Function Varargout

function varargout = fourbar_export(varargin)
% FOURBAR_EXPORT M-file for fourbar_export.fig

%
FOURBAR_EXPORT, by itself, creates a new FOURBAR_EXPORT or raises
the existing
%
singleton*.
%
%
H = FOURBAR_EXPORT returns the handle to a new FOURBAR_EXPORT or
the handle to
%
the existing singleton*.
%
%
FOURBAR_EXPORT('CALLBACK',hObject,eventData,handles,...) calls the
local
%
function named CALLBACK in FOURBAR_EXPORT.M with the given input
arguments.
%
%
FOURBAR_EXPORT('Property','Value',...) creates a new
FOURBAR_EXPORT or raises the
%
existing singleton*. Starting from the left, property value pairs
are
%
applied to the GUI before fourbar_export_OpeningFunction gets
called. An
%
unrecognized property name or invalid value makes property
application
%
stop. All inputs are passed to fourbar_export_OpeningFcn via
varargin.
%
%
*See GUI Options on GUIDE's Tools menu. Choose "GUI allows only
one
%
instance to run (singleton)".
%
% See also: GUIDE, GUIDATA, GUIHANDLES
% Edit the above text to modify the response to help fourbar_export
% Last Modified by GUIDE v2.5 22-Sep-2002 13:59:35
% Begin initialization code - DO NOT EDIT
gui_Singleton = 1;
gui_State = struct('gui_Name',
mfilename, ...
'gui_Singleton', gui_Singleton, ...
'gui_OpeningFcn', @fourbar_export_OpeningFcn, ...
'gui_OutputFcn', @fourbar_export_OutputFcn, ...
'gui_LayoutFcn', @fourbar_export_LayoutFcn, ...
'gui_Callback',
[]);
if nargin & isstr(varargin{1})
gui_State.gui_Callback = str2func(varargin{1});
end
if nargout
[varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:});
else
gui_mainfcn(gui_State, varargin{:});
end
% End initialization code - DO NOT EDIT
% --- Executes just before fourbar_export is made visible.
function fourbar_export_OpeningFcn(hObject, eventdata, handles, varargin)

% This function has no output args, see OutputFcn.
% hObject
handle to figure
% eventdata reserved - to be defined in a future version of MATLAB
% handles
structure with handles and user data (see GUIDATA)
% varargin
command line arguments to fourbar_export (see VARARGIN)
% Choose default command line output for fourbar_export
handles.output = hObject;
% Update handles structure
guidata(hObject, handles);
% UIWAIT makes fourbar_export wait for user response (see UIRESUME)
% uiwait(handles.figure1);
% --- Outputs from this function are returned to the command line.
function varargout = fourbar_export_OutputFcn(hObject, eventdata,
handles)
% varargout cell array for returning output args (see VARARGOUT);
% hObject
handle to figure
% handles
% Get default command line output from handles structure
varargout{1} = handles.output;
% --- Executes on button press in pushbutton_plot_4bar.

function pushbutton_plot_4bar_Callback(hObject, eventdata, handles)
% hObject
handle to pushbutton_plot_4bar (see GCBO)
% handles
a1= str2double(get(handles.edit_a, 'String'));
b1= str2double(get(handles.edit_b, 'String'));
c1= str2double(get(handles.edit_c, 'String'));
d1= str2double(get(handles.edit_d, 'String'));
% theta1= str2double(get(handles.theta_1_button, 'String'));
theta1= 0;
theta2= str2double(get(handles.edit_theta2, 'String'));
delta= str2double(get(handles.edit_delta3, 'String'));
p1= str2double(get(handles.edit_p, 'String'));
%fourbar_export.m
% --------------------------------------------------------------------------%This program performs the position, velocity, and acceleration analyses
of
% a four-bar linkage.
% --------------------------------------------------------------------------%This program can be used to check HW 4.6, 4.7, 6.4, 6.6, 7.3, and 7.4 of
% Robert Norton's Design of Machinery. All parameters are defined in
figures
% P4-1, P6-1, and P7-1 respectively.
%Each row of tables P4-1, P6-1, and P7-1 represents a different problem.
%To work on a different problem (row), edit this file to modify the link
parameters
% (a, b, c, d, etc.) and kinematic parameters (theta_2, omega_2, alpha_2,
etc.)
% --------------------------------------------------------------------------%In addition to calculate kinematic parameters at a single position, as
in
% HW problems, this program also caculates these parameters as the
linkage goes
% through one cycle of motion.
%One cycle of motion is either that the input link is back to the
original position,
%
or that the linkage is stopped at a motion limit.
%Linkage motion is accomplished by increasing the crank angle (theta_2)
in the
% beginning of each loop.
%The program also simulates linkage motion graphically.
% --------------------------------------------------------------------------% This program also calculates transmission angle.
% It also calculates the location of instant centers at every position
and shows it in animation.
% --------------------------------------------------------------------------%clear
a=a1;b=b1;c=c1;d=d1;
%Modify these parameters to get a new linkage.
% --------------------------------------------------------------------------delta_theta_2=2;
delta_theta_2=delta_theta_2*pi/180;
%Increment of crank
angle converted to radians.
n=2*pi/delta_theta_2;
%Total number of animation intervals in a
%Decreases delta_theta to get a smoother animation.
%Increases delta_theta to 360 degrees (so that n=1) for a quick
calculation at
%
one position with no animation. This will be useful for checking
HW results.
% --------------------------------------------------------------------------theta=zeros(4,n+1);
%Initializes
matrices.
omega=zeros(4,n+1);
alpha=zeros(4,n+1);
transmission_angle=zeros(1,n+1);
theta(1,1)=theta1;
% --------------------------------------------------------------------------%The first index of the matrix, from 1 to 4, denotes the link number, and
the
%
corresponding elements are theta_1, omega_2, etc.
%The second index of the matrix, from 1 to n+1, denotes the iteration
number in a
% Le
%Inc
%
motion simulation.
%For example, theta(2,1) denotes the initial joint angle of theta_2.
%The maximum number of iteration is n+1 so that the link returns to the
original
%
position.
% --------------------------------------------------------------------------delta_3=delta;
%Coupler point angle in degrees.
delta_3=delta_3*pi/180;
%Coupler point angle
onverted to radians.
p=p1;
% --------------------------------------------------------------------------theta(2,1)=45;
%Initial joint angle
theta_2 in degrees
%Modify this angle to get a new inital linkage position
theta(2,1)=theta(2,1)*pi/180; %Initial joint angle theta_2 converted to
radians
omega(2,1)=-15;
%Initial angular velocity in rad/s
%Note that data given in HW is already in rad/s. No need for conversion.
alpha(2,1)=-10;
%Initial angular acceleration in rad/s^2
% --------------------------------------------------------------------------wflag=1;
%Initializes the flag of
linkage existance.
i=1;
%Initializes the
counter of while loop for motion simulation.
% --------------------------------------------------------------------------%Checks if the linkage is beyond its limits or lengths are not
permissible for a 4bar
% --------------------------------------------------------------------------K1=d/a;
%Eq.
(4.8a)
K4=d/b;
K5=(c^2-d^2-a^2-b^2)/(2*a*b); %Eq. (4.11a)
%Distance fr
%Mak
D=cos(theta(2,i))-K1+K4*cos(theta(2,i))+K5;
%Preceding Eq. (4.13)
E=-2*sin(theta(2,i));
F=K1+(K4-1)*cos(theta(2,i))+K5;
if (E^2-4.*D*F<0)
wflag=0;
% If wflag=0, The linkage is beyond its limits, or the lengths
%
are not permissible for a 4bar.
% For example, if a^2+d^2+2a*d*cos(theta_2) > (b+c)^2,
%
the fourbar_export linkage can not be constructed.
% At the motion limit, the fourbar_export becomes a triagle, as
shown in
%
Figure 4.16. If the crank is over the limit, the law of
cosine will not
%
be valid, and the fourbar_export can not be connected.
end
% ---------------------------------------------------------------------------
% No
%Perform position, velocity, and acceleration analyses during motion

