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For our simulation we used a for loop to go through all of the possible values of Θ2, from 0 to two pi, and calculating the resulting Θ3, c, ω3, c_dot, α3, c_Ddot, Θ4, r, d, ω4, d_dot, α4, 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 MATLAB functions, MATLAB code, and the resulting figures are located in the appendix. Figure 3.4 is the hand calculations we performed in the kinematic analysis. The figures past 3.4 were created in MATLAB and are some of the important figures showing we met our goals. The single PDF of the hand calculations is also in the appendix.
Figure 3.4. Kinematic Analysis
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