機械原理課程設(shè)計—顎式破碎機設(shè)計說明書DOC

1、目 錄 一 設(shè)計題目1二 已知條件及設(shè)計要求12.1已知條件12.2設(shè)計要求2三. 機構(gòu)的結(jié)構(gòu)分析23.1六桿鉸鏈式破碎機23.2四桿鉸鏈式破碎機2四. 機構(gòu)的運動分析24.1六桿鉸鏈式顎式破碎機的運動分析24.2四桿鉸鏈式顎式破碎機的運動分析6五.機構(gòu)的動態(tài)靜力分析75.1六桿鉸鏈式顎式破碎機的靜力分析75.2四桿鉸鏈式顎式破碎機的靜力分析12六. 工藝阻力函數(shù)及飛輪的轉(zhuǎn)動慣量函數(shù) 176.1工藝阻力函數(shù)程序 176.2飛輪的轉(zhuǎn)動慣量函數(shù)程序17七 .對兩種機構(gòu)的綜合評價21八 . 主要的收獲和建議22九 . 參考文獻22一.設(shè)計題目：鉸鏈式顎式破碎機方案分析二.已知條件及設(shè)計要求2.1 已

2、知條件 圖1.1 六桿鉸鏈式破碎機 圖1.2 工藝阻力 圖1.3 四桿鉸鏈式破碎機圖(a)所示為六桿鉸鏈式破碎機方案簡圖。主軸1的轉(zhuǎn)速為n1 = 170r/min，各部尺寸為：lO1A = 0.1m, lAB = 1.250m, lO3B = 1m, lBC = 1.15m, lO5C = 1.96m, l1=1m, l2=0.94m, h1=0.85m, h2=1m。各構(gòu)件質(zhì)量和轉(zhuǎn)動慣量分別為：m2 = 500kg, Js2 = 25.5kgm2, m3 = 200kg, Js3 = 9kgm2, m4 = 200kg, Js4 = 9kgm2, m5=900kg, Js5=50kgm2,

3、構(gòu)件1的質(zhì)心位于O1上，其他構(gòu)件的質(zhì)心均在各桿的中心處。D為礦石破碎阻力作用點，設(shè)LO5D = 0.6m，破碎阻力Q在顎板5的右極限位置到左極限位置間變化，如圖(b)所示，Q力垂直于顎板。圖(c)是四桿鉸鏈式顎式破碎機方案簡圖。主軸1 的轉(zhuǎn)速n1=170r/min。lO1A = 0.04m, lAB = 1.11m, l1=0.95m, h1=2m, lO3B=1.96m，破碎阻力Q的變化規(guī)律與六桿鉸鏈式破碎機相同，Q力垂直于顎板O3B，Q力作用點為D，且lO3D = 0.6m。各桿的質(zhì)量、轉(zhuǎn)動慣量為m2 = 200kg, Js2=9kgm2，m3 = 900kg, Js3=50kgm2。曲柄

4、1的質(zhì)心在O1 點處，2、3構(gòu)件的質(zhì)心在各構(gòu)件的中心。2.2 設(shè)計要求試比較兩個方案進行綜合評價。主要比較以下幾方面：1. 進行運動分析，畫出顎板的角位移、角速度、角加速度隨曲柄轉(zhuǎn)角的變化曲線。2. 進行動態(tài)靜力分析，比較顎板擺動中心運動副反力的大小及方向變化規(guī)律，曲柄上的平衡力矩大小及方向變化規(guī)律。3. 飛輪轉(zhuǎn)動慣量的大小。三.機構(gòu)的結(jié)構(gòu)分析3.1六桿鉸鏈式破碎機六桿鉸鏈式粉碎機拆分為機架和主動件，構(gòu)件組成的RRR桿組，構(gòu)件組成的RRR桿組。+ +3.2四桿鉸鏈式破碎機四桿鉸鏈式破碎機拆分為機架和主動件，構(gòu)件組成的RRR桿組。+ 四.機構(gòu)的運動分析4.1六桿鉸鏈式顎式破碎機的運動分析。4.1