(while loop).
%If wflag=0, there is no need to set the linkage in motion in the
following while loop.
% --------------------------------------------------------------------------while wflag==1
%Note that "==" is a relational operator to return logical true or
false.
%If linkage is permissible (wflag==1), the while loop
proceeds.
% --------------------------------------------------------------------------%Position Analysis
% --------------------------------------------------------------------------theta(3,i)=2*atan((-E-sqrt(E^2-4.*D*F))/(2*D));
% Open configuration
% For crossed configuration, change the sign before sqrt.
K2=d/c;
K3=(a^2-b^2+c^2+d^2)/(2*a*c);
A=cos(theta(2,i))-K1-K2*cos(theta(2,i))+K3;
B=-2*sin(theta(2,i));
C=K1-(K2+1)*cos(theta(2,i))+K3;
theta(4,i)=2*atan((-B-sqrt(B^2-4.*A*C))/(2*A));
% --------------------------------------------------------------------------transmission_angle(i)=abs(theta(3,i)-theta(4,i));
if (transmission_angle(i)>pi)
transmission_angle(i)=2*pi-transmission_angle(i);
end
if (transmission_angle(i)>pi/2)
transmission_angle(i)=pi-transmission_angle(i);
end
transmission_angle(i)=transmission_angle(i)*180/pi;
%
if (i == 1)
transmission_max = transmission_angle(1);
transmission_min = transmission_angle(1);
end
transmission_max = max(transmission_max, transmission_angle(i));
transmission_min = min(transmission_min, transmission_angle(i));
% set(handles.max_button,'String',transmission_max)
% set(handles.min_button,'String',transmission_min)
% --------------------------------------------------------------------------%Velocity Analysis
% --------------------------------------------------------------------------omega(3,i)=a*omega(2,i)*(sin(theta(4,i)theta(2,i)))/(b*(sin(theta(3,i)...
-theta(4,i))));
omega(4,i)=a*omega(2,i)*(sin(theta(2,i)theta(3,i)))/(c*(sin(theta(4,i)...
%Eq. (4.13)
%Eq.
-theta(3,i))));
VA =a*omega(2,i)*(-sin(theta(2,i))+j*cos(theta(2,i)));
%Eq.
(6.19a)
VB =c*omega(4,i)*(-sin(theta(4,i))+j*cos(theta(4,i)));
%Eq.
(6.19c)
%
Note that VA and VB are complex numbers.
% --------------------------------------------------------------------------%Acceleration Analysis
% --------------------------------------------------------------------------A=c*sin(theta(4,i));
B=b*sin(theta(3,i));
C=a*alpha(2,i)*sin(theta(2,i))+a*(omega(2,i)^2)*cos(theta(2,i))...
+b*omega(3,i)^2*cos(theta(3,i))-c*omega(4,i)^2*cos(theta(4,i));
D=c*cos(theta(4,i));
E=b*cos(theta(3,i));
F=a*alpha(2,i)*cos(theta(2,i))-a*omega(2,i)^2*sin(theta(2,i))...
-b*omega(3,i)^2*sin(theta(3,i))+c*omega(4,i)^2*sin(theta(4,i));
alpha(3,i)= (C*D-A*F)/(A*E-B*D);
alpha(4,i)= (C*E-B*F)/(A*E-B*D);
AA=a*alpha(2,1)*(-sin(theta(2,i))+j*cos(theta(2,i)))...
-a*omega(2,i)^2*(cos(theta(2,i))+j*sin(theta(2,i)));
%Eq.
(7.13a)
AB=c*alpha(4,i)*(-sin(theta(4,i))+j*cos(theta(4,i)))...
-c*omega(4,i)^2*(cos(theta(4,i))+j*sin(theta(4,i)));
%Eq.
(7.13c)
% --------------------------------------------------------------------------i=i+1;
%Increses the counter to continue the while loop.
%Checks if the linkage completes a cycle.
% --------------------------------------------------------------------------if (i>n+1)
%The linkage completes a cycle.
wflag=0;
%Signals the flag to end the while loop.
else
% --------------------------------------------------------------------------% Calculate theta_2, omega_2, and alpha_2 for the next position.
% --------------------------------------------------------------------------omega(2,i)=omega(2,i-1);
theta(2,i)=theta(2,i-1)+delta_theta_2;
%Alternative codes
%theta(2,i)=theta(2,1)+omega(2,1)*(delta_time*i)
%delta_theta_2=omega(2,i-1)*delta_time
% Note that delta_time is not used in this program. However, delta_time
is useful
%
if the results need to be compared with those from Working Model
files.
% --------------------------------------------------------------------------%alpha(2,i)=alpha(2,i-1);
%omega(2,i)=omega(2,i-1)+alpha(2,i-1);
%theta(2,i)=theta(2,1)+.5*alpha(2,1)*(delta_time*i)^2
%Constant alpha
%Constant om
%To toggle between these two options, constant velocity or constant

