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Taller Matlab Barras

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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SebastianGilMesa
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26 views3 pages

Taller Matlab Barras

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.

Uploaded by

SebastianGilMesa
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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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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