5、.1 桿件的運動參數(shù)。1) 調(diào)用bark函數(shù)求主動件的運動參數(shù)。形式參數(shù)n1n2n3kr1r2gametwepvpap實 值1201r120.00.0twepvpap2）調(diào)用rrrk函數(shù)求、構(gòu)件組成的RRR桿組進行運動分析。形式參數(shù)mn1n2n3k1k2r1r2twepvpap實 值-124323R23R34twepvpap3） 調(diào)用rrrk函數(shù)對、構(gòu)件組成的RRR桿組進行運動分析。形式參數(shù)mn1n2n3k1k2r1r2t wepvpap實 值136545r35R56twepvpap4.1.2 寫主程序并運行。按一定的步長，改變主動件的位置角度，使其在0-360°變化，便可求出機構(gòu)各

6、點在整個運動循環(huán)內(nèi)的運動參數(shù)并打印輸出。（1） 主程序。#include"subk.c"#include"draw.c"main()static double p202,vp202,ap202,del;static double t10,w10,e10,pdraw370,vpdraw370,apdraw370;static int ic;double r12,r23,r34,r35,r56,r611;double pi,dr;int i;FILE *fp;r12=0.1;r23=1.250;r34=1.0;r35=1.15;r56=1.96;r611=0

7、.6;pi=4.0*atan(1.0);dr=pi/180.0;w1=-170*2*pi/60;e1=0.0;del=15.0;p11=0.0;p12=0.0;p41=0.94;p42=-1;p61=-1;p62=0.85;printf("n The Kinematic Parameters of Point 5n");printf("No THETA1 S5 V5 A5n");printf(" deg rad rad/s rad/s/sn");if(fp=fopen("sgy","w")=NU

8、LL)printf("can't open this file.n");exit(0);fprintf(fp,"n The Kinematic Parameters of Point 5n");fprintf(fp,"No THETA1 S5 V5 A5n");fprintf(fp," deg rad rad/s rad/s/sn");ic=(int)(360.0/del);for(i=0;i<=ic;i+)t1=(-i)*del*dr;bark(1,2,0,1,r12,0.0,0.0,t,w,e,p

9、,vp,ap);rrrk(-1,2,4,3,2,3,r23,r34,t,w,e,p,vp,ap);rrrk(1,3,6,5,4,5,r35,r56,t,w,e,p,vp,ap);bark(2,0,7,2,0.0,r23/2,0.0,t,w,e,p,vp,ap);bark(4,0,8,3,0.0,r34/2,0.0,t,w,e,p,vp,ap);bark(3,0,9,4,0.0,r35/2,0.0,t,w,e,p,vp,ap);bark(6,0,10,5,0.0,r56/2,0.0,t,w,e,p,vp,ap);bark(6,0,11,5,0.0,r611,0.0,t,w,e,p,vp,ap);

10、printf("n%2d%12.3f%12.3f%12.3f%12.3f",i+1,t1/dr,t5,w5,e5);fprintf(fp,"n%2d%12.3f%12.3f%12.3f%12.3f",i+1,t1/dr,t5,w5,e5);pdrawi=t5;vpdrawi=w5;apdrawi=e5;if(i%16)=0)getch();fclose(fp);getch();draw1(del,pdraw,vpdraw,apdraw,ic);（2）運行結(jié)果。 件5的運動參數(shù)：The Kinematic Parameters of Point 5No T

11、HETA1 S5 V5 A5 deg rad rad/s rad/s/s1 0.000 -1.658 0.346 3.956 2 -15.000 -1.653 0.392 2.002 3 -30.000 -1.647 0.400 -0.932 4 -45.000 -1.641 0.362 -4.355 5 -60.000 -1.637 0.274 -7.506 6 -75.000 -1.633 0.146 -9.612 7 -90.000 -1.632 -0.001 -10.183 8 -105.000 -1.633 -0.145 -9.165 9 -120.000 -1.637 -0.265