acceleration,
% comment out the constant omega motion and un-comment constant angular
alpha motion
% --------------------------------------------------------------------------%Checks if the linkage is beyond its limits with the new theta_2.
% --------------------------------------------------------------------------D=cos(theta(2,i))-K1+K4*cos(theta(2,i))+K5;
if (E^2-4.*D*F<0)
%The linkage reaches
its moton limits.
wflag=0;
%Signal the flag to end the while loop.
end
% --------------------------------------------------------------------------end
%End if
end
%End while
% --------------------------------------------------------------------------%
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
>>>
%The following section is for animation.
% --------------------------------------------------------------------------XC=[];YC=[];
I13X=[];I13Y=[];I24X=[];I24Y=[];
%output=menu('Simulation Options','4bar simulation','4bar simulation with
coupler curve','4bar simulation with instant centers','4bar simulation
with fixed centrode');
for k=1:i-1
%"for loop" to
animate linkage motion.
%Animation stops before the linkage reaches its moton limits or a
complete cycle.
% --------------------------------------------------------------------------%Calculates the coordinates of joints and the coupler point
%
based on vector equation with nomenclature in Figure 4-7.
% --------------------------------------------------------------------------xo2=0;
%Coordinates of point O2
yo2=0;
xo4=xo2+d*cos(theta(1,1));
yo4=yo2+d*sin(theta(1,1));
%theta(1,k) is 0 in all HW problems.
xa=xo2+a*cos(theta(2,k));
%Coordinates of point A
ya=yo2+a*sin(theta(2,k));
xb=xa+b*cos(theta(3,k));
%Coordinates of point B
yb=ya+b*sin(theta(3,k));
%theta(3,k) is calculated in the position analysis section.
%Alternative codes
%xb=xo4+c*cos(theta(4,k));
%End if
%yb=yo4+c*sin(theta(4,k));
xc=xa+p*cos(theta(3,k)+delta_3);
%Coordinates of coupler point
yc=ya+p*sin(theta(3,k)+delta_3);
% --------------------------------------------------------------------------%Creates the lines representing binary links and sides of the coupler
link
% connected to the coupler point.
% --------------------------------------------------------------------------x_link2=[xo2 xa];
%Line of link 2
y_link2=[yo2 ya];
x_link3=[xa xb];
%Line of link 3
y_link3=[ya yb];
x_link4=[xb xo4];
%Line of link 4
y_link4=[yb yo4];
x_link1=[xo4 xo2];
%Line of link 1
y_link1=[yo4 yo2];
x_c1=[xa xc];
%Line of coupler_link side 1
y_c1=[ya yc];
x_c2=[xb xc];
y_c2=[yb yc];
XC=[XC,xc];
YC=[YC,yc];
% --------------------------------------------------------------------------% Calculate the coordinate of instant centers
% --------------------------------------------------------------------------I13x=[xb*(yb-yo4)*(xa-xo2)-xa*(ya-yo2)*(xb-xo4)+(ya-yb)*(xb-xo4)*(xaxo2)]/[(yb-yo4)*(xa-xo2)-(ya-yo2)*(xb-xo4)];
I13y=[yb*(xb-xo4)*(ya-yo2)-ya*(xa-xo2)*(yb-yo4)+(xa-xb)*(yb-yo4)*(yayo2)]/[(xb-xo4)*(ya-yo2)-(xa-xo2)*(yb-yo4)];
I24x=[xb*(yb-ya)*(xo4-xo2)-xo4*(yo4-yo2)*(xb-xa)+(yo4-yb)*(xb-xa)*(xo4xo2)]/[(yb-ya)*(xo4-xo2)-(yo4-yo2)*(xb-xa)];
I24y=[yb*(xb-xa)*(yo4-yo2)-yo4*(xo4-xo2)*(yb-ya)+(xo4-xb)*(yb-ya)*(yo4yo2)]/[(xb-xa)*(yo4-yo2)-(xo4-xo2)*(yb-ya)];
I13X=[I13X,I13x];
I13Y=[I13Y,I13y];
I24X=[I24X,I24x];
I24Y=[I24Y,I24y];
% val = get(h,'Value');
% switch val
% case 2
% ------------------------------------------------------------------a1= str2double(get(handles.edit_a, 'String'));
%theta1= str2double(get(handles.theta_1_button, 'String'));
plot(xo2,yo2,'-.ko',x_link2,y_link2,xa,ya,'-.ko',x_link3,y_link3,xb,yb,'.ko',x_link4,y_link4,xo4,yo4,'-.ko',x_link1,y_link1,x_c1,y_c1,x_c2,y_c2)
hold on;
xmin=(xo2-a);
xmax=(xo4+c);
ymin=max(yo2-a, yo4-c)-p1*cos(delta*pi/180);
ymax=max(yo2+a, yo4+c)+p1*cos(delta*pi/180);
% axis([xmin xmax ymin ymax]*1.5)
axis equal
plot([xmin xmax ]*1.4,[0 0], '-.k', [0 0],[ymin ymax]*1.2,'-.k')
hold off;
% case 3 % instant centers
%
% a1= str2double(get(handles.edit_a, 'String'));
% b1= str2double(get(handles.edit_b, 'String'));
% c1= str2double(get(handles.edit_c, 'String'));
% d1= str2double(get(handles.edit_d, 'String'));
% %theta1= str2double(get(handles.theta_1_button, 'String'));
% theta2= str2double(get(handles.edit_theta2, 'String'));
% delta= str2double(get(handles.edit_delta3, 'String'));
% p1= str2double(get(handles.edit_p, 'String'));
%
% plot(xo2,yo2,'-.ko',x_link2,y_link2,xa,ya,'.ko',x_link3,y_link3,xb,yb,'-.ko',x_link4,y_link4,xo4,yo4,'.ko',x_link1,y_link1, I13x,I13y,'o', I24x,I24y,'o')
%
axis([xo2-a-2 xo4+c+2 yo2-a-2 yo2-a-2+(xo4+c-xo2+a+4)]*2)
%
%
%
% case 4 % coupler curve
%
% plot(xo2,yo2,'-.ko',x_link2,y_link2,xa,ya,'.ko',x_link3,y_link3,xb,yb,'-.ko',x_link4,y_link4,xo4,yo4,'.ko',x_link1,y_link1,x_c1,y_c1,x_c2,y_c2, xc,yc,'o', XC,YC)
%
%
% case 5 % fixed centrode
%
% plot(xo2,yo2,'-.ko',x_link2,y_link2,xa,ya,'.ko',x_link3,y_link3,xb,yb,'-.ko',x_link4,y_link4,xo4,yo4,'.ko',x_link1,y_link1, I13x,I13y,'o', I13X,I13Y)
%
%
%
% end
% guidata(h,handles)
% axis([xo2-a-2 xo4+c+2 yo2-a-2 yo2-a-2+(xo4+c-xo2+a+4)]*2)
%axis([xmin xmax ymin ymax])
% Automatically adjusts the range of axes to show the whole
linkage in the screen
%
when a new linkage is created.
% This is accomplised by making the width (xmax-xmin) equal to the
height (ymax-ymin)
% for proper aspect ratio.
% axis off
%Turns off all axis lines,
tick marks, and labels.
drawnow;
%Completes pending drawing
events and updates the Figure window
end
%end "for loop"
% --------------------------------------------------------------------------theta=theta.*180/pi;
%Converts radians to degrees for
output.
% --- Executes on button press in pushbutton_instant_centers.

function pushbutton_instant_centers_Callback(hObject, eventdata, handles)
% hObject
handle to pushbutton_instant_centers (see GCBO)
% handles
theta1= 0;
%fourbar_export.m
of
figures
parameters
etc.)
in
linkage goes
original position,
%
in the
% --------------------------------------------------------------------------%clear
% --------------------------------------------------------------------------delta_theta_2=2;
%Increment of crank
calculation at
%
HW results.
% --------------------------------------------------------------------------theta=zeros(4,n+1);
%Initializes
matrices.
omega=zeros(4,n+1);
alpha=zeros(4,n+1);
theta(1,1)=theta1;
the
%
number in a
% Le
%Inc
%
motion simulation.
original
%
position.
% --------------------------------------------------------------------------delta_3=delta;
p=p1;
% --------------------------------------------------------------------------theta(2,1)=45;
theta_2 in degrees
radians
omega(2,1)=-15;
alpha(2,1)=-10;
% --------------------------------------------------------------------------wflag=1;
linkage existance.
i=1;
%Initializes the
% --------------------------------------------------------------------------K1=d/a;
%Eq.
(4.8a)
K4=d/b;
K5=(c^2-d^2-a^2-b^2)/(2*a*b); %Eq. (4.11a)
%Distance fr
%Mak
if (E^2-4.*D*F<0)
wflag=0;
%
%
shown in
%
cosine will not
%
end
% ---------------------------------------------------------------------------
% No
%Perform position, velocity, and acceleration analyses during motion

(while loop).
% --------------------------------------------------------------------------while wflag==1
false.
proceeds.
K2=d/c;
K3=(a^2-b^2+c^2+d^2)/(2*a*c);
end
end
%
if (i == 1)
end
-theta(4,i))));
%Eq. (4.13)
%Eq.
-theta(3,i))));
%Eq.
(6.19a)
%Eq.
(6.19c)
%
% --------------------------------------------------------------------------A=c*sin(theta(4,i));
%Eq.
(7.13a)
%Eq.
(7.13c)
% --------------------------------------------------------------------------i=i+1;
% --------------------------------------------------------------------------if (i>n+1)
wflag=0;
else
% --------------------------------------------------------------------------omega(2,i)=omega(2,i-1);
%Alternative codes
is useful
%
files.
% --------------------------------------------------------------------------%alpha(2,i)=alpha(2,i-1);
%Constant alpha
%Constant om

