z*cos(x2)*cos(x3)?+?b4y*cos(x2)*sin(x3))^200;
????0000(p1?-?a5x?-?b5y*(cos(x3)*sin(x1)?-?cos(x1)*sin(x2)*sin(x3))?+?b5z*(sin(x1)*sin(x3)?+?cos(x1)*cos(x3)*sin(x2))?+?b5x*cos(x1)*cos(x2))^2?+?(p2?-?a5y?+?b5y*(cos(x1)*cos(x3)?+?sin(x1)*sin(x2)*sin(x3))?-?b5z*(cos(x1)*sin(x3)?-?sin(x1)*sin(x2)*sin(x3))?+?b5x*cos(x2)*sin(x1))^2?+?(p3?-?a5z?-?b5x*sin(x2)?+?b5z*cos(x2)*cos(x3)?+?b5y*cos(x2)*sin(x3))^20;
????00000(p1?-?a6x?-?b6y*(cos(x3)*sin(x1)?-?cos(x1)*sin(x2)*sin(x3))?+?b6z*(sin(x1)*sin(x3)?+?cos(x1)*cos(x3)*sin(x2))?+?b6x*cos(x1)*cos(x2))^2?+?(p2?-?a6y?+?b6y*(cos(x1)*cos(x3)?+?sin(x1)*sin(x2)*sin(x3))?-?b6z*(cos(x1)*sin(x3)?-?sin(x1)*sin(x2)*sin(x3))?+?b6x*cos(x2)*sin(x1))^2?+?(p3?-?a6z?-?b6x*sin(x2)?+?b6z*cos(x2)*cos(x3)?+?b6y*cos(x2)*sin(x3))^2];
LT=[l1;0.00001;-0.00003;-0.00001;0.00003;0.00002];
S=F*LT
H=[p1?-?a1x?-?b1y*(cos(x3)*sin(x1)?-?cos(x1)*sin(x2)*sin(x3))?+?b1z*(sin(x1)*sin(x3)?+?cos(x1)*cos(x3)*sin(x2))?+?b1x*cos(x1)*cos(x2)?p2?-?a1y?+?b1y*(cos(x1)*cos(x3)?+?sin(x1)*sin(x2)*sin(x3))?-?b1z*(cos(x1)*sin(x3)?-?sin(x1)*sin(x2)*sin(x3))?+?b1x*cos(x2)*sin(x1)?p3?-?a1z?-?b1x*sin(x2)?+?b1z*cos(x2)*cos(x3)?+?b1y*cos(x2)*sin(x3)0000000000000
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