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function [angles] = fourbarR(lengths, t1, t2, sig) t2s = 180 - t2 - t1; a = lengths(1); K1 = d/a; A = cosd(t2s) - K1 - K2*cosd(t2s) + K3; t4s = 2*atand( (-B - sig*sqrt(B.*B - 4*A.*C)) /2./A); %multiplying by negative sig eliminates an if statement t4 = 180 - t1 - t4s; angles = [t3; t4]; end |