acceleration,
alpha motion
if (E^2-4.*D*F<0)
its moton limits.
wflag=0;
end
% --------------------------------------------------------------------------end
%End if
end
%End while
% --------------------------------------------------------------------------%
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
>>>
% --------------------------------------------------------------------------XC=[];YC=[];
I13X=[];I13Y=[];I24X=[];I24Y=[];
for k=1:i-1
%"for loop" to
complete cycle.
%
% --------------------------------------------------------------------------xo2=0;
yo2=0;
%Alternative codes
%End if
link
% --------------------------------------------------------------------------x_link2=[xo2 xa];
%Line of link 2
y_link2=[yo2 ya];
x_link3=[xa xb];
%Line of link 3
y_link3=[ya yb];
x_link4=[xb xo4];
%Line of link 4
y_link4=[yb yo4];
x_link1=[xo4 xo2];
%Line of link 1
y_link1=[yo4 yo2];
x_c1=[xa xc];
y_c1=[ya yc];
x_c2=[xb xc];
y_c2=[yb yc];
XC=[XC,xc];
YC=[YC,yc];
I13X=[I13X,I13x];
I13Y=[I13Y,I13y];
I24X=[I24X,I24x];
I24Y=[I24Y,I24y];
% switch val
% case 2
plot(xo2,yo2,'-.ko',x_link2,y_link2,xa,ya,'-.ko',x_link3,y_link3,xb,yb,'.ko',...
x_link4,y_link4,xo4,yo4,'-.ko',x_link1,y_link1, I13x,I13y,'ro',
I24x,I24y,'ro')
hold on;
xmin=(xo2-a);
xmax=(xo4+c);
axis equal
plot([xmin xmax ]*2,[0 0], '-.k', [0 0],[ymin ymax]*1.5,'-.k');
xlim([xmin xmax ]*2);
hold off;
%
%
%
%
%
%
%
%
%
%

%
%
%
% end
%
height (ymax-ymin)
% axis off
drawnow;
end
%end "for loop"
% --------------------------------------------------------------------------theta=theta.*180/pi;
output.
% --- Executes on button press in pushbutton_plot_coupler_curve.

function pushbutton_plot_coupler_curve_Callback(hObject, eventdata,
handles)
% hObject
handle to pushbutton_plot_coupler_curve (see GCBO)
% handles
theta1= 0;
%fourbar_export.m
of

figures
parameters
etc.)
in
linkage goes
original position,
%
in the
% --------------------------------------------------------------------------%clear
% --------------------------------------------------------------------------delta_theta_2=2;
%Increment of crank
calculation at
%
HW results.
% --------------------------------------------------------------------------theta=zeros(4,n+1);
%Initializes
matrices.
omega=zeros(4,n+1);
alpha=zeros(4,n+1);
theta(1,1)=theta1;
the
% Le
%Inc
%
number in a
%
motion simulation.
original
%
position.
% --------------------------------------------------------------------------delta_3=delta;
p=p1;
% --------------------------------------------------------------------------theta(2,1)=45;
theta_2 in degrees
radians
omega(2,1)=-15;
alpha(2,1)=-10;
% --------------------------------------------------------------------------wflag=1;
linkage existance.
i=1;
%Initializes the
% --------------------------------------------------------------------------K1=d/a;
%Eq.
(4.8a)
K4=d/b;
K5=(c^2-d^2-a^2-b^2)/(2*a*b); %Eq. (4.11a)
%Distance fr
%Mak
if (E^2-4.*D*F<0)
wflag=0;
%
%
shown in
%
cosine will not
%
end
% No
% --------------------------------------------------------------------------%Perform position, velocity, and acceleration analyses during motion

(while loop).
% --------------------------------------------------------------------------while wflag==1
false.
proceeds.
K2=d/c;
K3=(a^2-b^2+c^2+d^2)/(2*a*c);
end
end
%
if (i == 1)
end
-theta(4,i))));
%Eq. (4.13)
%Eq.
-theta(3,i))));
%Eq.
(6.19a)
%Eq.
(6.19c)
%
% --------------------------------------------------------------------------A=c*sin(theta(4,i));
%Eq.
(7.13a)
%Eq.
(7.13c)
% --------------------------------------------------------------------------i=i+1;
% --------------------------------------------------------------------------if (i>n+1)
wflag=0;
else
% --------------------------------------------------------------------------omega(2,i)=omega(2,i-1);
%Alternative codes
is useful
%
files.
% --------------------------------------------------------------------------%alpha(2,i)=alpha(2,i-1);
%Constant om
%Constant alpha
acceleration,
alpha motion
if (E^2-4.*D*F<0)
its moton limits.
wflag=0;
end
% --------------------------------------------------------------------------end
%End if
end
%End while
% --------------------------------------------------------------------------%
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
>>>
% --------------------------------------------------------------------------XC=[];YC=[];
I13X=[];I13Y=[];I24X=[];I24Y=[];
for k=1:i-1
%"for loop" to
complete cycle.
%
% --------------------------------------------------------------------------xo2=0;
yo2=0;
%End if
%Alternative codes
link
% --------------------------------------------------------------------------x_link2=[xo2 xa];
%Line of link 2
y_link2=[yo2 ya];
x_link3=[xa xb];
%Line of link 3
y_link3=[ya yb];
x_link4=[xb xo4];
%Line of link 4
y_link4=[yb yo4];
x_link1=[xo4 xo2];
%Line of link 1
y_link1=[yo4 yo2];
x_c1=[xa xc];
y_c1=[ya yc];
x_c2=[xb xc];
y_c2=[yb yc];
XC=[XC,xc];
YC=[YC,yc];
I13X=[I13X,I13x];
I13Y=[I13Y,I13y];
I24X=[I24X,I24x];
I24Y=[I24Y,I24y];
% switch val
% case 2
plot(xo2,yo2,'-.ko',x_link2,y_link2,xa,ya,'-.ko',x_link3,y_link3,xb,yb,'.ko',x_link4,y_link4,xo4,yo4,'-.ko',x_link1,y_link1,x_c1,y_c1,x_c2,y_c2,
xc,yc,'o', XC,YC)
hold on;
xmin=(xo2-a);
xmax=(xo4+c);
axis equal
hold off;
%
%
%
%
%
%
%
%
%
%
%
%
% end
%
height (ymax-ymin)
% axis off
drawnow;
end
%end "for loop"
% --------------------------------------------------------------------------theta=theta.*180/pi;
output.
% --- Executes on button press in pushbutton_centrode.

function pushbutton_centrode_Callback(hObject, eventdata, handles)
% hObject
handle to pushbutton_centrode (see GCBO)
% handles
theta1= 0;
%fourbar_export.m
of
figures
parameters

etc.)
in
linkage goes
original position,
%
in the
% --------------------------------------------------------------------------%clear
% --------------------------------------------------------------------------delta_theta_2=2;
%Increment of crank
calculation at
%
HW results.
% --------------------------------------------------------------------------theta=zeros(4,n+1);
%Initializes
matrices.
omega=zeros(4,n+1);
alpha=zeros(4,n+1);
theta(1,1)=theta1;
the
%
number in a
%
motion simulation.
% Le
%Inc
original
%
position.
% --------------------------------------------------------------------------delta_3=delta;
p=p1;
% --------------------------------------------------------------------------theta(2,1)=45;
theta_2 in degrees
radians
omega(2,1)=-15;
alpha(2,1)=-10;
% --------------------------------------------------------------------------wflag=1;
linkage existance.
i=1;
%Initializes the
% --------------------------------------------------------------------------K1=d/a;
%Eq.
(4.8a)
K4=d/b;
K5=(c^2-d^2-a^2-b^2)/(2*a*b); %Eq. (4.11a)
%Distance fr
%Mak
if (E^2-4.*D*F<0)
wflag=0;
%
%
shown in
%
cosine will not
%
end
% --------------------------------------------------------------------------%Perform position, velocity, and acceleration analyses during motion
(while loop).
% No

