...
The figure below shows our drawing used for the kinematic analysis. The figure contains the variables we used along with their definitions. Theta2 Θ2, theta3, theta4, c, r, and d all change with respect to time. The mechanism’s degrees of freedom was calculated with the equation:
...
For our simulation we used a for loop to go through all of the possible values of theta2, from 0 to two pi, and calculate the resulting theta3Θ_3, c, w3, c_dot, a3, c_Ddot, theta4, r, d, w4, d_dot, a4, and d_Ddot. With those resulting values we could then calculate the position, magnitude of velocity, and magnitude of acceleration for each point of interest. All of the hand calculations, MATLAB functions, MATLAB code, and the resulting figures are located in the appendix. The figures below were created in MATLAB and are some of the important figures showing we met our goals.
...