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A four bar linkage th2ang2 th3ang3 th4ang4

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Unformatted text preview: ; if norm(delta,1) < err theta=[th3;th4]; return; else k=k+1; end end if k>=maxit fail=1; % Newton’s method fails return; end %=================================================== function coef=velocity(lnk, ang) % % Compute influence coefficients for velocity % analysis of a four bar linkage % th2=ang(2); th3=ang(3); th4=ang(4); rhs=[lnk(2)*sin(th2);-lnk(2)*cos(th2)]; coef=Jacob(lnk, th3, th4)\rhs; 3 %==================================================== function F=loop(lnk, ang); % computes vector components of the loop R2+R3+R4-R1=0 % returns column vector th1=ang(1); th2=ang(2); th3=ang(3); th4=ang(4); F=[lnk(2)*cos(th2)+lnk(3)*cos(th3)+lnk(4)*cos(th4)-cos(th1)*lnk(1); lnk(2)*sin(th2)+lnk(3)*sin(th3)+lnk(4)*sin(th4)-sin(th1)*lnk(1)]; %==================================================== function J=Jacob(lnk, th3, th4) J=[-lnk(3)*sin(th3), -lnk(4)*sin(th4); lnk(3)*cos(th3), lnk(4)*cos(th4)]; Let’s apply this program to the linkage given in Prob. 3.10 (p. 197) of the text. Initially, we focus on analysis of the four...
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