Hi guys, I try to solve a mechanisims but I always run into this problem.
%CLEAR: Variables and command window in MATLAB
clc,clear
% INPUT: PHYSICAL PARAMETERS of MECHANISM (cm)
l2=2.7;l3=6;CO4=4.6;O4F=2.3;FO2=11.3;l5=3.8;DO4=1.85;GE=2.9
% INPUT: Maximum Iteration Number Nmax
Nmax=100;
% INPUT: INITIAL GUESS VALUES for th2, th3, th5 and Sd respectively
x=[30*pi/180,60*pi/180,40*pi/180,10];
% INPUT: ERROR TOLERANCE
xe=0.001*abs(x);
% INPUT: SYSTEM INPUTS (th4,w4,a4,b,B)
b=(-25.44)*pi/180
dth=1*pi/360;
th4=30*pi/180:dth:220*pi/180;
w4=5*ones(1,length(th4));
a4=0*ones(1,length(th4));
%———————————————-
xe=transpose(abs(xe));
kerr=1; %If kerr=1, results are not converged
for k=1:1:length(th4);
for n=1:Nmax
%———————————————-
%Assign initial guess to unknowns
th2(k)=x(1);th3(k)=x(2);
th5(k)=x(3);Sd(k)=x(4);
% INPUT: JACOBIAN Matrix
J=zeros(4,4);
J(1,1)=-l2*sin(th2(k));J(1,2)=-l3*sin(th3(k));
J(2,1)=l2*cos(th2(k));J(2,2)=l3*cos(th3(k));
J(3,3)=-l5*sin(th5(k));;J(4,3)=-l5*cos(th5(k))
J(3,4)=1
% INPUT: Function f
f=zeros(4,1);
f(1,1)=-(CO4*cos(th4(k))+FO2+l2*cos(th2(k))+l3*cos(th3(k)));
f(2,1)=-(CO4*sin(th4(k))+O4F+l3*sin(th3(k))+l2*sin(th2(k)));
f(3,1)=-(l5*cos(th5(k))+DO4*cos(th4(k)+b)+Sd(k));
f(4,1)=-(l5*sin(th5(k))+DO4*sin(th4(k)+b)+GE);
%———————————————-
eps=inv(J)*f;x=x+transpose(eps);
if abs(eps)<xe
kerr=0;break
if kerr==1
'Error nr'
end
end
end
th2(k)=x(1);th3(k)=x(2);
th3=x(3);Sd(k)=x(4);
%—velocity—————————
fv(1,1)=CO4*w4(k).*sin(th4(k));
fv(2,1)=-CO4*w4(k).*cos(th4(k));
fv(3,1)=DO4*w4(k).*sin(th4(k)+b);
fv(4,1)=-DO4*w4(k).*cos(th4(k)+b);
vel=inv(J)*fv;
w2(k)=vel(1);w3(k)=vel(2);
w5(k)=vel(3);Vd(k)=vel(4);
%—acceleration—————————
fa(1,1)=l2*(w2(k)^2)*cos(th2(k))+l3*(w3(k)^2)*cos(th3(k))+CO4*(w4(k)^2)*cos(th4(k))+CO4*a4(k)*sin(th4(k));
fa(2,1)=w2(k)^2.*l2*sin(th2(k))+w3(k)^2*l3*sin(th3(k))-CO4*a4(k)*cos(th4(k))+w4(k)^2*CO4*sin(th4(k));
fa(3,1)=w5(k)^2*l5*cos(th5(k))+DO4*a4(k)*sin(th4(k)+b)+w4(k)^2*DO4*cos(th4(k)+b);
fa(4,1)=l5*w5(k).^2*cos(th5(k))+DO4*a4(k)*sin(th4(k)+b)+DO4*w4(k)^2*cos(th4(k)+b);
acc=inv(J)*fa;
a2(k)=acc(1);a3(k)=acc(2);
a5(k)=acc(3);ad(k)=acc(4);
end
% Angle: radian –> degree
% Angle: radian –> degree
th2d=th2*180/pi;
th3d=th3*180/pi;
th4d=th4*180/pi
th5d=th5*180/pi;
%——–Plots—————
figure(1),
subplot(4,3,1),plot(th4d,th2d,'r','linewidth',2),xlabel('\theta_4 (^o)'),ylabel('\theta_2(^o)'),grid on;
subplot(4,3,2),plot(th4d,w2,'r','linewidth',2),xlabel('\theta_4 (^o)'),ylabel('\omega_2(r/s)'),grid on;
subplot(4,3,3),plot(th4d,a2,'r','linewidth',2),xlabel('\theta_4 (^o)'),ylabel('\alpha_2(r/s^2)'),grid on;
