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Auiprogress |
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Auiprogressstepstatic |
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title | Step1 |
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url | MATLAB Scripts |
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Auiprogressstepstatic |
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title | Step5 |
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url | geomSolver.m |
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%geometric definitions L0 = 8; t0 = 49; dX0 = 3; L2 = 4; L3 = 8; L3O = 4; L4 = 6.25; t2i = 0; %time based definitions w2R = 50; %RPM w2 = w2R * 2*pi/60; %rad/s rp = 15/25.4; %pitch radius vx = w2*rp; lWB = 45/2.54; %length of whiteboard tmax = lWB/vx; tsample = tmax / 1000; timeVals = [0:tsample:tmax]; t2 = timeVals * w2*180/pi + t2i; dX = vx*timeVals; %position analysis t1 = atan2d(-L0*sind(t0), L0*cosd(t0) - dX0); L1 = sqrt( (L0*cosd(t0) - dX0)^2 + (L0*sind(t0))^2 ); lens = [L2, L3, L4, L1]; angles = fourbarR(lens, 180-t1, t2, 1); t3 = angles(1,:); t4 = angles(2,:); Pxi = L2*cosd(t2) + (L3 + L3O)*cosd(t3); Px = Pxi - dX; Py = L2*sind(t2) + (L3 + L3O)*sind(t3); figure(1) plot(Px, Py) title('Trajectory of Eraser') |