n2=c*c-a*a-b*b-d*d+2*a*d*cos(theta1); /*计算转角*/
theta2=asin(n2/sqrt(l2*l2+m2*m2))-asin(l2/sqrt(l2*l2+m2*m2)); theta3=asin(n1/sqrt(l1*l1+m1*m1))-asin(l1/sqrt(l1*l1+m1*m1)); /*计算角速度*/
omiga2=omiga1*a*sin(theta3-theta1)/(b*sin(theta2-theta3)); omiga3=omiga1*a*sin(theta1-theta2)/(c*sin(theta3-theta2)); /*计算角加速度*/ /*ipsl2*/
ipsl2=a*ipsl1*sin(theta1-theta3)+a*omiga1*omiga1*cos(theta1-theta3); ipsl2+=b*omiga2*omiga2*cos(theta3-theta2)-c*omiga3*omiga3; ipsl2=ipsl2/(b*sin(theta3-theta2)); /*ispl3*/
ipsl3=-a*ipsl1*sin(theta1-theta2)-a*omiga1*omiga1*cos(theta1-theta2); ipsl3-=b*omiga2*omiga2-c*omiga3*omiga3*cos(theta2-theta3); }
/*输出运算结果*/ for(i=0;i<=N;i++) {
printf(\ ipsl3=ipsl3/(c*sin(theta2-theta3)); /*计算结果存入数组中*/ sita1[i]=theta1; sita2[i]=theta2; sita3[i]=theta3; omigar2[i]=omiga2; omigar3[i]=omiga3; epsl2[i]=ipsl2; epsl3[i]=ipsl3;
f\\t,epsl2[i]=%f\\t,
}
epsl3[i]=%f\\n\\n\
init_graph();/*初始化图形系统*/ initview();/*建立坐标系*/
/*画构件2的角位移、角速度、角加速度*/ setcolor(WHITE); setlinestyle(1,1,1); setcolor(RED); setlinestyle(2,1,1);
/*画构件3的角位移、角速度、角加速度*/ setcolor(YELLOW); setcolor(WHITE); setlinestyle(1,1,1); setcolor(RED); setlinestyle(2,1,1); }
void init_graph() { }
void initview() {int i,j,px,py; cleardevice();
setfillstyle(SOLID_FILL,BLUE); setcolor(YELLOW); for(i=0;i<=1;i++) {px=100; py=150+i*150; setcolor(YELLOW);
int gd=DETECT,gmode;
initgraph(&gd,&gmode,\
}
line(px,py,px+300,py); line(px,py-100,px,py+100); line(px,py-100,px-3,py-100+5); line(px,py-100,px+3,py-100+5); line(px+300,py,px+300-5,py+3); line(px+300,py,px+300-5,py-3); setcolor(YELLOW);
settextstyle(1,HORIZ_DIR,2); outtextxy(px+300,py,\ }
void draw(array,py,scale)/*array要做图的数组，py起始y位置，scale纵向放大倍数*/ float array[N+1]; int py,scale; { int i; float f,x,y; }
for(i=0;i<=N;i++) { }
x=100+300*i/N; y=py+array[i]*scale; lineto(x,y);
（2）运行结果
i=0
,sita1[i]=0.000000 ,sita2[i]=0.719301 ,sita3[i]=1.782561 ,omigar2 [i]=-2.546685 ,omgiar3[i]=-2.546686 ,epsl2[i]=-7.127797 , epsl3[i] =37.854820
i=1
,sita1[i]=0.628319 ,sita2[i]=0.569978 ,sita3[i]=1.710014 ,omigar2 [i]=-2.211645 ,omgiar3[i]=0.216779 ,epsl2[i]=14.539609 , epsl3[i] =46.831387 i=2
,sita1[i]=1.256637 ,sita2[i]=0.466770 ,sita3[i]=1.796932 ,omigar2 [i]=-1.205756 ,omgiar3[i]=2.450480 ,epsl2[i]=17.172018 , =26.364237 i=3
,sita1[i]=1.884956 ,sita2[i]=0.424542 ,sita3[i]=1.978575 [i]=-0.212845 ,omgiar3[i]=3.357970 ,epsl2[i]=16.139238 , =3.775596 i=4
,sita1[i]=2.513274 ,sita2[i]=0.440982 ,sita3[i]=2.164982 [i]=0.765698 ,omgiar3[i]=3.001988 ,epsl2[i]=16.539722 , =-14.869414 i=5
,sita1[i]=3.141593 ,sita2[i]=0.516095 ,sita3[i]=2.319940 [i]=1.713347 ,omgiar3[i]=1.713346 ,epsl2[i]=13.955089 , =-26.448488 i=6
,sita1[i]=3.769911 ,sita2[i]=0.440982 ,sita3[i]=2.174982 [i]=2.306503 ,omgiar3[i]=-0.637612 ,epsl2[i]=-1.736713 , =-27.156675 i=7
,sita1[i]=4.398230 ,sita2[i]=0.424542 ,sita3[i]=1.978575 [i]=1.504626 ,omgiar3[i]=-2.497895 ,epsl2[i]=-22.062284 , =-20.567083 i=8
,sita1[i]=5.026548 ,sita2[i]=0.466770 ,sita3[i]=1.786932 epsl3[i] ,omigar2 epsl3[i] ,omigar2 epsl3[i] ,omigar2 epsl3[i] ,omigar2 epsl3[i] ,omigar2 epsl3[i] ,omigar2
[i]=-0.206066 ,omgiar3[i]=-3.437850 ,epsl2[i]=-32.642590 , epsl3[i] =-8.372518 i=9
,sita1[i]=5.654867 ,sita2[i]=0.569978 ,sita3[i]=1.710114 ,omigar2 [i]=-1.802944 ,omgiar3[i]=-3.462714 ,epsl2[i]=-25.616673 , epsl3[i] =13.967155 i=10
,sita1[i]=6.283185 ,sita2[i]=0.719301 ,sita3[i]=1.762561 [i]=-2.546687 ,omgiar3[i]=-2.546686 ,epsl2[i]=-7.127788 , =37.854828 i=11
,sita1[i]=6.911504 ,sita2[i]=0.569978 ,sita3[i]=1.610014 [i]=-2.211645 ,omgiar3[i]=0.216768 ,epsl2[i]=14.539607 , =46.831387 i=12
,sita1[i]=7.539823 ,sita2[i]=0.466770 ,sita3[i]=1.795932 [i]=-1.205756 ,omgiar3[i]=2.470480 ,epsl2[i]=17.172018 , =26.364231 i=13
,sita1[i]=8.168141 ,sita2[i]=0.426542 ,sita3[i]=1.978575 [i]=-0.212844 ,omgiar3[i]=3.357970 ,epsl2[i]=16.139238 , =3.775582 i=14
,sita1[i]=8.796459 ,sita2[i]=0.440982 ,sita3[i]=2.174982 [i]=0.765697 ,omgiar3[i]=3.001989 ,epsl2[i]=16.539722 , =-14.869405 i=15
,sita1[i]=9.424778 ,sita2[i]=0.517095 ,sita3[i]=2.319940 [i]=1.713347 ,omgiar3[i]=1.713347 ,epsl2[i]=13.956089 , =-26.448486
,omigar2 epsl3[i] ,omigar2 epsl3[i] ,omigar2 epsl3[i] ,omigar2 epsl3[i] ,omigar2 epsl3[i] ,omigar2 epsl3[i]