- #1
RandyPhantom
- 7
- 0
Hello; I am trying to write a four bar program; it is not for school, but it is a personal project to refresh myself with programming and dynamics. I have a input with height 80 pixels, angular velocity of pi/12 rad/s and the initial angle is pi/2; the coupler is with length of 107.703296 pixels,an initial angle of .380506377 and the angular velocity was calculated to be 1.22597x10^-17 rad/s. the follower link's initial angle is pi/2 with a angular velocity of 0.1745329 rad/s and height of 120 pixels. I was assuming that linear equation would be (length*cos(initial angle + angular velocity*time),length*sin(initial angle+angularvelocity*time) but this only worked for the input link. so I know that the velocity of the second point on a rigid body is written as angular velocity of the first link cross product of the length and angle of the first point + the angular velocity of the second cross product of the length and angle of the second point.
w1*r1*cos(phi1)+w2*r2*cos(phi2)+w3*r3*cos(phi3) = 0
-w1*r1*sin(phi1)-w2*r2*sin(phi2)-w3*r3*sin(phi3) = 0
w2 = -(w1*r1*cos(phi1)+w3*r3*cos(phi3))/(r2*cos(phi2))
w3 = -w1*r1*(-cos(phi1)*sin(phi2)+cos(phi2)*sin(phi1))/r3*(cos(phi2)*sin(phi3) - cos(phi3)*sin(phi2))
I was using [x?,y?] = [r?*(cos(phi?+w?*t)),r?*sin(phi?+w?*t)), but this works only on the the input link
Homework Equations
w1*r1*cos(phi1)+w2*r2*cos(phi2)+w3*r3*cos(phi3) = 0
-w1*r1*sin(phi1)-w2*r2*sin(phi2)-w3*r3*sin(phi3) = 0
w2 = -(w1*r1*cos(phi1)+w3*r3*cos(phi3))/(r2*cos(phi2))
w3 = -w1*r1*(-cos(phi1)*sin(phi2)+cos(phi2)*sin(phi1))/r3*(cos(phi2)*sin(phi3) - cos(phi3)*sin(phi2))
The Attempt at a Solution
I was using [x?,y?] = [r?*(cos(phi?+w?*t)),r?*sin(phi?+w?*t)), but this works only on the the input link
Last edited: