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# wjb11005 / me5180_numerical

forked from rcc02007/me5180_numerical

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 clear all; close all t=linspace(0,2*pi/50,100); % create time varying from 0-0.126 s (or one period) x=20*sin(50*t);dx=20*50*cos(50*t); % define x and dx/dt in terms of time (note dx=dx/dt) t1=0.2*pi*cos(50*t); dt1=-10*pi*sin(50*t); % define theta1 (t1) and dtheta1/dt t2=0.2*pi*sin(50*t-pi/3); dt2=10*pi*sin(50*t-pi/3); % define theta2 (t2) and dtheta2/dt; L1=1;L2=1.5; % set lengths for L1 and L2 (none were given in problem so 1 and 1.5 mm were % chosen arbitrarily rcc=[x+L1*sin(t1);-L1*cos(t1)]; % position of connection between links rco=[x+L1*sin(t1)+L2*sin(t2);-(L1*cos(t1)+L2*cos(t2))]; % create a row vectors of % x-component and y-component of % pendulum position C (r_C/O) vco=[dx+L1*cos(t1).*dt1+L2*cos(t2).*dt2;(L1*sin(t1).*dt1+L2*sin(t2).*dt2)]; % create row % vectors of % the x- and % y-component % velocity of % point C figure(1) plot(t,vco(1,:),t,vco(2,:)) xlabel('time (s)') ylabel('velocity (mm/s)') legend('x-component','y-component') title('Velocity of end point') % Now plot the position each time step for i =1:length(t) hold on plot([x(i),rcc(1,i),rco(1,i)],[0,rcc(2,i),rco(2,i)]) % plot lines for 2 links plot(rco(1,:),rco(2,:),'--','LineWidth',2); % this plots all of the positions in the x-y-plane % over time plot(rco(1,i),rco(2,i),'o','MarkerSize',10); % this plots the position as a circle at % timestep i axis([-30 30 -5 0]) % this sets the axis bounds filename=sprintf('pendulum_output/%05d.png',i); print(filename); % another option for saving a plot to a png is the 'print' command hold off clf % this clears the figure for the next time step end % this is a system command to use ImageMagick's cli 'convert' to create an animated gif % if you don't have ImageMagick installed, comment this next line system ("convert -delay 10 -loop 0 pendulum_output/*png pendulum.gif")
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