机械原理大作业 机电学院05011303班 \\shuju3.xls',a(n1)','sheet1','O1');
4.2从动件角位移，角速度，角加速度
function [omega,alph ] = Fun_jixie( theta1,omega1,l1,l2,l3,l5,l6,l22,theta) %从动件角位移
theta2=theta(1);theta3=theta(2);theta5=theta(3);theta6=theta(4); %%%%%%
%计算从动件角速度
A=[ -l2*sin(theta2), l3*sin(theta3), 0, 0; l2*cos(theta2), -l3*cos(theta3), 0, 0; -l22*sin(theta2 - pi/3), -l3*sin(theta3), -l5*sin(theta5), l6*sin(theta6);
l22*cos(theta2 - pi/3), l3*cos(theta3), l5*cos(theta5), -l6*cos(theta6)];
B=[l1*sin(theta1);-l1*cos(theta1);0;0]; omega=A\\(omega1*B);
omega2=omega(1);omega3=omega(2);omega5=omega(3);omega6=omega(4); %%%%%
%计算角从动件角加速度
A=[ -l2*sin(theta2), l3*sin(theta3), 0, 0; l2*cos(theta2), -l3*cos(theta3), 0, 0; -l22*sin(theta2 - pi/3), -l3*sin(theta3), -l5*sin(theta5), l6*sin(theta6);
l22*cos(theta2 - pi/3), l3*cos(theta3), l5*cos(theta5), -l6*cos(theta6)];
At=[-l2*omega2*cos(theta2),l3*omega3*cos(theta3), 0, 0; -l2*omega2*sin(theta2),l3*omega3*sin(theta3), 0, 0; -l22*omega2*cos(theta2 -
pi/3),-l3*omega3*cos(theta3),-l5*omega5*cos(theta5),l6*omega6*cos(theta6); -l22*omega2*sin(theta2 -
pi/3),-l3*omega3*sin(theta3),-l5*omega5*sin(theta5),l6*omega6*sin(theta6)]; Bt=[omega1*l1*cos(theta1);omega1*l1*sin(theta1);0;0;]; alph=A\\(-At*omega+omega1*Bt); end
?????点角速度，角加速度?
function [V,a]=sudu_jasudu_E(omega,alph,theta,theta1,omega1,l1,l2,l22,alph1) %求E点角速度
A=[-l1*sin(theta1),-l2*sin(theta(2))+l22*sin(pi/3-theta(1));l1*cos