MATLAB Answers

Can you help and show if any where ive gone wrong with any codes

조회 수: 1(최근 30일)
Daniel Martelli
Daniel Martelli 2021년 9월 13일
댓글: Daniel Martelli 2021년 9월 19일
This code is only for Position Analysis
clc; close all; clear; format compact;
% length of links
r1 = 100;
r2 = 50;
r3 = 780;
r4 = 80;
l4 = 125;
eta = deg2rad(30);
% Angle theta 2
th2 = pi/3:2*pi/36:2*pi+pi/3;
n = length(th2)
% Calculations
L = sqrt(r1^2+r2^2-2*r1*r2.*cos(th2));
Sphi = (r2./L).*sin(th2);
Cphi = (r2^2-r1^2-L.^2)./(-2*r1.*L);
phi = atan2(Sphi, Cphi);
th3 = acos((r4^2-r3^2-L.^2)./(-2*r3.*L))-phi;
Cgamma = (r3^2-r4^2-L.^2)./(-2*r4.*L);
Sgamma = (r3/r4).*sin(th3+phi);
gamma = atan2(Sgamma, Cgamma);
th4 = pi-phi-gamma;
% Use this to find the 3rd join on link 4
all = th4-eta;
% Position of joints
xO2 = 0;
yO2 = 0;
xA = r2*cos(th2);
yA = r2*sin(th2);
xB = xA+r3*cos(th3);
yB = yA+r3*sin(th3);
xO4 = r1;
yO4 = 0;
xC5 = xO4+l4*cos(all);
yC5 = yO4+l4*sin(all);
% These are used to plot the length of each link in the Draw-Linkage
Xcrank = [xO2, xA(1)];
Ycrank = [yO2, yA(1)];
Xcoupler = [xA(1), xB(1)];
Ycoupler = [yA(1), yB(1)];
Xrocker = [xB(1), xO4];
Yrocker = [yB(1), yO4];
Xground = [-1.2*r2, r1+10];
Yground = [yO2, yO4];
XC4C5 = [xO4, xC5(1)];
YC4C5 = [yO4, yC5(1)];
XBC5 = [xB(1), xC5(1)];
YBC5 = [yB(1), yC5(1)];
Draw_linkage = plot(xA, yA, '--r',...
Xcrank, Ycrank, 'r', Xcoupler, Ycoupler, 'b',...
Xrocker, Yrocker, 'g', XC4C5, YC4C5, 'g',...
XBC5, YBC5, 'g', Xground, Yground, '--k', 'linewidth', 1.2);
axis([-r2-r3 2*r2+r3 -2*r2 r4]);
axis equal
for i=1:n
delete(Draw_linkage);
Xcrank = [xO2, xA(i)];
Ycrank = [yO2, yA(i)];
Xcoupler = [xA(i), xB(i)];
Ycoupler = [yA(i), yB(i)];
Xrocker = [xB(i), xO4];
Yrocker = [yB(i), yO4];
Xground = [-1.2*r2, r1+10];
Yground = [yO2, yO4];
XC4C5 = [xO4, xC5(i)];
YC4C5 = [yO4, yC5(i)];
XBC5 = [xB(i), xC5(i)];
YBC4 = [yB(i), yC5(i)];
Draw_linkage = plot(xA, yA, '--r',...
Xcrank, Ycrank, 'r', Xcoupler, Ycoupler, 'b',...
Xrocker, Yrocker, 'g', XC4C5, YC4C5, 'g',...
XBC5, YBC5, 'g', Xground, Yground, '--k', 'linewidth', 1.2);
axis([-r2-r3 2*r2+r3 -2*r2 r4]);
axis equal
F(i) = getframe;
pause(1/20);
end
movie(F, 2);

답변(1개)

Tanmay Das
Tanmay Das 2021년 9월 19일
Hi,
atan2(Y,X) returns the four-quadrant inverse tangent (tan-1) of Y and X, which must be real. In the given code, Sgamma is a vector of complex quantities. So it generates an error that "Inputs must be real".
  댓글 수: 1
Daniel Martelli
Daniel Martelli 2021년 9월 19일
Im not really undestanding what you are trying to say

댓글을 달려면 로그인하십시오.

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by