12、 -6.90410 -135.000 -1.641 -0.345 -3.98111 -150.000 -1.646 -0.382 -1.00812 -165.000 -1.652 -0.377 1.51913 -180.000 -1.657 -0.341 3.29714 -195.000 -1.662 -0.284 4.23715 -210.000 -1.666 -0.220 4.43616 -225.000 -1.668 -0.156 4.12117 -240.000 -1.670 -0.10 3.58418 -255.000 -1.671 -0.051 3.10519 -270.000 -

13、1.672 -0.007 2.89820 -285.000 -1.672 0.036 3.06321 -300.000 -1.671 0.085 3.57122 -315.000 -1.669 0.142 4.24723 -330.000 -1.667 0.209 4.79124 -345.000 -1.663 0.281 4.81725 -360.000 -1.658 0.346 3.956 動圖形：4.2桿鉸鏈式顎式破碎機的運動分析。4.2.1運動參數(shù)。1）調(diào)用bark函數(shù)求主動件的運動參數(shù)。形式參數(shù)n1n2n3kr1r2gametwepvpap實 值1201r120.00.0twepvp

14、ap2）調(diào)用rrrk函數(shù)求、構(gòu)件組成的RRR桿組進行運動分析。形式參數(shù)mn1n2n3k1k2r1r2t wepvpap實 值124323r23r34twepvpap4.2.2 寫主程序并運行。按一定的步長，改變主動件的位置角度，使其在0-360°變化，便可求出機構(gòu)各點在整個運動循環(huán)內(nèi)的運動參數(shù)并打印輸出。(1)主程序。#include"subk.c"#include"draw.c"main()static double p202,vp202,ap202,del;static double t10,w10,e10,pdraw370,vpdraw3

15、70,apdraw370;static int ic;double r12,r23,r34,r47;double pi,dr;int i;FILE *fp;r12=0.04;r23=1.11;r34=1.96;r47=0.6;pi=4.0*atan(1.0);dr=pi/180.0;w1=-170*2*pi/60;e1=0.0;del=15.0;p11=0.0;p12=0.0;p41=-0.95;p42=2.0;printf("n The Kinematic Parameters of Point 5n");printf("No THETA1 S5 V5 A5n&

16、quot;);printf(" deg rad rad/s rad/s/sn");if(fp=fopen("sgy1","w")=NULL)printf("can't open this file.n");exit(0);fprintf(fp,"n The Kinematic Parameters of Point 5n");fprintf(fp,"No THETA1 S5 V5 A5n");fprintf(fp," deg rad rad/s rad/s/

17、sn");ic=(int)(360.0/del);for(i=0;i<=ic;i+)t1=(-i)*del*dr;bark(1,2,0,1,r12,0.0,0.0,t,w,e,p,vp,ap);rrrk(1,2,4,3,2,3,r23,r34,t,w,e,p,vp,ap);bark(2,0,5,2,0.0,r23/2,0.0,t,w,e,p,vp,ap);bark(4,0,6,3,0.0,r34/2,0.0,t,w,e,p,vp,ap);bark(4,0,7,3,0.0,0.6,0.0,t,w,e,p,vp,ap);printf("n%2d%12.3f%12.3f%1

18、2.3f%12.3f",i+1,t1/dr,t3,w3,e3);fprintf(fp,"n%2d%12.3f%12.3f%12.3f%12.3f",i+1,t1/dr,t3,w3,e3);pdrawi=t3;vpdrawi=w3;apdrawi=e3;if(i%16)=0)getch();fclose(fp);getch();draw1(del,pdraw,vpdraw,apdraw,ic); (2)運行結(jié)果。桿件3的運動參數(shù)：The Kinematic Parameters of Point 5No THETA1 S5 V5 A5 deg rad rad/s r

