Appendix of MMTDA

Bill of Materials

Code: Analyzing the Arm Length for the Motor

%% Reset
clc, clear all
%% Presetting
% All values corresponding to the first quadrant propeller arm.
% _____ Lengths [mm] _____
   % _____ Links _____
   l_fix = 200; % Fixed link
   l_1 = zeros(100,1);
   l_2 = zeros(100,1);
   l_1_matrix = zeros(100, 1);
  
   % _____ Disks [radius] _____
   l_d1 = 15; % Disk 1
   l_d2 = 15; % Disk 2
   l_dd = 30; % Distance between two disks
   % _____ Height of the propeller from the bottom of the drone _____
   h_p = 50;
   % _____ Distance between end tip of the links
   k = zeros(100,1);
% _____ Angles (Sperical: [theta, phi]) [deg] _____
  
   % _____ Disks configuration _____
   theta_dd = [135, 0];
   % _____ Links configuration _____
   p_e_l_fix = [45, 10];
   % p_link_1 = [];
   % p_link_2 = [];
   % _____ Turning angle of disks _____
   t_d1 = 225;
   t_d2 = t_d1 + 120; % Phase shift of 120 degrees between 'disk 1' and 'disk 2'
       while t_d2 >= 270
           t_d2 = t_d2 -360;
       end
% _____ Position vector _____
   % _____ Origin point _____
       % The origin is located on the line connecting centers of the two disks.
       p_ori = [0; 0; 0]; % Origin
   % _____ Disks _____
      
       % _____ Center of the disks _____
       p_c_d1 = [ cosd(theta_dd(1)) * ( l_d1 + l_dd/2 ) ; sind(theta_dd(1)) * ( l_d1 + l_dd/2 ) ;  0 ];
       p_c_d2 = [ cosd(theta_dd(1) + 180) * ( l_d2 + l_dd/2 ) ; sind(theta_dd(1) + 180) * ( l_d2 + l_dd/2 ) ; 0 ];
       % _____ End point of the disks _____
       p_e_d1 = [ p_c_d1(1) + l_d1 * cosd(t_d1); p_c_d1(2) + l_d1 * sind(t_d1); p_c_d1(3) ];
       p_e_d2 = [ p_c_d2(1) + l_d2 * cosd(t_d2); p_c_d2(2) + l_d2 * sind(t_d2); p_c_d2(3) ];
      
   % _____ Links _____
  
       % _____ Fixed link _____
       p_e_l_fix = end_vec_a(l_fix, p_ori, p_e_l_fix);
       % _____ Moving link _____
       p_link_1 = [];
       p_link_2 = [];
  
   % _____ Error _____
   error = zeros(100,1);
%% Composite 3 by 3 matrices vector of each link
% Column 1: Positional vector of starting point of the link [x, y, z]
% Column 2: Positional vector of ending point of the link [x, y, z]
% Column 3: Angles[ existence of the angle( 0 or 1 ), theta, phi]
%% Loop for the matching x, y, and z deviation in the cycle