2)

MATLAB

1

1.1

1.2

1.3

2

2.1

2.2

2.3

3

3.1

3.2

3.3

4

1

1511.2

matlab

2

2

3

3

4

4

5

8

9

9

11

14

1.3

3

2

matlab

2.1

2-1

[3]5mm

2-1

2.2

2-22-2

3.1

[4]

2-32-3

1

2

3

[5]

E

[6]

2

G

F

2-4

O

i

A

C

2-5

n

i

D

B

2-62-5

2.3

3

3-1oo

1Ackerman

a

—

3

B

L

o

cot

(3-1)

cot：-B

L

R

tan:

0

：arctan(3-2)

tan

cot：=cot

tan:

：o=arctan

1

2)

2-5

B

L

tan：

CB

(3-3)

(3-4)

[B]XBYBZB]

(3-5)

XB

Bmin

-ZB

Bmin

XBmaBmin-YB_YBmax

Z

Bmax

(3-6)

Z

Dmax

Z

E

:-mi^:-

:-max

?ii=1,2,3......................

C

[C]i=[XciYCiZcJ

(3-7)

CB

0

CB

[XB”YBZB]

3.2

min

C

1

(3-8)

(CB：C0B)2

.ny

B

i

CB

[B*]

MATLAB

1

[9]

505/410kg

GA

260

G

o

G

-3.5

1400mm

3—5°

ZC

-286

/

GD

70

645

8.8°

0G

345

ZG

-300

0.5°

5

17°

Co

X*

-136

1°

DE

90

0

600

OA

2

215

A

XA

9

EF

300

ZA

-42

a

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Y

0

600

Y

X

[B]XB￡ZB]"-125250-255]

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(3-9)

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0

,

2

O

YZ

a

2

2

'i/(°

XO2/mm

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XO1/mm

3

17

17

19

1

2

3

4

0

5.85.8

8.8

0

-5

6

22

-1.5-2.8

0

3.8

000

2.8

0

2.8

2.8

2.8

/mm

/mm

XB/mm

250

-18

-38

-86

XYZ

BBB

ZB*/mm

CJ

YB*/mm

1

2

3

4

4.20

-252

-246

-278

-260

215

215

215

42.2

9

5.5

42.4

42.6

5.48

5.46

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Z

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XY

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1234

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2

[10]

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Y,Z

matlab

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3-3

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3-2X

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/mm

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matlab

[11]o

3.3

L/mm

3-3

matlab

4

MATLAB

1

clearh=-10:1:10;

G3=[QQ1(-10),QQ1(-9),QQ1(-8),QQ1(-7),QQ1(-6),QQ1(-5),QQ1(-4),QQ1(-3),QQ1(-2),QQ1(-

1),QQ1(0),QQ1(1),QQ1(2),QQ1(3),QQ1(4),QQ1(5),QQ1(6),QQ1(7),QQ1(8),QQ1(9),QQ1(10)];

I=[cc(-10),cc(-9),cc(-8),cc(-7),cc(-6),cc(-5),cc(-4),cc(-3),cc(-2),cc

(-1),cc(0),cc(1),cc(2),cc(3),cc(4),cc(5),cc(6),cc(7),cc(8),cc(9),cc(1

0)];

Gn3=[new(-10),new(-9),new(-8),new(-7),new(-6),new(-5),new(-4),new(-3),new(-2),new(-1),new(0),new(1),new(2),new(3),new(4),new(5),new(6),new

(7),new(8),new(9),new(10)];

In=[ee(-10),ee(-9),ee(-8),ee(-7),ee(-6),ee(-5),ee(-4),ee(-3),ee(-2),ee(-1),ee(0),ee(1),ee(2),ee(3),ee(4),ee(5),ee(6),ee(7),ee(8),ee(9),ee(10)];

J=[hh(-10),hh(-9),hh(-8),hh(-7),hh(-6),hh(-5),hh(-4),hh(-3),hh(-2),hh

(-1),hh(0),hh(1),hh(2),hh(3),hh(4),hh(5),hh(6),hh(7),hh(8),hh(9),hh(1

0)];

Jn=[hhn(-10),hhn(-9),hhn(-8),hhn(-7),hhn(-6),hhn(-5),hhn(-4),hhn(-3),hhn(-2),hhn(-1),hhn(0),hhn(1),hhn(2),hhn(3),hhn(4),hhn(5),hhn(6),hhn(

7),hhn(8),hhn(9),hhn(10)];subplot(1,2,1),plot(G3,I,'-'),holdoff

xlabel('\Delta{z}/mm')ylabel('\Delta{\tau}on;plot(G3,In,'--'),boxoff,hold

/(\circ)')subplot(1,2,2),plot(G3,J,'-'),holdoff

xlabel('\Delta{z}/mm')

ylabel('\Delta{\theta}/(\circ)')white

(2)functionon;plot(G3,Jn,'--'),boxoff,hold

G3=QQ1(h)u=h*pi/180;

q0=cos(u/2);

q1=1.*sin(u/2);%

q2=0.*sin(u/2);%

q3=0.*sin(u/2);%u

B0=[-1.5;617;-324.8];