19、ad/s/s1 0.000 -1.632 0.014 -6.232 2 -15.000 -1.632 -0.077 -6.098 3 -30.000 -1.634 -0.163 -5.591 4 -45.000 -1.637 -0.240 -4.731 5 -60.000 -1.641 -0.301 -3.553 6 -75.000 -1.646 -0.343 -2.117 7 -90.000 -1.651 -0.362 -0.501 8 -105.000 -1.656 -0.357 1.192 9 -120.000 -1.661 -0.327 2.84810 -135.000 -1.666

20、-0.274 4.33911 -150.000 -1.669 -0.201 5.54412 -165.000 -1.671 -0.113 6.35813 -180.000 -1.672 -0.016 6.70314 -195.000 -1.672 0.082 6.54515 -210.000 -1.670 0.174 5.89416 -225.000 -1.667 0.253 4.80717 -240.000 -1.663 0.313 3.38418 -255.000 -1.658 0.351 1.74619 -270.000 -1.653 0.364 0.03020 -285.000 -1.

21、647 0.352 -1.63921 -300.000 -1.642 0.317 -3.14922 -315.000 -1.638 0.261 -4.41523 -330.000 -1.635 0.189 -5.37524 -345.000 -1.632 0.105 -5.98825 -360.000 -1.632 0.014 -6.232運動圖形：五.機構(gòu)的動態(tài)靜力分析5.1六桿鉸鏈式顎式破碎機的動態(tài)靜力分析。5.1.1 質(zhì)點7，8，9，10及礦石破碎產(chǎn)生阻力的作用點11的運動參數(shù)；調(diào)用bark函數(shù)對質(zhì)點7進行運動分析： 形式參數(shù)n1n2n3kr1r2gametwepvpap實 值20720

22、.0R23/20.0twepvpap調(diào)用bark函數(shù)對質(zhì)點8進行運動分析： 形式參數(shù)n1n2n3kr1r2gametwepvpap實 值40830.0R34/20.0twepvpap調(diào)用bark函數(shù)對質(zhì)點9進行運動分析： 形式參數(shù)n1n2n3kr1r2gametwepvpap實 值30940.0R35/20.0twepvpap調(diào)用bark函數(shù)對質(zhì)點10進行運動分析： 形式參數(shù)n1n2n3kr1r2gametwepvpap實 值601050.0R56/20.0twepvpap調(diào)用bark函數(shù)對質(zhì)點11進行運動分析： 形式參數(shù)n1n2n3kr1r2gametwepvpap實 值601150.0r6

23、110.0twepvpap（2）調(diào)用rrrf函數(shù)對、構(gòu)件構(gòu)成的RRR桿組進行動態(tài)靜力分析：形式參數(shù)n1n2n3ns1ns2nn1nn2nexfk1實 值365910011114形式參數(shù)k2pvpaptwefr實 值5pvpaptwefr（3）調(diào)用rrrf函數(shù)對、構(gòu)件構(gòu)成的RRR桿組進行動態(tài)靜力分析：形式參數(shù)n1n2n3ns1ns2nn1nn2nexfk1實 值243780302形式參數(shù)k2pvpaptwefr實 值3pvpaptwefr（4）調(diào)用barf函數(shù)對主動件1進行動態(tài)靜力分析：形式參數(shù)n1ns1nn1k1papefrtb 實 值1121papefr&tb5.1.2程序并運行。按

24、一定的步長，改變主動件的位置角度，使其在0-360°變化，便可求出機構(gòu)各運動副反力及作用在主動件上的平衡力矩。（1）主程序。#include "graphics.h"#include"subk.c"#include"subf.c"#include"draw.c"main()static double p202,vp202,ap202,del;static double t10,w10,e10,fr202,fe202;static double sita1370,fr1draw370,sita2370,fr