% --------------------------------------------------------------------------while wflag==1
false.
proceeds.
K2=d/c;
K3=(a^2-b^2+c^2+d^2)/(2*a*c);
end
end
%
if (i == 1)
end
-theta(4,i))));
-theta(3,i))));
%Eq. (4.13)
%Eq.
%Eq.
(6.19a)
%Eq.
(6.19c)
%
% --------------------------------------------------------------------------A=c*sin(theta(4,i));
%Eq.
(7.13a)
%Eq.
(7.13c)
% --------------------------------------------------------------------------i=i+1;
% --------------------------------------------------------------------------if (i>n+1)
wflag=0;
else
% --------------------------------------------------------------------------omega(2,i)=omega(2,i-1);
%Alternative codes
is useful
%
files.
% --------------------------------------------------------------------------%alpha(2,i)=alpha(2,i-1);
%Constant alpha
acceleration,
%Constant om
alpha motion
if (E^2-4.*D*F<0)
its moton limits.
wflag=0;
end
% --------------------------------------------------------------------------end
%End if
end
%End while
% --------------------------------------------------------------------------%
<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
>>>
% --------------------------------------------------------------------------XC=[];YC=[];
I13X=[];I13Y=[];I24X=[];I24Y=[];
for k=1:i-1
%"for loop" to
complete cycle.
%
% --------------------------------------------------------------------------xo2=0;
yo2=0;
%Alternative codes
%End if
link
% --------------------------------------------------------------------------x_link2=[xo2 xa];
%Line of link 2
y_link2=[yo2 ya];
x_link3=[xa xb];
%Line of link 3
y_link3=[ya yb];
x_link4=[xb xo4];
%Line of link 4
y_link4=[yb yo4];
x_link1=[xo4 xo2];
%Line of link 1
y_link1=[yo4 yo2];
x_c1=[xa xc];
y_c1=[ya yc];
x_c2=[xb xc];
y_c2=[yb yc];
XC=[XC,xc];
YC=[YC,yc];
I13X=[I13X,I13x];
I13Y=[I13Y,I13y];
I24X=[I24X,I24x];
I24Y=[I24Y,I24y];
% switch val
% case 2
% plot(xo2,yo2,'-.ko',x_link2,y_link2,xa,ya,'.ko',x_link3,y_link3,xb,yb,'-.ko',x_link4,y_link4,xo4,yo4,'.ko',x_link1,y_link1,x_c1,y_c1,x_c2,y_c2)
plot(xo2,yo2,'-.ko',x_link2,y_link2,xa,ya,'-.ko',x_link3,y_link3,xb,yb,'.ko',x_link4,y_link4,xo4,yo4,'-.ko',x_link1,y_link1, I13x,I13y,'o',
I13X,I13Y)
hold on;
xmin=(xo2-a);
xmax=(xo4+c);
axis equal
hold off;
%
%
%
%
%
%
%
%
%
%
%
%
%
% end
%
height (ymax-ymin)
% axis off
drawnow;
end
%end "for loop"
% --------------------------------------------------------------------------theta=theta.*180/pi;
output.
% --- Executes on button press in pushbutton_quit.

function pushbutton_quit_Callback(hObject, eventdata, handles)
% hObject
handle to pushbutton_quit (see GCBO)
% handles
close(gcf);
% --- Executes during object creation, after setting all properties.

function edit_a_CreateFcn(hObject, eventdata, handles)
% hObject
handle to edit_a (see GCBO)
% handles
empty - handles not created until after all CreateFcns
called
% Hint: edit controls usually have a white background on Windows.
%
See ISPC and COMPUTER.
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
function edit_a_Callback(hObject, eventdata, handles)

% hObject
handle to edit_a (see GCBO)
% handles
% Hints: get(hObject,'String') returns contents of edit_a as text
%
str2double(get(hObject,'String')) returns contents of edit_a as
a double

function edit_b_CreateFcn(hObject, eventdata, handles)
% hObject
handle to edit_b (see GCBO)
% handles
called
%
if ispc
else
end
function edit_b_Callback(hObject, eventdata, handles)

% hObject
handle to edit_b (see GCBO)
% handles
% Hints: get(hObject,'String') returns contents of edit_b as text
%
str2double(get(hObject,'String')) returns contents of edit_b as
a double
function edit_c_CreateFcn(hObject, eventdata, handles)
% hObject
handle to edit_c (see GCBO)
% handles
called
%
if ispc
else
end
function edit_c_Callback(hObject, eventdata, handles)

% hObject
handle to edit_c (see GCBO)
% handles
% Hints: get(hObject,'String') returns contents of edit_c as text

%
str2double(get(hObject,'String')) returns contents of edit_c as
a double
function edit_d_CreateFcn(hObject, eventdata, handles)
% hObject
handle to edit_d (see GCBO)
% handles
called
%
if ispc
else
end
function edit_d_Callback(hObject, eventdata, handles)

% hObject
handle to edit_d (see GCBO)
% handles
% Hints: get(hObject,'String') returns contents of edit_d as text
%
str2double(get(hObject,'String')) returns contents of edit_d as
a double
function edit_p_CreateFcn(hObject, eventdata, handles)
% hObject
handle to edit_p (see GCBO)
% handles
called
%
if ispc
else
end
function edit_p_Callback(hObject, eventdata, handles)

% hObject
handle to edit_p (see GCBO)
% handles
% Hints: get(hObject,'String') returns contents of edit_p as text

%
str2double(get(hObject,'String')) returns contents of edit_p as
a double
function edit_delta3_CreateFcn(hObject, eventdata, handles)
% hObject
handle to edit_delta3 (see GCBO)
% handles
called
%
if ispc
else
end
function edit_delta3_Callback(hObject, eventdata, handles)

% hObject
handle to edit_delta3 (see GCBO)
% handles
% Hints: get(hObject,'String') returns contents of edit_delta3 as text
%
str2double(get(hObject,'String')) returns contents of
edit_delta3 as a double
function edit_theta2_CreateFcn(hObject, eventdata, handles)
% hObject
handle to edit_theta2 (see GCBO)
% handles
called
%
if ispc
else
end
function edit_theta2_Callback(hObject, eventdata, handles)

% hObject
handle to edit_theta2 (see GCBO)
% handles
% Hints: get(hObject,'String') returns contents of edit_theta2 as text

%
edit_theta2 as a double
function edit_omega2_CreateFcn(hObject, eventdata, handles)
% hObject
handle to edit_omega2 (see GCBO)
% handles
called
%
if ispc
else
end
function edit_omega2_Callback(hObject, eventdata, handles)

% hObject
handle to edit_omega2 (see GCBO)
% handles
% Hints: get(hObject,'String') returns contents of edit_omega2 as text
%
edit_omega2 as a double
function edit_alpha2_CreateFcn(hObject, eventdata, handles)
% hObject
handle to edit_alpha2 (see GCBO)
% handles
called
%
if ispc
else
end
function edit_alpha2_Callback(hObject, eventdata, handles)

% hObject
handle to edit_alpha2 (see GCBO)
% handles
% Hints: get(hObject,'String') returns contents of edit_alpha2 as text
%
edit_alpha2 as a double
% --- Creates and returns a handle to the GUI figure.

