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CrankSliderModCh7P6

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CrankSliderModCh7P6

Uploaded by

fgtsmntw5j
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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clc; clear;

%general notes prob should specify open or crossed


a=2;%link 2
b=6;%link 3
c=-3;%offset
th2 = 60;
omega2 = -12;%rad/s
alpha2 =5;%rad/s
th4 = 90;

th3_1 = asind((a*sind(th2)-c)/(b));%crossed
th3_2 = asind(-(a*sind(th2)-c)/(b))+180;%uncrossed (open)
d_1 = (a*cosd(th2)) - (b*cosd(th3_1));%crossed
d_2 = (a*cosd(th2)) - (b*cosd(th3_2));%uncrossed (open)

omega3_1 = (a/b*(cosd(th2)/cosd(th3_1)))*omega2;%omega 3 crossed (angular


velocity link 3 crossed)
omega3_2 = (a/b*(cosd(th2)/cosd(th3_2)))*omega2;%omega 3 open
ddot_1=-a*omega2*sind(th2)+b*omega3_1*sind(th3_1);%crossed length d changing
over time
ddot_2=-a*omega2*sind(th2)+b*omega3_2*sind(th3_2);%represents the length d
changing over time for open

alpha3_1 = ((a*alpha2*cosd(th2))-(a*omega2^2*sind(th2))+
(b*omega3_1^2*sind(th3_1)))/(b*cosd(th3_1));%alpha 3 acc link 3 rad/s crossed
alpha3_2 = ((a*alpha2*cosd(th2))-(a*omega2^2*sind(th2))+
(b*omega3_2^2*sind(th3_2)))/(b*cosd(th3_2));%alpha 3 acc link 3 rad/s open
ddubdot_1 = (-a*alpha2*sind(th2))-(a*omega2^2*cosd(th2))+
(b*alpha3_1*sind(th3_1))+(b*omega3_1^2*cosd(th3_1));%d double dot
acceleration crossed
ddubdot_2 = (-a*alpha2*sind(th2))-(a*omega2^2*cosd(th2))+
(b*alpha3_2*sind(th3_2))+(b*omega3_2^2*cosd(th3_2));%d double dot
acceleration open

Va=a*omega2*(-sind(th2)+j*cosd(th2));%Va
Vb_1=ddot_1;%cross vb
Vb_2=ddot_2;%open vb
Vba_1=-(b*omega3_1*(-sind(th3_1)+j*cosd(th3_1)));%crossed Vba
Vba_2=-(b*omega3_2*(-sind(th3_2)+j*cosd(th3_2)));%open Vba
Vab_1=-Vba_1;%cross Vab
Vab_2=-Vba_2;%open Vab

Aa=(a*alpha2*j*exp(j*th2*(pi/180)))-(a*omega2^2*exp(j*th2*(pi/
180)));%acceleration at A n

Aba_1=(b*alpha3_1*j*exp(j*th3_1*(pi/180)))-(b*omega3_1^2*exp(j*th3_1*(pi/
180)));%Acc B w/resapect to A cross
Aba_2=(b*alpha3_2*j*exp(j*th3_2*(pi/180)))-(b*omega3_2^2*exp(j*th3_2*(pi/
180)));%Acc B w/ respect to A open

1
Aab_1=Aa+Aba_1;%cross Aab
Aab_2=Aa+Aba_2;%open Aab

Vamag=abs(Va);%magnitude Va
Vaangle=angle(Va)*180/pi;%angle Va
Vbmag_1=abs(Vb_1);%mag Vb cross
Vbmag_2=abs(Vb_2);%mag Vb open
Vbangle_1=angle(Vb_1)*180/pi;%Vb angle cross
Vbangle_2=angle(Vb_2)*180/pi;%Vb angle open
Vbamag_1=abs(Vba_1);%cross mag Vba
Vbamag_2=abs(Vba_2);%open mag Vba
Vbaangle_1=angle(Vba_1)*180/pi;%angle Vba cross
Vbaangle_2=angle(Vba_2)*180/pi;%angle Vba open
Vabmag_1=abs(Vab_1);%mag Vab cross
Vabmag_2=abs(Vab_2);%mag Vab open
Vabangle_1=angle(Vab_1)*180/pi;%angle Vab cross
Vabangle_2=angle(Vab_2)*180/pi;%angle Vab open
DDOTANGLE_1=Vbangle_1;%cross
DDOTANGLE_2=Vbangle_2;%open

Aamag=abs(Aa)%magnitude acceleration at A

Aaangle=angle(Aa)*180/pi%angle amgnitude A

Abmag_1cross=abs(ddubdot_1)%mag Ab cross
Abmag_2open=abs(ddubdot_2)%mag Ab open
Abangle_1cross=angle(ddubdot_1)*180/pi%Ab angle cross
Abangle_2open=angle(ddubdot_2)*180/pi%Ab angle open
Abamag_1=abs(Aba_1);%cross mag Aba
Abamag_2=abs(Aba_2);%open mag Aba
Abaangle_1=angle(Aba_1)*180/pi;%angle Aba cross
Abaangle_2=angle(Aba_2)*180/pi;%angle Aba open
%Aabmag_1=abs(Aab_1);%mag Aab cross
%Aabmag_2=abs(Aab_2);%mag Aab open
%Aabangle_1=angle(Aab_1)*180/pi;%angle Aab cross
%Aabangle_2=angle(Aab_2)*180/pi;%angle Aab open
%ddubdotmag_1=abs(ddubdot_1)%open ddubdot mag
%ddubdotmag_2=abs(ddubdot_2);%crossed ddubdot mag
DDUBDOTANGLE_1=Abangle_1cross;%cross
DDUBDOTANGLE_2=Abangle_2open;%open
%th3cross, th3open;
%dcross, dopen;

Aamag =

288.1736

Aaangle =

-121.9886

2
Abmag_1cross =

362.9216

Abmag_2open =

57.6011

Abangle_1cross =

180

Abangle_2open =

Published with MATLAB® R2024b

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