25、2draw370,sita3370,fr3draw370,tbdraw370,tb1draw370;static double tb,tb1,fr1,bt1,fr4,bt4,fr6,bt6,we1,we2,we3,we4,we5;static int ic;double r12,r23,r34,r35,r56,r611;double pi,dr;int i;FILE *fp;sm1=0.0;sm2=500.0;sm3=200.0;sm4=200.0;sm5=900.0;sj1=0.0;sj2=25.5;sj3=9.0;sj4=9.0;sj5=50.0;r12=0.1;r23=1.250;r34

26、=1.0;r35=1.15;r56=1.96;r611=0.6;pi=4.0*atan(1.0);dr=pi/180.0;w1=-170*2*pi/60;e1=0.0;del=10.0;p11=0.0;p12=0.0;p41=0.94;p42=-1.0;p61=-1.0;p62=0.85;printf("n The Kineto-static Analysis of a six-bar Linkasen");printf("No HETAL fr1 sita1 fr4 sita4 tb tb1n");printf(" deg N radian

27、N radian N.m N.m ");printf("n The Kineto-static Analysis of a Six-bar Linkasen");printf(" NO THETA1 fr6 bt6 tb tb1n");printf(" (deg.) (N) (deg.) (N.m) (N.m)n");if(fp=fopen("sgy2","w")=NULL)printf("Can't open this file./n");exit(0);

28、fprintf(fp,"n The Kineto-static Analysis of a Six-bar Linkasen");fprintf(fp,"NO THETA1 FR6 BT6 TB TB1n" );fprintf(fp," (deg.) (N) (deg.) (N.m) (N.m)n" );ic=(int)(360.0/del);for(i=0;i<=ic;i+)t1=(-i)*del*dr;bark(1,2,0,1,r12,0.0,0.0,t,w,e,p,vp,ap);rrrk(-1,2,4,3,2,3,r23,

29、r34,t,w,e,p,vp,ap);rrrk(1,3,6,5,4,5,r35,r56,t,w,e,p,vp,ap);bark(2,0,7,2,0.0,r23/2,0.0,t,w,e,p,vp,ap);bark(4,0,8,3,0.0,r34/2,0.0,t,w,e,p,vp,ap);bark(3,0,9,4,0.0,r35/2,0.0,t,w,e,p,vp,ap);bark(6,0,10,5,0.0,r56/2,0.0,t,w,e,p,vp,ap);bark(6,0,11,5,0.0,r611,0.0,t,w,e,p,vp,ap);rrrf(3,6,5,9,10,0,11,11,4,5,p,

30、vp,ap,t,w,e,fr);rrrf(2,4,3,7,8,3,0,0,2,3,p,vp,ap,t,w,e,fr);barf(1,1,2,1,p,ap,e,fr,&tb);fr1=sqrt(fr11*fr11+fr12*fr12);bt1=atan2(fr12,fr11);fr4=sqrt(fr41*fr41+fr42*fr42);bt4=atan2(fr42,fr41);fr6=sqrt(fr61*fr61+fr62*fr62);bt6=atan2(fr62,fr61);we1=-(ap11*vp11+(ap12+9.81)*vp12)*sm1-e1*w1*sj1;we2=-(ap

31、71*vp71+(ap72+9.81)*vp72)*sm2-e2*w2*sj2;we3=-(ap81*vp81+(ap82+9.81)*vp82)*sm3-e3*w3*sj3;we4=-(ap91*vp91+(ap92+9.81)*vp92)*sm4-e4*w4*sj4;extf(p,vp,ap,t,w,e,11,fe);we5=-(ap101*vp101+(ap102+9.81)*vp102)*sm5-e5*w5*sj5+fe111*vp111+fe112*vp112;tb1=-(we1+we2+we3+we4+we5)/w1;printf("%3d %10.3f %10.3f %

