150416015 Mechanism Project

MARMARA UNIVERSITY
FACULTY OF ENGINEERING
MECHANICAL ENGINEERING DEPARTMENT
ME3015 Mechanism

PROJECT
Analysis of A Mechanism

Sercan BAŞAR 150416015

Submission Date: 16.12.2019

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Analysis on Matlab
clear
clc
OA=150;
AB=250;
BQ=200;
QO=225;
BC=200;
CD=325;
i=1;

%position

for t1=0:10:360
if i<=37
i=i+1

syms t2 t3

[t2,t3]=solve(150.*cos(t1*pi/180)+250.*cos(t2*pi/180)+200.*cos(t3*pi/180)-
225==0,150.*sin(t1*pi/180)+250.*sin(t2*pi/180)+200.*sin(t3*pi/180)==0);
t2=double(t2(2));
t3=double(t3(2));
T2(i)=t2;
T3(i)=t3;
T1(i)=t1;

%velocity

syms t2_dot t3_dot

[t2_dot,t3_dot]=solve((-1500.*sin(t1*pi/180) -250*t2_dot*sin(t2*pi/180) -
200*t3_dot*sin(t3*pi/180)==0),(1500*cos(t1*pi/180) + 250*t2_dot*cos(t2*pi/180)
+200*t3_dot*cos(t3*pi/180)==0));
t2_dot = double(t2_dot);
t3_dot = double(t3_dot);
T2_dot(i) = t2_dot;
T3_dot(i) = t3_dot;

%acceleration

syms t2_dot2 t3_dot2

[t2_dot2,t3_dot2]=solve((-15000*cos(t2*pi/180)-250*t2_dot2*sin(t2*pi/180)-
250*t2_dot*t2_dot*cos(t2*pi/180)-200*t3_dot2*sin(t3*pi/180)-
200*t3_dot*t3_dot*cos(t3*pi/180)==0),(-
15000*sin(t1*pi/180)+250*t2_dot2*cos(t2*pi/180)-
250*t2_dot*t2_dot*sin(t2*pi/180)+200*t3_dot2*cos(t3*pi/180)-
200*t3_dot*t3_dot*sin(t3*pi/180)==0));
t2_dot2 = double(t2_dot2);
t3_dot2 = double(t3_dot2);
T2_dot2(i) = t2_dot2;
T3_dot2(i) = t3_dot2;

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% position loop 2

syms t4 p

[t4,p]=solve((-
200.*cos(t3*pi/180)+200.*cos(t2*pi/180)+325.*cos(t4*pi/180)-p+225==0),(-
200.*sin(t3*pi/180)+200.*sin(t2*pi/180)+325.*sin(t4*pi/180)==0));
t4=double(t4(2));
p=double(p(2));
T4(i)=t4;
P(i)=p;

% velocity loop 2

syms t4_dot p_dot

[t4_dot p_dot]=solve((200*t3_dot*sin(t3*pi/180)-200*t2_dot*sin(t2*pi/180)-
325*t4_dot*sin(t4*pi/180)-p_dot==0),(-
200*t3_dot*cos(t3*pi/180)+200*t2_dot*cos(t2*pi/180)+325*t4_dot*cos(t4*pi/180)=
=0));
t4_dot = double(t4_dot);
p_dot = double(p_dot);

T4_dot(i) = t4_dot;
P_dot(i) = p_dot;

% acceleration loop 2

syms t4_dot2 p_dot2

[t4_dot2,p_dot2]=solve((-
200*t3_dot2*sin(t3*pi/180)+200*t3_dot*t3_dot*cos(t3*pi/180)-
200*t2_dot2*sin(t2*pi/180)-200*t2_dot*t2_dot*cos(t2*pi/180)-
325*t4_dot2*sin(t4*pi/180)-325*t4_dot*t4_dot*cos(t4*pi/180)-p_dot2==0),(-
200*t3_dot2*cos(t3*pi/180)+200*t3_dot*t3_dot*sin(t3*pi/180)+200*t2_dot2*cos(t2
*pi/180)-200*t2_dot*t2_dot*sin(t2*pi/180)+325*t4_dot2*cos(t4*pi/180)-
325*t4_dot*t4_dot*sin(t4*pi/180)==0));
t4_dot2=double(t4_dot2);
p_dot2=double(p_dot2);
T4_dot2(i)=t4_dot2;
P_dot2(i)=p_dot2;

end
end

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The position analysis for loop 1

 The figure T1-T2(theta1-theta2)

 The figure T1-T3 (theta1-theta3)

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The velocity analysis for loop 1

 The figure T1-T2_dot (theta1-velocity2)

 The figure T1-T3_dot (theta1-velocity3)

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The acceleration analysis for loop 1

 The figure T1-T2_dot2 (theta1-acceleration2)

 The figure T1-T3_dot2 (theta1-acceleration3)

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The position analysis for loop 2

 The figure T1-T4 (theta1-theta4)

 The figure T1-P(theta1-horizantal path)

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The velocity analysis for loop 2

 The figure T1-T4_dot(theta1-velocity4)

 The figure T1-P_dot(theta1-horizantal velocity)

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The acceleration analysis for loop 2

 The figure T1-T4_dot2(theta1-T4 acceleration)

 The figure T1-P_dot2(theta1-P acceleration)