clear?all
syms?xo?yo?zo?r?l?a?b?c?L1?L2?L3?L4?i?j?k
b0=1800;??%初始高度?
R1=1900;%上連桿長度
R2=2300;%下連桿長度
a=1500;?%上平臺尺寸
b=1500;
A=1875;%下平臺尺寸
B=1875;
?for?z0=-1000:500:2000
?z11=z0+b0;??
i=1;
r=0;
kk=0;
%==========================================================================

?for?alpha=0*pi/180:0.5*pi/180:60*pi/180;
?????j=0;
?for?beta=0*pi/180:0.5*pi/180:60*pi/180;
%==========================================================================?????
%求三個分支的各點在固定坐標系中的坐標
xb1=0;??yb1=-B;??zb1=0;?%下平臺各點在固定坐標系中的坐標
xb2=A;??yb2=0;???zb2=0;
xb3=0;??yb3=B;???zb3=0;
xb4=-A;?yb4=0;???zb4=0;

xA1=0;??yA1=-b;??zA1=0;?%上平臺各點在動坐標系中的坐標
xA2=a;??yA2=0;???zA2=0;
xA3=0;??yA3=b;???zA3=0;
xA4=-a;?yA4=0;???zA4=0;

[xa1ya1za1]=solveA（xA1yA1zA1z11alphabetaB）;?%上平臺各點在固定坐標系坐標系中的坐標
[

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件????????3466??2011-04-07?17:10??Dangongzuokongjian.m
?????文件????????4048??2011-04-07?18:09??gongzuokongjian_liti.m
?????文件?????????669??2014-08-25?20:47??max.m
?????文件????????4723??2010-06-08?21:17??shijie1.m
?????文件?????????525??2010-06-24?15:36??solveA.m
?????文件????????1893??2010-06-23?21:49??solveC1.m
?????文件????????1893??2010-06-23?21:49??solveC2.m
?????文件????????1892??2010-06-23?21:49??solveC3.m
?????文件????????1893??2010-06-23?21:50??solveC4.m
?????文件?????????685??2014-08-25?21:18??zuida.m
?????文件?????????499??2014-08-25?21:20??zuida0.m