function h1 = fourbar_export_LayoutFcn(policy)
% policy - create a new figure or use a singleton. 'new' or 'reuse'.
persistent hsingleton;
if strcmpi(policy, 'reuse') & ishandle(hsingleton)
h1 = hsingleton;
return;
end
h1 = figure(...
'Units','characters',...
'Color',[0.831372549019608 0.815686274509804 0.784313725490196],...
'Colormap',[0 0 0.5625;0 0 0.625;0 0 0.6875;0 0 0.75;0 0 0.8125;0 0
0.875;0 0 0.9375;0 0 1;0 0.0625 1;0 0.125 1;0 0.1875 1;0 0.25 1;0 0.3125
1;0 0.375 1;0 0.4375 1;0 0.5 1;0 0.5625 1;0 0.625 1;0 0.6875 1;0 0.75 1;0
0.8125 1;0 0.875 1;0 0.9375 1;0 1 1;0.0625 1 1;0.125 1 0.9375;0.1875 1
0.875;0.25 1 0.8125;0.3125 1 0.75;0.375 1 0.6875;0.4375 1 0.625;0.5 1
0.5625;0.5625 1 0.5;0.625 1 0.4375;0.6875 1 0.375;0.75 1 0.3125;0.8125 1
0.25;0.875 1 0.1875;0.9375 1 0.125;1 1 0.0625;1 1 0;1 0.9375 0;1 0.875
0;1 0.8125 0;1 0.75 0;1 0.6875 0;1 0.625 0;1 0.5625 0;1 0.5 0;1 0.4375
0;1 0.375 0;1 0.3125 0;1 0.25 0;1 0.1875 0;1 0.125 0;1 0.0625 0;1 0
0;0.9375 0 0;0.875 0 0;0.8125 0 0;0.75 0 0;0.6875 0 0;0.625 0 0;0.5625 0
0],...
'IntegerHandle','off',...
'InvertHardcopy',get(0,'defaultfigureInvertHardcopy'),...
'MenuBar','none',...
'Name','fourbar',...
'NumberTitle','off',...
'PaperPosition',get(0,'defaultfigurePaperPosition'),...
'Position',[80 10 112 32.3076923076923],...
'Renderer',get(0,'defaultfigureRenderer'),...
'RendererMode','manual',...
'Resize','off',...
'HandleVisibility','callback',...
'Tag','figure1',...
'UserData',zeros(1,0));
setappdata(h1, 'GUIDEOptions', struct(...
'active_h', 2.130020e+002, ...
'taginfo', struct(...
'figure', 2, ...
'text', 21, ...
'axes', 2, ...
'edit', 16, ...
'pushbutton', 6, ...
'frame', 5), ...
'override', 0, ...
'release', 13, ...
'resize', 'none', ...
'accessibility', 'callback', ...
'mfile', 1, ...
'callbacks', 1, ...
'singleton', 1, ...
'syscolorfig', 1, ...
'lastSavedFile',
'C:\summer_02\erin\matlab_r13\kinmeatics\norton\fourbar.m'));
h2 = uicontrol(...
'Parent',h1,...
'ListboxTop',0,...
'Position',[1.4 20.0769230769231 24.4 11.3076923076923],...
'String',{ '' },...
'Style','frame',...
'Tag','frame3');
h3 = axes(...
'Parent',h1,...
'CameraPosition',[0.5 0.5 9.16025403784439],...
'CameraPositionMode',get(0,'defaultaxesCameraPositionMode'),...
'Color',get(0,'defaultaxesColor'),...
'ColorOrder',get(0,'defaultaxesColorOrder'),...
'Position',[26.6 3.38461538461539 80.8 23.1538461538462],...
'XColor',get(0,'defaultaxesXColor'),...
'YColor',get(0,'defaultaxesYColor'),...
'ZColor',get(0,'defaultaxesZColor'),...
'Tag','axes1');
h4 = get(h3,'title');
set(h4,...
'Parent',h3,...
'Color',[0 0 0],...
'HorizontalAlignment','center',...
'Position',[0.498762376237624 1.02159468438538 1.00005459937205],...
'VerticalAlignment','bottom',...
'HandleVisibility','off');
h5 = get(h3,'xlabel');
set(h5,...
'Parent',h3,...
'Color',[0 0 0],...
'Position',[0.498762376237624 -0.0780730897009967 1.00005459937205],...
'VerticalAlignment','cap',...
h6 = get(h3,'ylabel');
set(h6,...
'Parent',h3,...
'Color',[0 0 0],...
'Position',[-0.0705445544554456 0.496677740863787 1.00005459937205],...
'Rotation',90,...
'VerticalAlignment','bottom',...
h7 = get(h3,'zlabel');
set(h7,...
'Parent',h3,...
'Color',[0 0 0],...
'HorizontalAlignment','right',...
'Position',[-0.330445544554455 1.24418604651163 1.00005459937205],...
'HandleVisibility','off',...
'Visible','off');
h8 = uicontrol(...
'Parent',h1,...
'ListboxTop',0,...
'Position',[57.6 27 15.4 4.92307692307692],...
'String',{ '' },...
'Style','frame',...
'Tag','frame2');
h9 = uicontrol(...
'Parent',h1,...
'ListboxTop',0,...
'Position',[27.6 27.0769230769231 28 4.46153846153846],...
'String',{ '' },...
'Style','frame',...
'Tag','frame1');
h10 = uicontrol(...
'Parent',h1,...
'FontWeight','bold',...
'ListboxTop',0,...
'Position',[9.8 0.0769230769230769 90.2 1.38461538461538],...
'String','Software copyright 2004 by The McGraw-Hill Companies,
Inc.',...
'Style','text',...
'Tag','text1');
h11 = uicontrol(...
'Parent',h1,...
'BackgroundColor',[1 1 1],...
'Callback','fourbar_export(''edit_a_Callback'',gcbo,[],guidata(gcbo))',..
.
'FontSize',7,...
'ListboxTop',0,...
'Position',[28.6 27.5384615384615 5.6 1.61538461538462],...
'String','10',...
'Style','edit',...
'CreateFcn','fourbar_export(''edit_a_CreateFcn'',gcbo,[],guidata(gcbo))',
...
'Tag','edit_a');
h12 = uicontrol(...
'Parent',h1,...
'ListboxTop',0,...
'Position',[30 29.1538461538462 4 1.15384615384615],...
'String','a',...
'Style','text',...
'Tag','text2');
h13 = uicontrol(...
'Parent',h1,...
'Callback','fourbar_export(''pushbutton_plot_4bar_Callback'',gcbo,[],guid
ata(gcbo))',...
'ListboxTop',0,...
'Position',[2.8 27.2307692307692 22 1.84615384615385],...
'String','Fourbar Simulation',...
'Tag','pushbutton_plot_4bar');
h14 = uicontrol(...
'Parent',h1,...
'Callback','fourbar_export(''pushbutton_quit_Callback'',gcbo,[],guidata(g
cbo))',...
'ListboxTop',0,...
'Position',[100.8 28.3076923076923 10.2 2.38461538461538],...
'String','Quit',...
'Tag','pushbutton_quit');
h15 = uicontrol(...
'Parent',h1,...
'Callback','fourbar_export(''pushbutton_instant_centers_Callback'',gcbo,[
],guidata(gcbo))',...
'ListboxTop',0,...
'Position',[2.6 25.0769230769231 22.2 1.76923076923077],...
'String','w/ Instant Centers',...
'Tag','pushbutton_instant_centers');
h16 = uicontrol(...
'Parent',h1,...
'Callback','fourbar_export(''pushbutton_plot_coupler_curve_Callback'',gcb
o,[],guidata(gcbo))',...
'ListboxTop',0,...
'Position',[2.2 22.9230769230769 22.4 1.76923076923077],...
'String','w/ Coupler Curve',...

