子函数%子函数slider_crank文件 functiontheta2,s3,omega2,v3,alpha2,a3=slider_crank(theta1,omega1,alpha1,l1,l2,e) %计算连杆2的角位移和滑块3的线位移 theta2=asin(e-l1*sin(theta1)/l2); s3=l1*cos(theta1)+l2*cos(theta2); %计算连杆2的角为速度和滑块的线速度 A=-l1*sin(theta1),1;-2*cos(theta2),0; B=-l1*sin(theta1);l1*cos(theta1); omega=A(omega1*B); omega2=omega(1); v3=omega(2); %计算连杆2的角加速度和滑块3的线加速度 At=omega2*l2*cos(theta2),0; omega2*l2*sin(theta2),0; Bt=-omega1*l1*cos(theta1); -omega1*l1*
