matlab连杆机构仿真代码 三个杆

以下是MATLAB代码实现三个杆连杆机构的仿真：

% 定义连杆长度
L1 = 1;
L2 = 2;
L3 = 1.5;

% 定义初始角度
theta1 = 30 * pi / 180;
theta2 = 45 * pi / 180;
theta3 = 60 * pi / 180;

% 定义时间步长和仿真时长
dt = 0.01;
T = 10;

% 初始化角速度和角度
w1 = 0;
w2 = 0;
w3 = 0;
q1 = theta1;
q2 = theta2;
q3 = theta3;

% 创建动画窗口
figure('color', 'w');
axis equal;
axis([-4, 4, -4, 4]);

% 循环仿真
for t = 0:dt:T
    % 计算角加速度
    a1 = (2*w2^2*w3^2*L2*sin(q3) + 3*w2^2*w3^2*L3*sin(q2) - ...
        3*w2^2*w3^2*L2*sin(q2-q3) + 3*w2^2*w3^2*L3*sin(q2-q3)) / ...
        (3*L1*L2*L3 - 2*L1*L2^2*cos(q2) - 2*L1*L3^2*cos(q3) + ...
        L2^2*L3*cos(q2-q3) + L1^2*L2*cos(q2-q3) + L1^2*L3*cos(q2+q3));
    a2 = (-2*w1^2*w3^2*L3*sin(q2) - 3*w1^2*w3^2*L3*sin(q2-q3) - ...
        2*w1^2*w3^2*L2*sin(q2-q3) + 3*w1^2*w3^2*L2*sin(q3)) / ...
        (3*L1*L2*L3 - 2*L1*L2^2*cos(q2) - 2*L1*L3^2*cos(q3) + ...
        L2^2*L3*cos(q2-q3) + L1^2*L2*cos(q2-q3) + L1^2*L3*cos(q2+q3));
    a3 = (-2*w1^2*w2^2*L2*sin(q3) + 2*w1^2*w2^2*L2*sin(q2) + ...
        3*w1^2*w2^2*L3*sin(q2-q3) + 3*w1^2*w2^2*L3*sin(q3-q2)) / ...
        (3*L1*L2*L3 - 2*L1*L2^2*cos(q2) - 2*L1*L3^2*cos(q3) + ...
        L2^2*L3*cos(q2-q3) + L1^2*L2*cos(q2-q3) + L1^2*L3*cos(q2+q3));
    
    % 计算角速度和角度
    w1 = w1 + a1 * dt;
    w2 = w2 + a2 * dt;
    w3 = w3 + a3 * dt;
    q1 = q1 + w1 * dt;
    q2 = q2 + w2 * dt;
    q3 = q3 + w3 * dt;
    
    % 计算连杆末端坐标
    x1 = 0;
    y1 = 0;
    x2 = L1 * cos(q1);
    y2 = L1 * sin(q1);
    x3 = x2 + L2 * cos(q2);
    y3 = y2 + L2 * sin(q2);
    x4 = x3 + L3 * cos(q3);
    y4 = y3 + L3 * sin(q3);
    
    % 绘制连杆机构
    plot([x1, x2], [y1, y2], '-o', 'LineWidth', 2, 'MarkerSize', 10);
    hold on;
    plot([x2, x3], [y2, y3], '-o', 'LineWidth', 2, 'MarkerSize', 10);
    plot([x3, x4], [y3, y4], '-o', 'LineWidth', 2, 'MarkerSize', 10);
    hold off;
    drawnow;
end

运行代码后，将会弹出一个动画窗口，显示连杆机构的运动轨迹。