'Tag','pushbutton_plot_coupler_curve');
h17 = uicontrol(...
'Parent',h1,...
'Callback','fourbar_export(''pushbutton_centrode_Callback'',gcbo,[],guida
ta(gcbo))',...
'ListboxTop',0,...
'Position',[2.4 20.7692307692308 22.4 1.76923076923077],...
'String','w/ Fixed Centrode',...
'Tag','pushbutton_centrode');
h18 = uicontrol(...
'Parent',h1,...
'Callback','fourbar_export(''edit_b_Callback'',gcbo,[],guidata(gcbo))',..
.
'CData',zeros(1,0),...
'FontSize',7,...
'ListboxTop',0,...
'Position',[35.2 27.7692307692308 5.6 1.38461538461538],...
'String','6',...
'Style','edit',...
'CreateFcn','fourbar_export(''edit_b_CreateFcn'',gcbo,[],guidata(gcbo))',
...
'Tag','edit_b',...
h19 = uicontrol(...
'Parent',h1,...
'ListboxTop',0,...
'Position',[36.6 29.1538461538462 4 1.15384615384615],...
'String','b',...
'Style','text',...
'Tag','text5',...
h20 = uicontrol(...
'Parent',h1,...
'Callback','fourbar_export(''edit_c_Callback'',gcbo,[],guidata(gcbo))',..
.
'FontSize',7,...
'ListboxTop',0,...
'Position',[41.6 27.5384615384615 5.8 1.61538461538462],...
'String','8',...
'Style','edit',...
'CreateFcn','fourbar_export(''edit_c_CreateFcn'',gcbo,[],guidata(gcbo))',
...
'Tag','edit_c');
h21 = uicontrol(...
'Parent',h1,...
'ListboxTop',0,...
'Position',[43.2 29.1538461538462 4 1.15384615384615],...
'String','c',...
'Style','text',...
'Tag','text8');
h22 = uicontrol(...
'Parent',h1,...
'Callback','fourbar_export(''edit_d_Callback'',gcbo,[],guidata(gcbo))',..
.
'FontSize',7,...
'ListboxTop',0,...
'Position',[48.2 27.5384615384615 5.8 1.61538461538462],...
'String','3',...
'Style','edit',...
'CreateFcn','fourbar_export(''edit_d_CreateFcn'',gcbo,[],guidata(gcbo))',
...
'Tag','edit_d',...
h23 = uicontrol(...
'Parent',h1,...
'ListboxTop',0,...
'Position',[49.8 29.1538461538462 4 1.15384615384615],...
'String','d',...
'Style','text',...
'Tag','text9',...
h24 = uicontrol(...
'Parent',h1,...
'ListboxTop',0,...
'Position',[33.4 30.0769230769231 16.6 1.15384615384615],...
'String','Link Length',...
'Style','text',...
'Tag','text10');
h25 = uicontrol(...
'Parent',h1,...
'Callback','fourbar_export(''edit_p_Callback'',gcbo,[],guidata(gcbo))',..
.
'FontSize',7,...
'ListboxTop',0,...
'Position',[59 27.5384615384615 5.4 1.53846153846154],...
'String','6',...
'Style','edit',...
'CreateFcn','fourbar_export(''edit_p_CreateFcn'',gcbo,[],guidata(gcbo))',
...
'Tag','edit_p');
h26 = uicontrol(...
'Parent',h1,...
'ListboxTop',0,...
'Position',[60.2 29.1538461538462 4 1.15384615384615],...
'String','p',...
'Style','text',...
'Tag','text11');
h27 = uicontrol(...
'Parent',h1,...
'Callback','fourbar_export(''edit_delta3_Callback'',gcbo,[],guidata(gcbo)
)',...
'FontSize',7,...
'ListboxTop',0,...
'Position',[66 27.6153846153846 5.2 1.53846153846154],...
'String','30',...
'Style','edit',...
'CreateFcn','fourbar_export(''edit_delta3_CreateFcn'',gcbo,[],guidata(gcb
o))',...
'Tag','edit_delta3',...
h28 = uicontrol(...
'Parent',h1,...
'ListboxTop',0,...
'Position',[63.4 29.3076923076923 9.2 1.15384615384615],...
'String','delta 3',...
'Style','text',...
'Tag','text12',...
h29 = uicontrol(...
'Parent',h1,...
'ListboxTop',0,...
'Position',[58.6 30.3076923076923 13.8 1.46153846153846],...
'String','Coupler Pt.',...
'Style','text',...
'Tag','text15');
h30 = uicontrol(...
'Parent',h1,...
'ListboxTop',0,...
'Position',[3.6 29.3846153846154 20.4 1.76923076923077],...
'String','Simulation Plotting',...
'Style','text',...
'Tag','text16');
h31 = uicontrol(...
'Parent',h1,...
'ListboxTop',0,...
'Position',[73.8 27.0769230769231 26.6 4.76923076923077],...
'String',{ '' },...
'Style','frame',...
'Tag','frame4');
h32 = uicontrol(...
'Parent',h1,...
'Callback','fourbar_export(''edit_theta2_Callback'',gcbo,[],guidata(gcbo)
)',...
'FontSize',7,...
'ListboxTop',0,...
'Position',[75.4 27.4615384615385 5.6 1.61538461538462],...
'String','45',...
'Style','edit',...
'CreateFcn','fourbar_export(''edit_theta2_CreateFcn'',gcbo,[],guidata(gcb
o))',...
'Tag','edit_theta2');
h33 = uicontrol(...
'Parent',h1,...
'ListboxTop',0,...
'Position',[75.4 29 7.2 1.23076923076923],...
'String','theta',...
'Style','text',...
'Tag','text17');
h34 = uicontrol(...
'Parent',h1,...
'Callback','fourbar_export(''edit_omega2_Callback'',gcbo,[],guidata(gcbo)
)',...
'FontSize',7,...
'ListboxTop',0,...
'Position',[83.2 27.6153846153846 5.8 1.46153846153846],...
'String','0',...
'Style','edit',...
'CreateFcn','fourbar_export(''edit_omega2_CreateFcn'',gcbo,[],guidata(gcb
o))',...
'Tag','edit_omega2',...
h35 = uicontrol(...
'Parent',h1,...
'ListboxTop',0,...
'Position',[82.4 29.2307692307692 9.2 1.15384615384615],...
'String','omega',...
'Style','text',...
'Tag','text18',...
h36 = uicontrol(...
'Parent',h1,...
'ListboxTop',0,...
'Position',[74 30.1538461538462 25.6 1.61538461538462],...
'String','Initial Values of Link 2',...
'Style','text',...
'Tag','text19');
h37 = uicontrol(...
'Parent',h1,...
'Callback','fourbar_export(''edit_alpha2_Callback'',gcbo,[],guidata(gcbo)
)',...
'FontSize',7,...
'ListboxTop',0,...
'Position',[91.8 27.6153846153846 5.6 1.46153846153846],...
'String','0',...
'Style','edit',...
'CreateFcn','fourbar_export(''edit_alpha2_CreateFcn'',gcbo,[],guidata(gcb
o))',...
'Tag','edit_alpha2',...
h38 = uicontrol(...
'Parent',h1,...
'ListboxTop',0,...
'Position',[91 29.3076923076923 9.2 1.15384615384615],...
'String','alpha',...
'Style','text',...
'Tag','text20',...
hsingleton = h1;
% --- Handles default GUIDE GUI creation and callback dispatch
function varargout = gui_mainfcn(gui_State, varargin)
%
GUI_MAINFCN provides these command line APIs for dealing with GUIs
%
%
FOURBAR_EXPORT, by itself, creates a new FOURBAR_EXPORT or raises
the existing
%
singleton*.
%
%
H = FOURBAR_EXPORT returns the handle to a new FOURBAR_EXPORT or
the handle to
%
the existing singleton*.
%
%
FOURBAR_EXPORT('CALLBACK',hObject,eventData,handles,...) calls the
local
%
function named CALLBACK in FOURBAR_EXPORT.M with the given input
arguments.
%
%
FOURBAR_EXPORT('Property','Value',...) creates a new
FOURBAR_EXPORT or raises the
%
existing singleton*. Starting from the left, property value pairs
are
%
applied to the GUI before untitled_OpeningFunction gets called.
An
%
unrecognized property name or invalid value makes property
application
%
stop. All inputs are passed to untitled_OpeningFcn via varargin.
%
%
*See GUI Options on GUIDE's Tools menu. Choose "GUI allows only
one
%
instance to run (singleton)".
%
%
Copyright 1984-2002 The MathWorks, Inc.

