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Arduino Code

...

  myStepper2.step(stepsPerRevolution);

}

MATLAB Code

%% Group 1 - Abayomi Adekanmbi & Zakari Ishak-Boushaki

clear all; clc; close all;

L1=5;
L2=1;
L3=7;
L33=7;
L4=4;
L44=4;
L5=4;
L6=4;
L66=8;
L7=4;

A1=0;
A2=pi/2:0.3:6*pi+(pi/2);

A22=pi+A2;
A2=-A2; A22=-A22;

% Point B
Bx=L2.*cos(A2);
By=L2.*sin(A2);

...

[A3,A4] = fourbarpos(L1,L2,L3,L4,A1,A2);
A5=(pi-A4)+(pi/2);
[A32,A42]= fourbarpos (L1,L2,L3,L4,A1,A22);
A52=(pi-A42)+(pi/2);

% Point C
Cx=Bx+(L3.*cos(A3));
Cy=L4.*sin(A4);

C2x=B2x+(L3.*cos(A32));
C2y=L4.*sin(A42);

% Point D
Dx=L1; Dy=0;

p=2.*L4.*((L1.*cos(A1))-(L2.*cos(A2)));
q=2.*L4.*((L1.*sin(A1))-(L2.*sin(A2)));
r=(L1.^2)+(L2.^2)-(L33.^2)+(L44.^2)-(2.*L1.*L2.*cos(A1-A2));

...

A332=2.*atan((-e2-sqrt((d2.^2)+(e2.^2)-(f2.^2)))./(f2-d2));

% Point E
Ex=Dx+L5.*cos(pi-A5);
Ey=Dy+L5.*sin(pi-A5);

...

P2x=H2x+L66.*cos(A62+(pi/2));
P2y=H2y+L66.*sin(A62+(pi/2));

A4=-A4; A5=-A5;

%%% Velocity Calculation

W2=2;

W3=-(L2.*W2.*sin(A2-A4))./(L3.*sin(A3-A4));
W4=(L2.*W2.*sin(A2-A3))./(L4.*sin(A4-A3));
W5=W4;

...

A4=-A4; A5=-A5;
W6=(L5.*W5.*sin(A5-A7)-L44.*W44.*sin(A44-A7))./(L6.*sin(A6-A7));
W7=(L44.*W44.*sin(A44)-L5.*W5.*sin(A5)+L6.*W6.*sin(A6))./(L7.*sin(A7));

A4=-A4; A5=-A5;

% Acceleration

Alf2=0;

Alf3=((L2.*(W2.^2).*cos(A2-A4))+(L3.*(W3.^2).*cos(A3-A4))-(L4.*(W4.^2))-(L2.*sin(A4-A2)))./(L3.*sin(A4-A3));
Alf4=((L2.*Alf2.*sin(A3-A2))-(L2.*(W2.^2).*cos(A2-A3))-(L3.*(W3.^2))+(L4.*(W4.^2).*cos(A4-A3)))./(L4.*sin(A3-A4));
Alf5=Alf4;

...

x = A2;
link3 = A3;
link4 = A4;
link33 = A33;
link44 = A44;
link6 = A6;
link7 = A7;

plot(x,link3,'r', x,link4,'b',x,link33,'g',x,link44,'c',x,link6,'m',x,link7,'k')
legend('Link3','Link4','Link33','Link44','Link6','Link7')
grid on;
title('Jensen Links Position Analysis'); xlabel('Angle(\theta_2)')
ylabel('Position');

figure(2)

x = A2;
link3 = W3;
link4 = W4;
link33 = W33;
link44 = W44;
link6 = W6;
link7 = W7;

plot(x,link3,'r', x,link4,'b',x,link33,'g',x,link44,'c',x,link6,'m',x,link7,'k')
legend('Link3','Link4','Link33','Link44','Link6','Link7')
grid on;
title('Jensen Links velocity Analysis'); xlabel('Angle(\theta_2)')
ylabel('Velocity');

figure(3)

x = A2;
link3 = Alf3;
link4 = Alf4;
link33 = Alf33;
link44 = Alf44;
link6 = Alf6;
link7 = Alf7;

plot(x,link3,'r', x,link4,'b',x,link33,'g',x,link44,'c',x,link6,'m',x,link7,'k')
legend('Link3','Link4','Link33','Link44','Link6','Link7')
grid on;
title('Jensen Links Acceleration Analysis'); xlabel('Angle(\theta_2)')
ylabel('Acceleration');

function [T3,T4]= fourbarpos(L1,L2,L3,L4,T1,T2)
s1=-1;
s2=1;
P=2*L4*(L1*cos(T1)-L2*cos(T2));
Q=2*L4*(L1*sin(T1)-L2*sin(T2));
R=L1^2+L2^2-L3^2+L4^2-2*L1*L2*cos(T1-T2);
T4=2*atan2(-Q+(s1)*sqrt(P.^2+Q.^2-R.^2),R-P);

D=2*L3*(L2*cos(T2)-L1*cos(T1));
E=2*L3*(L2*sin(T2)-L1*sin(T1));
F=L1^2+L2^2+L3^2-L4^2-2*L1*L2*cos(T2-T1);
T3=2*atan2(-E+(s2)*sqrt(D.^2+E.^2-F.^2),F-D);
end

Bill of Materials

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