32、10.3f %10.3f %10.3fn",i+1,t1/dr,fr6,bt6/dr,tb,tb1);fprintf(fp,"%3d %10.3f %10.3f %10.3f %10.3f %10.3fn",i+1,t1/dr,fr6,bt6/dr,tb,tb1);tbdrawi=tb;tb1drawi=tb1;fr1drawi=fr1;sita1i=bt1;fr2drawi=fr4;sita2i=bt4; fr3drawi=fr6;sita3i=bt6;if(i%16)=0)getch();fclose(fp);getch();draw2(del,tbdraw,

33、tb1draw,ic);draw3(del,sita1,fr1draw,sita2,fr2draw,sita3,fr3draw,ic);#include "math.h"extf(p,vp,ap,t,w,e,nexf,fe)double p202,vp202,ap202,t10,w10,e10,fe202;double pi,dr;pi=4.0*atan(1.0);dr=pi/180.0;if(w5<0)fenexf1=(-t1/dr-90.0)*(85000.0/182.0)*cos(-t5-pi/2);fenexf2=(-t1/dr-90.0)*(85000.0/

34、182.0)*sin(-t5-pi/2);elsefenexf1=0;fenexf2=0;（2）運行結(jié)果： The Kineto-static Analysis of a Six-bar LinkaseNO THETA1 FR6 BT6 TB TB1 (deg.) (N) (deg.) (N.m) (N.m) 1 0.000 9904.580 77.690 534.273 534.273 2 -15.000 10248.086 82.670 1038.104 1038.104 3 -30.000 10522.852 89.576 1434.513 1434.513 4 -45.000 1075

35、7.314 97.329 1547.760 1547.760 5 -60.000 10967.175 104.339 1270.987 1270.987 6 -75.000 11112.158 109.009 644.228 644.228 7 -90.000 11132.496 110.330 -144.608 -144.608 8 -105.000 12694.785 130.968 -883.503 -883.503 9 -120.000 15067.304 144.368 -1406.751 -1406.751 10 -135.000 17747.445 153.528 -1623.9

36、32 -1623.932 11 -150.000 20694.648 160.499 -1555.124 -1555.124 12 -165.000 24022.489 166.115 -1286.981 -1286.981 13 -180.000 27824.537 170.602 -923.989 -923.989 14 -195.000 32106.137 174.034 -557.444 -557.444 15 -210.000 36785.996 176.536 -253.496 -253.496 16 -225.000 41731.070 178.304 -51.307 -51.3

37、07 17 -240.000 46795.855 179.558 36.912 36.912 18 -255.000 51853.137 -179.507 26.634 26.634 19 -270.000 56814.061 -178.745 -39.410 -39.410 20 -285.000 8481.823 78.617 -205.306 -205.306 21 -300.000 8583.465 77.292 -338.729 -338.729 22 -315.000 8793.293 75.658 -361.459 -361.459 23 -330.000 9113.158 74

38、.602 -227.576 -227.576 24 -345.000 9506.210 75.059 80.824 80.824 25 -360.000 9904.580 77.690 534.273 534.273 （3）平衡力矩曲線：(4)反力的矢端圖曲線：5.2桿鉸鏈式顎式破碎機的動態(tài)靜力分析。5.2.1 質(zhì)點5，6及礦石破碎產(chǎn)生阻力的作用點7的運動參數(shù)；調(diào)用bark函數(shù)對質(zhì)點5進行運動分析： 形式參數(shù)n1n2n3kr1r2gamtwepvpap實 值20520.0r250.0twepvpap調(diào)用bark函數(shù)對質(zhì)點6進行運動分析： 形式參數(shù)n1n2n3kr1r2gamtwepvpap實

