matlab四连杆仿真代码

以下是一个简单的 MATLAB 四连杆仿真代码：

% 定义四连杆的尺寸和初始角度
a = 1;  % AB
b = 2;  % BC
c = 3;  % CD
d = 2;  % DA

theta1 = pi/4;  % 角度单位是弧度
theta2 = pi/3;

% 定义仿真时间和时间步长
t_start = 0;
t_end = 10;
dt = 0.01;
t = t_start:dt:t_end;

% 初始化关节位置变量
x1 = zeros(size(t));
y1 = zeros(size(t));
x2 = zeros(size(t));
y2 = zeros(size(t));
x3 = zeros(size(t));
y3 = zeros(size(t));
x4 = zeros(size(t));
y4 = zeros(size(t));

% 计算四连杆的运动学
for i = 1:length(t)
    % 计算关节位置
    x1(i) = 0;
    y1(i) = 0;
    x2(i) = a*cos(theta1(i));
    y2(i) = a*sin(theta1(i));
    x4(i) = d*cos(theta2(i));
    y4(i) = d*sin(theta2(i));
    
    D = sqrt((x4(i)-x2(i))^2 + (y4(i)-y2(i))^2);
    alpha = atan2(y4(i)-y2(i), x4(i)-x2(i));
    
    beta = acos((c^2 - b^2 - D^2)/(-2*b*D));
    
    theta3 = alpha + beta;
    
    x3(i) = x2(i) + b*cos(theta3);
    y3(i) = y2(i) + b*sin(theta3);
    
    % 更新角度
    theta1(i+1) = theta1(i) + dt*(2*(theta2(i)-theta1(i)) + sin(theta1(i)));
    theta2(i+1) = theta2(i) + dt*(-2*(theta2(i)-theta1(i)) + sin(theta2(i)));
end

% 绘制四连杆的运动轨迹
figure;
plot(x1, y1, 'ro', 'MarkerSize', 10, 'LineWidth', 2);
hold on;
plot(x2, y2, 'bo', 'MarkerSize', 10, 'LineWidth', 2);
plot(x3, y3, 'go', 'MarkerSize', 10, 'LineWidth', 2);
plot(x4, y4, 'yo', 'MarkerSize', 10, 'LineWidth', 2);
plot([x1;x2],[y1;y2],'b-','LineWidth',2);
plot([x2;x3],[y2;y3],'g-','LineWidth',2);
plot([x3;x4],[y3;y4],'y-','LineWidth',2);
axis equal;
grid on;
xlabel('x');
ylabel('y');
title('Four-bar linkage simulation');
legend('Joint A','Joint B','Joint C','Joint D');

这个代码使用了四连杆的运动学方程来计算四个关节的位置，然后使用 MATLAB 绘图功能绘制了四连杆的运动轨迹。你可以根据自己的需求修改尺寸、初始角度和仿真时间等参数。