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  • Taller Matlab Barras

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    SebastianGilMesa
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    This document contains code for solving two inverse kinematic problems for planar four-bar linkages using MATLAB. The first program defines a function that calculates the position error for a given set of joint angles. The second program sweeps one joint angle and solves for the other two angles using fsolve at each step, plotting the results. The second half of the document repeats this process for a second four-bar linkage configuration.

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    TALLER MATLAB BARRAS .docx

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    This document contains code for solving two inverse kinematic problems for planar four-bar linkages using MATLAB. The first program defines a function that calculates the position error for a given set of joint angles. The second program sweeps one joint angle and solves for the other two angles using fsolve at each step, plotting the results. The second half of the document repeats this process for a second four-bar linkage configuration.

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    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
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    3 views3 pages

    Taller Matlab Barras

    Uploaded by

    SebastianGilMesa
    This document contains code for solving two inverse kinematic problems for planar four-bar linkages using MATLAB. The first program defines a function that calculates the position error for a given set of joint angles. The second program sweeps one joint angle and solves for the other two angles using fsolve at each step, plotting the results. The second half of the document repeats this process for a second four-bar linkage configuration.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    of 3

    SEBASTIÁN GIL MESA – DISEÑO DE MECANISMOS – TALLER MATLAB BARRAS

    PRIMER PROGRAMA

    function F = ejercicio1(X0)
    global r2 r3 r4 r1y r1x
    global th2
    th3 = X0(1);
    th4 = X0(2);
    F(1) = r2*cos(th2) + r3*cos(th3) +
    r4*cos(th4) - r1x*cos(0);
    F(2) = r2*sin(th2) + r3*sin(th3) +
    r4*sin(th4) - r1y*sin(270);
    end

    SEGUNDO PROGRAMA
    clear all
    close all
    global r2 r3 r4 r1y r1x
    global th2
    r2 = 1.705;
    r3 = 7.339;
    r4 = 10.913;
    r1y = 0.472;
    r1x = 7.75;
    numPos = 100;
    TH2 = linspace(0,2*pi,numPos);
    th3_inicial = deg2rad(341.27);
    th4_inicial = deg2rad(115.66);
    X0 = [th3_inicial, th4_inicial];
    for n = 1:numPos
    th2 = TH2(n);
    G = fsolve('ejercicio1',X0);
    th3 = G(1);
    th4 = G(2);
    X0 = G;
    TH3(n) = th3;
    TH4(n) = th4;
    end
    figure(1);
    plot(rad2deg(TH2),rad2deg(TH3));
    figure(2);
    plot(rad2deg(TH2),rad2deg(TH4));
    PRIMER PROGRAMA
    function F = ejercicio2(X0)
    global r2 r3 r4 r1y r1x
    global th2
    th3 = X0(1);
    th4 = X0(2);
    F(1) = r2*cos(th2) + r3*cos(th3) - r4*cos(th4) - r1x*cos(180);
    F(2) = r2*sin(th2) + r3*sin(th3) - r4*sin(th4) - r1y*sin(270);
    end
    SEGUNDO PROGRAMA
    clear all
    close all
    global r2 r3 r4 r1y r1x
    global th2
    r2 = 12;
    r3 = 30;
    r4 = 26;
    r1y = 5;
    r1x = 32;
    numPos = 100;
    TH2 = linspace(0,2*pi,numPos);
    th3_inicial = deg2rad(215);
    th4_inicial = deg2rad(293.9);
    X0 = [th3_inicial, th4_inicial];
    for n = 1:numPos
    th2 = TH2(n);
    G = fsolve('ejercicio2',X0);
    th3 = G(1);
    th4 = G(2);
    X0 = G;
    TH3(n) = th3;
    TH4(n) = th4;
    end
    figure(1);
    plot(rad2deg(TH2),rad2deg(TH3));
    TH3Grados=rad2deg(TH3);
    figure(2);
    plot(rad2deg(TH2),rad2deg(TH4));

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