matlab四连杆机构仿真代码

以下是一个简单的 MATLAB 四连杆机构仿真代码：

clear all
clc

% 设定四连杆机构参数
a = input('请输入连杆a的长度：');
b = input('请输入连杆b的长度：');
c = input('请输入连杆c的长度：');
d = input('请输入连杆d的长度：');
theta1 = input('请输入角度theta1的初始值：');
omega1 = input('请输入角速度omega1的初始值：');
alpha1 = input('请输入角加速度alpha1的初始值：');
t = 0:0.1:10;

% 计算角度theta2，theta3和theta4
for i=1:length(t)
    theta2(i) = acos((a^2+b^2-c^2-d^2*cos(theta1(i)))/(2*a*b));
    theta3(i) = atan((b*sin(theta2(i)))/(a+b*cos(theta2(i)))) + atan((d*sin(theta1(i)+theta2(i)))/(c+d*cos(theta1(i)+theta2(i))));
    theta4(i) = theta1(i) + theta2(i) + theta3(i);
end

% 计算位置和速度
for i=1:length(t)
    x1(i) = 0;
    y1(i) = 0;
    x2(i) = a*cos(theta1(i));
    y2(i) = a*sin(theta1(i));
    x3(i) = x2(i) + b*cos(theta2(i));
    y3(i) = y2(i) + b*sin(theta2(i));
    x4(i) = x3(i) + c*cos(theta3(i));
    y4(i) = y3(i) + c*sin(theta3(i));
    x5(i) = d*cos(theta4(i));
    y5(i) = d*sin(theta4(i));
    v1(i) = 0;
    v2(i) = -a*omega1*sin(theta1(i));
    v3(i) = v2(i) - b*omega2*sin(theta2(i));
    v4(i) = v3(i) - c*omega3*sin(theta3(i));
    v5(i) = -d*omega4*sin(theta4(i));
end

% 绘制四连杆机构运动轨迹
figure(1)
plot(x1,y1,'o',x2,y2,x3,y3,x4,y4,x5,y5,'o')
xlabel('x')
ylabel('y')
title('四连杆机构运动轨迹')
legend('O','A','B','C','D')

% 绘制四连杆机构速度图
figure(2)
plot(t,v1,t,v2,t,v3,t,v4,t,v5)
xlabel('时间')
ylabel('速度')
title('四连杆机构速度图')
legend('v1','v2','v3','v4','v5')

请注意，这只是一个简单的示例代码，可以根据具体需要进行修改和优化。