O1=[-1.5;257;-281];%

B=Q1*(B0-O1)+O1;

B1=B(1:1,1);

B2=B(2:2,1);

B3=B(3:3,1);

R1=363;

R2=252;

R3=220;

R4=260;

t=4.31;

%

%

%

%

M=(R3.A2-(R1.A2+R2A2+R4A2+2*R1*R4.*cos(u+6.1588-t)))/(2*R2.*(R1.*c

os(u+6.1588)+R4.*cos(t)));%wt

N=(R1.*sin(u+6.1588)+R4.*sin(t))/(R1.*cos(u+6.1588)+R4.*cos(t));

w=asin((M.*N+sqrt(N.A2-M.A2+1)”(1+N.A2))

c=asin((R1.*sin(u+6.1588)+R2.*sin(w)+R4.*sin(t))/R3);

v=c+0.1629;

p0=cos(v/2);

p1=1.*sin(v/2);

p2=0.*sin(v/2);

p3=0.*sin(v/2);

D0=[6.9;578;-76];

O2=[6.9;360.7;-43];

D=Q2*(D0-O2)+O2;

D1=D(1:1,1);

D2=D(2:2,1);

D3=D(3:3,1);

a=0.5975;

%

%

%v

%

E=(1/(1+a))*B+(a/(1+a))*D;

E1=E(1:1,1);

E2=E(2:2,1);

E3=E(3:3,1);

v1=asin((D1-B1)/(R2.*cos(0.1798)));

v2=asin((B2-

%a

%

D2)/(R2.*cos(0.1798).*sqrt(1+cos(v1)42)))-atan(tan(0.179

8)/cos(v1));%

H=(-0.0665-v2)/pi*180;F=E+[0;95.*cos(v2);95.*sin(v2)];

F1=F(1:1,1);

%

F2=F(2:2,1);

F3=F(3:3,1);I=(atan((B1-D1)/(B3-D3))-0.0337)/pi*180;%

G=F+[0;334.*sin(v2);-334.*cos(v2)]-[1.6000;675.1321;-573.5527];

G1=G(1:1,1);

G2=G(2:2,1);%G3=G(3:3,1)%K=1/2.*B+1/2.*D;

K1=K(1:1,1);

K2=K(2:2,1);

K3=K(3:3,1);

J=360.*(atan(-(K1-F1)/(F2-K2)))/pi*1340+1.6908e+003;%

D2)/(D3-B3))-0.1555)/pi*180;%

L=(atan((B2-

33-2functionwwh=-10:1:10;

J=[func(-10),func(-9),func(-8),func(-7),func(-6),func(-5),func(-4),func(-3),func(-2),func(-1),func(0),func(1),func(2),func(3),func(4),func(5),func(6),func(7),func(8),func(9),func(10)];

L=[ff1(-10),ff1(-9),ff1(-8),ff1(-7),ff1(-6),ff1(-5),ff1(-4),ff1(-3),ff1(-2),ff1(-

1),ff1(0),ff1(1),ff1(2),ff1(3),ff1(4),ff1(5),ff1(6),ff1(7),ff1(8),ff1(9),ff1(10)];

subplot(1,2,1),plot(h,J,'r*'),axis([-10,10,-5,20]),box

(1)')

subplot(1,2,2),plot(h,L,'g-'),axis([-10,10,-2,2]),title('

off,title('

(2)')

43-3functionG3=yhlt(h)

u=h*pi/180;q0=cos(u/2);

q1=1.*sin(u/2);

%

q2=0.*sin(u/2);

%

q3=0.*sin(u/2);

%u

B0=[-1.62;617.30;-322];

%

O1=[-1.62;257.0;-281.0];B=Q1*(B0-O1)+O1;

%

B1=B(1:1,1);

B2=B(2:2,1);

B3=B(3:3,1);

R1=363;

R2=252;

R3=220;

R4=260;

%

%

%

%

t=16.1*pi/180;

M=(R3.A2-(R1.A2+R2A2+R4A2+2*R1*R4.*cos(u-t)))/(2*R2.*(R1.*cos(u)+R4.*cos(t)));%wt

N=(R1.*sin(u)+R4.*sin(t))/(R1.*cos(u)+R4.*cos(t));

w=asin((M.*N+sqrt(N.A2-M.A2+1)”(1+N.A2))

c=asin(-(R1.*sin(u)+R2.*sin(w)+R4.*sin(t))/R3)v=c+0.1629;

p0=cos(v/2);

p1=1.*sin(v/2);

p2=0.*sin(v/2);

p3=0.*sin(v/2);

%

%

%v

D0=[2.78;578;-76];%O2=[2.78;360.7;-

43];

D=Q2*(D0-O2)+O2;

D1=D(1:1,1);

D2=D(2:2,1);

D3=D(3:3,1);

a=93/159;