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MATLAB Code

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13 views3 pages

MATLAB Code

Uploaded by

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

% Jansen Mechanism Analysis

% Parameters (lengths in mm, angle in degrees)

L1 = 100;

L2 = 31;

L3 = 185;

L4 = 157;

L5 = 129;

L6 = 83;

L7 = 100;

L8 = 101;

L9 = 94;

L10 = 94;

L11 = 117;

L12 = 168;

theta1_initial = 16.1; % degrees

omega2 = 6.283; % rad/s

% Time settings

t = linspace(0, 1, 100); % time vector for one full cycle

theta2 = omega2 * t; % crank angle as a function of time

% Initialize position arrays

X_tip = zeros(size(t));

Y_tip = zeros(size(t));

% Position Analysis

for i = 1:length(t)

% Position equations (example)

theta1 = deg2rad(theta1_initial); % converting to radians

% Example for calculating tip position (this needs to be adjusted for Jansen's mechanism)

% Assumes tip coordinates depend on L1 and L2; actual Jansen mechanism equations are more complex.

X_tip(i) = L1 * cos(theta1) + L2 * cos(theta2(i));


Y_tip(i) = L1 * sin(theta1) + L2 * sin(theta2(i));

end

% Velocity Analysis

VX_tip = gradient(X_tip, t);

VY_tip = gradient(Y_tip, t);

% Acceleration Analysis

AX_tip = gradient(VX_tip, t);

AY_tip = gradient(VY_tip, t);

% Plotting Results

figure;

subplot(3,1,1);

plot(X_tip, Y_tip);

title('Position of Tip');

xlabel('X (mm)');

ylabel('Y (mm)');

grid on;

subplot(3,1,2);

plot(t, VX_tip, 'r', t, VY_tip, 'b');

title('Velocity of Tip');

xlabel('Time (s)');

ylabel('Velocity (mm/s)');

legend('VX', 'VY');

grid on;

subplot(3,1,3);

plot(t, AX_tip, 'r', t, AY_tip, 'b');

title('Acceleration of Tip');

xlabel('Time (s)');

ylabel('Acceleration (mm/s^2)');

legend('AX', 'AY');

grid on;

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