# Four bar link mechanism -...

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%------------------------------------------------------------- % 4-bar linkage position, velocity and acceleration analysis  % Abdullah Bin Jadid % Assignment 6 %------------------------------------------------------------- clc; clear;     % Clear cursor and clear previously defined variables  % Inputs DR = pi/180;R = input( 'Enter [r1, r2, r3, r4, rca, th1, th2, del3] (m  and deg)' ; r1 = 5; r2 = 2; r3 = 3; r4 = 3.5; rca = 3; th1)= 0*DR;  th2 = 70*DR;  del3 = 15*DR;    % Change degrees to radians r1x = r1*cos(th1);  r1y = r1*sin(th1);   % Position analysis: theta4 E = 2*r4*(r1*cos(th1) - r2*cos(th2)); F = 2*r4*(r1*sin(th1) - r2*sin(th2)); G = r1^2 + r2^2 - r3^2 + r4^2 - 2*r1*r2*cos(th1-th2); t(1) = (-F + sqrt(E^2 + F^2 - G^2)) / (G-E); % Crossed Branch t(2) = (-F - sqrt(E^2 + F^2 - G^2)) / (G-E); % Open Branch th4(1) = 2*atan(t(1));th4(2) = 2*atan(t(2));   % th3, coupler point, transmission angle; calculate for both branches for     i = 1:2,     ax = r2*cos(th2);  % theta3      ay = r2*sin(th2);

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