Method for calculating equivalent included angle of single transmission shaft in spatial arrangement

The invention discloses a method for calculating an equivalent included angle of a spatially arranged single-section transmission shaft. The method comprises the following steps: 1) acquiring hard point spatial position parameters of transmission shaft arrangement, and calculating center coordinates of a gearbox output flange, center coordinates of a rear axle flange, center coordinates of a transmission shaft input universal joint and center coordinates of a transmission shaft output universal joint; 2) representing the transmission shaft input end, the intermediate transmission shaft and the transmission shaft output end as vectors based on the coordinates in the step 1), and calculating a leading angle of spatial arrangement of the transmission shaft according to a vector cross multiplication method; and 3) calculating the equivalent included angle of the spatial arrangement single-section transmission shaft. The spatial arrangement single transmission shaft equivalent included angle calculation method pro