problem im motion control with MATLAB

Question

hello i have a problem in motion control in matlab imagine a four bar linkage mechanism like this.as you you know in an ordinary 4 bar linkage we have 2 fix points but here we have just one & the second one it fixed to a pinion (small gear).we have the ratio of gears so we have a relation between teta1 & teta2 teta2 = 5*teta1 (the mechanism can rotate in the first fix point)

i used to write this code for motion control but the when i run it the graphs are not correct (because they should be something linke sin or cos graph)

d(n) is a auxiliry vector for solving equations please ask if you have further questions

this is the code :

clc,
close all,
clear all,

ax=0;

ay=0;

r1=12;

r2=7;

r3=9;

r4=5;



n=0;

for teta1=0:pi/180:2*pi

    n=n+1;

D = r1*exp(i*teta1)-r2*exp(i*5*teta1);

tetad(n) = angle(D);

d(n) = abs(D);

landa(n)=acos((d(n)^2+(r3)^2-(r4)^2)/(2*d(n)*r3));

alfa(n)=acos((d(n)^2+(r4)^2-(r3)^2)/(2*d(n)*r4));

teta3(n)=landa(n)+tetad(n);

teta4(n)=(+pi-alfa(n)+tetad(n));

end



aa(n)=teta1*180/pi;

hh(n)=tetad(n)*180/pi;

bb(n)=landa(n)*180/pi;

cc(n)=alfa(n)*180/pi;

nn(n)=teta3(n)*180/pi;

dd(n)=5*teta1*180/pi;

ee(n)=teta4(n)*180/pi;


figure(1),plot(aa,hh),xlabel('teta1'),ylabel('tetad');

figure(2),plot(aa,d),xlabel('teta1'),ylabel('d');

figure(3),plot(aa,bb),xlabel('teta1'),ylabel('landa');

figure(4),plot(aa,cc),xlabel('teta1'),ylabel('alfa');

figure(5),plot(aa,nn),xlabel('teta1'),ylabel('teta3');

figure(6),plot(aa,dd),xlabel('teta1'),ylabel('5*teta1');

figure(7),plot(aa,ee),xlabel('teta1'),ylabel('teta4');

Answer 1

I have no idea what you are trying to solve here, but probably you want to move the end of your for-loop a few lines down, so the vectors you plot contain all values and not only the last one.