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Alex Program2

This document contains MATLAB code that calculates various kinematic values for a linkage mechanism as the input angle varies from 0 to 2π radians. The code defines constants, calculates intermediate angles and velocities, and plots the results for output angle, angular velocity, angular acceleration, position, velocity, and acceleration versus the input angle.

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Cris Bradu
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51 views2 pages

Alex Program2

This document contains MATLAB code that calculates various kinematic values for a linkage mechanism as the input angle varies from 0 to 2π radians. The code defines constants, calculates intermediate angles and velocities, and plots the results for output angle, angular velocity, angular acceleration, position, velocity, and acceleration versus the input angle.

Uploaded by

Cris Bradu
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOC, PDF, TXT or read online on Scribd
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clc;

clear;

r=59.65;
l=241.5;
fi=0:pi/180:2*pi;
rad=pi/180;
n1=1732.59;
w1=pi*n1/30;

for i=1:length(fi),

fi2(i)=-asin((r*sin(fi(i)))/l);
xB(i)=r*cos(fi(i))+l*cos(fi2(i)); xBmin=l-r;
w2(i)=-(r*w1*cos(fi(i)))/(l*cos(fi2(i)));
vB(i)=(-r*w1*sin(fi(i))-l*w2(i)*sin(fi2(i)))/1000;
e2(i)=(r*w1^2*sin(fi(i))-l*(w2(i))^2*sin(fi2(i)))/(l*cos(fi2(i)));
aB(i)=(-r*w1^2*cos(fi(i))-l*(w2(i))^2*cos(fi2(i))-
l*e2(i)*sin(fi2(i)))/1000;
fig(i)=fi(i)/rad;
fi2g(i)=fi2(i)/rad;

end

for i=1:length(fi)/2,

teta(i)=2*pi-fi2(i);

end

figure(1)
plot(fi/rad,fi2/rad,'-r'), grid;xlabel('fi1(grade)'),ylabel('fi2(grade)');
figure(2)
plot(fi/rad,w2,'-m'), grid;xlabel('fi1(grade)'),ylabel('w2(rad/s)');
figure(3)
plot(fi/rad,e2,'-b'), grid;xlabel('fi1(grade)'),ylabel('e2(rad/s^2)');
figure(4)
plot(fi/rad,xB,'-r'), grid;xlabel('fi1(grade)'),ylabel('xB*(mm)');
figure(5)
plot(fi/rad,vB,'-m'), grid;xlabel('fi1(grade)'),ylabel('vB(m/s)');
figure(6)
plot(fi/rad,aB,'-b'), grid;xlabel('fi1(grade)'),ylabel('aB(m/s^2)');

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