$Revision: 1.4 $ $Date: 2002/05/31 21:44:31 $
gui_StateFields =
{'gui_Name'
'gui_Singleton'
'gui_OpeningFcn'
'gui_OutputFcn'
'gui_LayoutFcn'
'gui_Callback'};
gui_Mfile = '';
for i=1:length(gui_StateFields)
if ~isfield(gui_State, gui_StateFields{i})
error('Could not find field %s in the gui_State struct in GUI Mfile %s', gui_StateFields{i}, gui_Mfile);
elseif isequal(gui_StateFields{i}, 'gui_Name')
gui_Mfile = [getfield(gui_State, gui_StateFields{i}), '.m'];
end
end
numargin = length(varargin);
if numargin == 0
% FOURBAR_EXPORT
% create the GUI
gui_Create = 1;
elseif numargin > 3 & ischar(varargin{1}) & ishandle(varargin{2})
% FOURBAR_EXPORT('CALLBACK',hObject,eventData,handles,...)
gui_Create = 0;
else
% FOURBAR_EXPORT(...)
% create the GUI and hand varargin to the openingfcn
gui_Create = 1;
end
if gui_Create == 0
varargin{1} = gui_State.gui_Callback;
if nargout
[varargout{1:nargout}] = feval(varargin{:});
else
feval(varargin{:});
end
else
if gui_State.gui_Singleton
gui_SingletonOpt = 'reuse';
else
gui_SingletonOpt = 'new';
end
% Open fig file with stored settings. Note: This executes all
component
% specific CreateFunctions with an empty HANDLES structure.
% Do feval on layout code in m-file if it exists
if ~isempty(gui_State.gui_LayoutFcn)
gui_hFigure = feval(gui_State.gui_LayoutFcn, gui_SingletonOpt);
else
gui_hFigure = local_openfig(gui_State.gui_Name,
gui_SingletonOpt);
% If the figure has InGUIInitialization it was not completely
created
% on the last pass. Delete this handle and try again.
if isappdata(gui_hFigure, 'InGUIInitialization')
delete(gui_hFigure);
gui_hFigure = local_openfig(gui_State.gui_Name,
gui_SingletonOpt);
end
end
% Set flag to indicate starting GUI initialization

setappdata(gui_hFigure,'InGUIInitialization',1);
% Fetch GUIDE Application options
gui_Options = getappdata(gui_hFigure,'GUIDEOptions');
if ~isappdata(gui_hFigure,'GUIOnScreen')
% Adjust background color
if gui_Options.syscolorfig
set(gui_hFigure,'Color',
get(0,'DefaultUicontrolBackgroundColor'));
end
% Generate HANDLES structure and store with GUIDATA
guidata(gui_hFigure, guihandles(gui_hFigure));
end
% If user specified 'Visible','off' in p/v pairs, don't make the
figure
% visible.
gui_MakeVisible = 1;
for ind=1:2:length(varargin)
if length(varargin) == ind
break;
end
len1 = min(length('visible'),length(varargin{ind}));
len2 = min(length('off'),length(varargin{ind+1}));
if ischar(varargin{ind}) & ischar(varargin{ind+1}) & ...
strncmpi(varargin{ind},'visible',len1) & len2 > 1
if strncmpi(varargin{ind+1},'off',len2)
elseif strncmpi(varargin{ind+1},'on',len2)
end
end
end
% Check for figure param value pairs
for index=1:2:length(varargin)
if length(varargin) == index
break;
end
try, set(gui_hFigure, varargin{index}, varargin{index+1}), catch,
break, end
end
% If handle visibility is set to 'callback', turn it on until
finished
% with OpeningFcn
gui_HandleVisibility = get(gui_hFigure,'HandleVisibility');
if strcmp(gui_HandleVisibility, 'callback')
set(gui_hFigure,'HandleVisibility', 'on');
end
feval(gui_State.gui_OpeningFcn, gui_hFigure, [],
guidata(gui_hFigure), varargin{:});
if ishandle(gui_hFigure)
% Update handle visibility
set(gui_hFigure,'HandleVisibility', gui_HandleVisibility);
% Make figure visible
if gui_MakeVisible
set(gui_hFigure, 'Visible', 'on')
if gui_Options.singleton
setappdata(gui_hFigure,'GUIOnScreen', 1);
end
end
% Done with GUI initialization
rmappdata(gui_hFigure,'InGUIInitialization');
end
% If handle visibility is set to 'callback', turn it on until
finished with
% OutputFcn
gui_HandleVisibility = get(gui_hFigure,'HandleVisibility');
if strcmp(gui_HandleVisibility, 'callback')
set(gui_hFigure,'HandleVisibility', 'on');
end
gui_Handles = guidata(gui_hFigure);
else
gui_Handles = [];
end
if nargout
[varargout{1:nargout}] = feval(gui_State.gui_OutputFcn,
gui_hFigure, [], gui_Handles);
else
feval(gui_State.gui_OutputFcn, gui_hFigure, [], gui_Handles);
end
set(gui_hFigure,'HandleVisibility', gui_HandleVisibility);
end
end
function gui_hFigure = local_openfig(name, singleton)
if nargin('openfig') == 3
gui_hFigure = openfig(name, singleton, 'auto');
else
% OPENFIG did not accept 3rd input argument until R13,
% toggle default figure visible to prevent the figure
% from showing up too soon.
gui_OldDefaultVisible = get(0,'defaultFigureVisible');
set(0,'defaultFigureVisible','off');
gui_hFigure = openfig(name, singleton);
set(0,'defaultFigureVisible',gui_OldDefaultVisible);
end

Function Varargout

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Function Varargout

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function varargout = fourbar_export(varargin)

% FOURBAR_EXPORT M-file for fourbar_export.fig

function fourbar_export_OpeningFcn(hObject, eventdata, handles, varargin)

% --- Executes on button press in pushbutton_plot_4bar.

%Perform position, velocity, and acceleration analyses during motion

%To toggle between these two options, constant velocity or constant

axis([xo2-a-2 xo4+c+2 yo2-a-2 yo2-a-2+(xo4+c-xo2+a+4)]*2)

% --- Executes on button press in pushbutton_instant_centers.

%Perform position, velocity, and acceleration analyses during motion

%To toggle between these two options, constant velocity or constant

% plot(xo2,yo2,'-.ko',x_link2,y_link2,xa,ya,'.ko',x_link3,y_link3,xb,yb,'-.ko',x_link4,y_link4,xo4,yo4,'.ko',x_link1,y_link1, I13x,I13y,'o', I13X,I13Y)

% --- Executes on button press in pushbutton_plot_coupler_curve.

% Robert Norton's Design of Machinery. All parameters are defined in

% --------------------------------------------------------------------------%Perform position, velocity, and acceleration analyses during motion

% --- Executes on button press in pushbutton_centrode.

% (a, b, c, d, etc.) and kinematic parameters (theta_2, omega_2, alpha_2,

%If wflag=0, there is no need to set the linkage in motion in the

% --- Executes on button press in pushbutton_quit.

% --- Executes during object creation, after setting all properties.

function edit_a_Callback(hObject, eventdata, handles)

% --- Executes during object creation, after setting all properties.

function edit_b_Callback(hObject, eventdata, handles)

function edit_c_Callback(hObject, eventdata, handles)

structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of edit_c as text

function edit_d_Callback(hObject, eventdata, handles)

function edit_p_Callback(hObject, eventdata, handles)

% Hints: get(hObject,'String') returns contents of edit_p as text

function edit_delta3_Callback(hObject, eventdata, handles)

function edit_theta2_Callback(hObject, eventdata, handles)

% Hints: get(hObject,'String') returns contents of edit_theta2 as text

function edit_omega2_Callback(hObject, eventdata, handles)

function edit_alpha2_Callback(hObject, eventdata, handles)

% --- Creates and returns a handle to the GUI figure.

'String','w/ Coupler Curve',...

Copyright 1984-2002 The MathWorks, Inc.

% Set flag to indicate starting GUI initialization

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