subplot(4,3,4),plot(th4d,th3d,'r','linewidth',2),xlabel('\theta_4(^o)'),ylabel('\theta_3 (^o)'),grid on;
subplot(4,3,5),plot(th4d,w3,'r','linewidth',2),xlabel('\theta_4(^o)'),ylabel('\omega_3 (r/s)'),grid on;
subplot(4,3,6),plot(th4d,a3,'r','linewidth',2),xlabel('\theta_4 (^o)'),ylabel('\alpha_3(r/s^2)'),grid on;
subplot(4,3,7),plot(th4d,Sd,'r','linewidth',2),xlabel('\theta_4 (^o)'),ylabel('Sd(cm)'),grid on;
subplot(4,3,8),plot(th4d,Vd,'r','linewidth',2),xlabel('\theta_4 (^o)'),ylabel('V_d(cm/s)'),grid on;
subplot(4,3,9),plot(th4d,ad,'r','linewidth',2),xlabel('\theta_4 (^o)'),ylabel('a_d(cm/s^2)'),grid on;
subplot(4,3,10),plot(th4d,th5d,'r','linewidth',2),xlabel('\theta_4 (^o)'),ylabel('theta_5(^o)'),grid on;
subplot(4,3,11),plot(th4d,w5,'r','linewidth',2),xlabel('\theta_4 (^o)'),ylabel('omega_5(r/s)'),grid on;
subplot(4,3,12),plot(th4d,a5,'r','linewidth',2),xlabel('\theta_4 (^o)'),ylabel('alpha_5(r/s^2)'),grid on;
%%——-Writing position values to file ——————
knm=[transpose(th2d) transpose(th3d) transpose(th5d) transpose(th4d) transpose(yy)];
str = 'th2 th3 th5 th4 Y '; %# A string
fName = 'konum.txt'; %# A file name
fid = fopen(fName,'w'); %# Open the file
if fid ~= -1
fprintf(fid,'%s\r\n',str); %# Print the string
fclose(fid); %# Close the file
end
dlmwrite(fName,knm,'-append',… %# Print the matrix
'delimiter','\t', 'newline','pc');
%%——-Writing velocity values to file ——————
hz=[transpose(th2d) transpose(w3) transpose(w5) transpose(w4) transpose(vyy)];
str = 'th2 w3 w5 w4 VY '; %# A string
fName = 'hız.txt'; %# A file name
fid = fopen(fName,'w'); %# Open the file
if fid ~= -1
fprintf(fid,'%s\r\n',str); %# Print the string
fclose(fid); %# Close the file
end
dlmwrite(fName,hz,'-append',… %# Print the matrix
'delimiter','\t', 'newline','pc');
%%——-Writing acceleration values to file ——————
ivme=[transpose(th2d) transpose(al3) transpose(al5) transpose(al4) transpose(alyy)];
str = 'th2 al3 al5 al4 aY '; %# A string
fName = 'ivme.txt'; %# A file name
fid = fopen(fName,'w'); %# Open the file
if fid ~= -1
fprintf(fid,'%s\r\n',str); %# Print the string
fclose(fid); %# Close the file
end
dlmwrite(fName,hz,'-append',… %# Print the matrix
'delimiter','\t',…
'newline','pc');
''fa(1,1)=l2*(w2(k)^2)*cos(th2(k))+l3*(w3(k)^2)*cos(th3(k))+CO4*(w4(k)^2)*cos(th4(k))+CO4*a4(k)*sin(th4(k));'' In this line program said to me Index exceeds the number of array elements (1).
Error in Untitled2 (line 65)
>>
Please help me, Thatt my midterm homework and I cant solve. Thanks.
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