39、值40630.0r460.0twepvpap調(diào)用bark函數(shù)對質(zhì)點7進行運動分析： 形式參數(shù)n1n2n3kr1r2gamtwepvpap實 值40730.0r470.0twepvpap（2）調(diào)用rrrf函數(shù)對，構(gòu)件構(gòu)成的RRR桿組進行動態(tài)靜力分析：形式參數(shù)n1n2n3ns1ns2nn1nn2nexfk1實 值243560772形式參數(shù)k2pvpaptwefr實 值3pvpaptwefr（3）調(diào)用barf函數(shù)對主動件1進行動態(tài)靜力分析：形式參數(shù)n1ns1nn1k1papefrtb 實 值1121papefr&tb5.22主程序并運行。按一定的步長，改變主動件的位置角度，使其在0-360&

40、#176;變化，便可求出機構(gòu)各運動副反力及作用在主動件上的平衡力矩。（1）主程序。#include "graphics.h"#include "subk.c"#include "subf.c"#include "draw.c"main()static double p202,vp202,ap202,del;static double t10,w10,e10;static double sita1370,fr1draw370,sita2370,fr2draw370,sita3370,fr3draw370,tbdraw

41、370,tb1draw370;static double fr202,fe202;static int ic;double r12,r23,r34,r47;int i;double pi,dr;double fr1,fr4,bt1,bt4,we1,we2,we3,tb,tb1;FILE*fp;sm1=0.0;sm2=200.0;sm3=900.0;sj1=0.0;sj2=9.0;sj3=50.0;r12=0.04; r23=1.11; r34=1.96,r47=0.6;pi=4.0*atan(1.0);w1=-170*2*pi/60; e1=0.0; del=15.0;dr=pi/180.0;

42、p11=0.0;p12=0.0;p41=-0.95;p42=2.0;printf("n The Kineto-static Analysis of a four-bar Linkasen");printf(" NO THETA1 FR4 BT4 TB TB1n");printf(" (deg.) (N) (deg.) (N.m) (N.m)n");if(fp=fopen("sgy3","w")=NULL)printf("Can't open this file./n"

43、);exit(0);fprintf(fp,"n The Kineto-static Analysis of a four-bar Linkasen");fprintf(fp,"NO THETA1 FR4 BT4 TB TB1n" );fprintf(fp," (deg.) (N) (deg.) (N.m) (N.m)n" );ic=(int)(360.0/del);for(i=0;i<=ic;i+)t1=(-i)*del*dr;bark(1,2,0,1,r12,0.0,0.0,t,w,e,p,vp,ap);rrrk(1,2,4,

44、3,2,3,r23,r34,t,w,e,p,vp,ap);bark(2,0,5,2,0.0,r23/2,0.0,t,w,e,p,vp,ap);bark(4,0,6,3,0.0,r34/2,0.0,t,w,e,p,vp,ap);bark(4,0,7,3,0.0,0.6,0.0,t,w,e,p,vp,ap);rrrf(2,4,3,5,6,0,7,7,2,3,p,vp,ap,t,w,e,fr);barf(1,1,2,1,p,ap,e,fr,&tb);fr1=sqrt(fr11*fr11+fr12*fr12);bt1=atan2(fr12,fr11);fr4=sqrt(fr41*fr41+fr

45、42*fr42);bt4=atan2(fr42,fr41);we1=-(ap11*vp11+(ap12+9.81)*vp12)*sm1-e1*w1*sj1; we2=-(ap51*vp51+(ap52+9.81)*vp52)*sm2-e2*w2*sj2;extf(p,vp,ap,t,w,e,7,fe);we3=-(ap61*vp61+(ap62+9.81)*vp62)*sm3-e3*w3*sj3+fe71*vp71+fe72*vp72;tb1=-(we1+we2+we3)/w1;printf("%3d %10.3f %10.3f %10.3f %10.3f %10.3f n",i+1,t1/dr,fr4,bt4/dr,tb,tb1);fprintf(fp,"%3d %10.3f %10.3f %10.3f %10.3f %10.3f n",i+1,t1/dr,fr4,bt4/dr,tb,tb1);t