平面连杆机构运动分析的子程序.doc

SUBROUTINE CRANK(N1,N2,R,TH,W,A,P,VP,AP,NP) IMPLICIT REAL*8(A-H,O-Z) REAL*8 P(NP,2),VP(NP,2),AP(NP,2) W2=W*W VP(N1,1)=0.0D0 VP(N1,2)=0.0D0 AP(N1,1)=0.0D0 AP(N1,2)=0.0D0 RX=R*DCOS(TH) RY=R*DSIN(TH) P(N2,1)=P(N1,1)+RX P(N2,2)=P(N1,2)+RY VP(N2,1)= -RY*W VP(N2,2)= RX*W AP(N2,1)= -RY*A-RX*W2 AP(N2,2)= RX*A-RY*W2 RETURN END SUBROUTINE CRANK2(N1,N2,N3,R,S,PHI,TH,W,A,P,VP,AP,NP) IMPLICIT REAL*8 (A-H,O-Z) REAL*8 P(NP,2),VP(NP,2),AP(NP,2) W2=W*W VP(N1,1)=0.0D0 VP(N1,2)=0.0D0 AP(N1,1)=0.0D0 AP(N1,2)=0.0D0 RX=R*DCOS(TH) RY=R*DSIN(TH) SX=S*DCOS(TH+PHI) SY=S*DSIN(TH+PHI) P(N2,1)=P(N1,1)+RX P(N2,2)=P(N1,2)+RY P(N3,1)=P(N1,1)+SX P(N3,2)=P(N1,2)+SY VP(N2,1)= -RY*W VP(N2,2)= RX*W VP(N3,1)= -SY*W VP(N3,2)= SX*W AP(N2,1)= -RY*A-RX*W2 AP(N2,2)= RX*A-RY*W2 AP(N3,1)= -SY*A-SX*W2 AP(N3,2)= SX*A-SY*W2 RETURN END SUBROUTINE PAYAD(M,N1,N2,N3,R1,R2,TH1,TH2,P,NP) IMPLICIT REAL*8(A-H,O-Z) REAL*8 P(NP,2) LOGICAL PRNT PRNT=.FALSE. IF(N1.LT.0)PRNT=.FALSE. DELX=P(N2,1)-P(N1,1) IF(DABS(DELX).LT.1.0D-10) DELX=1.0D-10 DELY=P(N2,2)-P(N1,2) PHI=DATAN2(DELY,DELX) SSQ=(P(N2,1)-P(N1,1)**2+(P(N2,2)-P(N1,2))**2 S=DEQRT(SSQ) TEST=S-(R1+R2) IF(TEST)40,40,500 40 TEST=DABS(R1-R2)-S IF(TEST)50,50,500 50 CONTINUE COSIN=(R1**2-R2**2+SSQ)/(2.0D0*R1*S) ALF=DATAN2(DSQRT(1.0D0-COSIN**2),COSIN) IF(M)200,100,100 100 TH=PHI+ALF GOTO 300 200 TH=PHI-ALF 300 CONTINUE RC=R1*DCOS(TH) RS=R1*DSIN(TH) P(N3,1)=P(N1,1)+RC P(N3,2)=P(N1,2)+RS TH1=DATAN2(RS,RC) PS=P(N3,2)-P(N2,2) PC=P(N3,1)-P(N2,1) TH2=DATAN2(PS,PC) RETURN 500 IF(PRNT)WRITE(*,600) 600 FORMAT(3X,DYAD CANNOT BE ASSEMBLED./) END SUBROUTINE VDYAD(M,N1,N2,N3,R1,R2,TH1,TH2,P,W1,W2,VP,NP) IMPLICIT REAL*8 (A-H,O-Z) REAL*8 P(NP,2),VP(NP,2) CALL PDYAD(M,N1,N2,N3,R1,R2,TH1,TH2,P,NP) R2X=P(N3,1)-P(N2,1) R2Y=P(N3,2)-P(N2,2) A1=(VP(N2,1)-VP(N1,1))*R2X A2=(VP(N2,2)-VP(N1,2))*R2Y R1X=P(N3,1)-P(N1,1) R1Y=P(N3,2)-P(N1,2) C1=R1Y*R2X C2=R2Y*R1X DET=C1-C2 B1=(VP(N2,2)-VP(N1,2))*R1Y B2=(VP(N2,1)-VP(N1,1))*R1X W1=-(A1+A2)/DET W2=-(B1+B2)/DET VP(N3,1)=VP(N1,1)-W1*R1Y VP(N3,2)=VP(N1,2)+W1*R1X