% Displacement Analysis of 4-bar mechanism

close all
clear all

global r1
global r2
global r3
global r4

r1=120; %fixed link
r2=40; %crank
r3=140; %coupler
r4=80; %output

%The mechanism is a crank-rocker since 140+40 < 120+80

theta1=0;   %fixed link angle
omega2=600*(2*pi/60);      %convert input link 2 angular speed to rad/sec

for i=1:37
    theta2(i)=(i-1)*10*(pi/180);
    a(i)=r1*cos(theta1)-r2*cos(theta2(i));
    b(i)=r1*sin(theta1)-r2*sin(theta2(i));
    c(i)=(r3^2-a(i)^2-b(i)^2-r4^2)/(2*r4);
    theta41(i)=2*atan2((b(i)+sqrt(a(i)^2+b(i)^2-c(i)^2)),(a(i)+c(i)));
    theta42(i)=2*atan2((b(i)-sqrt(a(i)^2+b(i)^2-c(i)^2)),(a(i)+c(i)));
    d(i)=(r3^2+a(i)^2+b(i)^2-r4^2)/(2*r3);
    theta31(i)=2*atan2((b(i)+sqrt(a(i)^2+b(i)^2-d(i)^2)),(a(i)+d(i)));
    theta32(i)=2*atan2((b(i)-sqrt(a(i)^2+b(i)^2-d(i)^2)),(a(i)+d(i)));
    
    % Calculate joint locations
    xa(i)=r2*cos(theta2(i));
    ya(i)=r2*sin(theta2(i));
    xb1(i)=r1*cos(theta1)+r4*cos(theta41(i));
    yb1(i)=r1*sin(theta1)+r4*sin(theta41(i));
    xb2(i)=r1*cos(theta1)+r4*cos(theta42(i));
    yb2(i)=r1*sin(theta1)+r4*sin(theta42(i));
    
    % Generate the links at every instant, closure #1
    x(1,i)=0;
    y(1,i)=0;
    x(2,i)=xa(i);
    y(2,i)=ya(i);
    x(3,i)=xb1(i);
    y(3,i)=yb1(i);
    x(4,i)=r1*cos(theta1);
    y(4,i)=r1*sin(theta1);
    
    % Generate the links at every instant, closure #2
    x2(1,i)=0;
    y2(1,i)=0;
    x2(2,i)=xa(i);
    y2(2,i)=ya(i);
    x2(3,i)=xb2(i);
    y2(3,i)=yb2(i);
    x2(4,i)=r1*cos(theta1);
    y2(4,i)=r1*sin(theta1);
    
    %start velcity calculations (will do claculations for closure #1 only)
    omega3(i)=r2*omega2*sin(theta2(i)-theta41(i))/(r3*sin(theta41(i)-theta31(i)));
    omega4(i)=r2*omega2*sin(theta2(i)-theta31(i))/(r3*sin(theta41(i)-theta31(i)));
    
    va(i)=r2*omega2;
    theta2v(i)=theta2(i)+pi/2;
    vb(i)=r4*omega4(i);
    if omega4(i)<0
        thetabv(i)=theta41(i)-pi/2;
    else
        thetabv(i)=theta41(i)+pi/2;
    end;
end;

%plot the joints
plot(xa,ya,xb1,yb1,'--',xb2,yb2,'-.')
legend('crank','output, closure#1','output, closure#2')
axis([-50 200 -100 150])
title ('motion of the joints')
axis equal
grid on

%plot the links, Closure #1
figure
for i=1:37
    plot(x(1:4,i),y(1:4,i))
    hold on
end;
axis([-50 200 -100 150])
title ('motion of the links, Closure #1')
axis equal
grid on

%plot the links, Closure #2
figure
for i=1:37
    plot(x2(1:4,i),y2(1:4,i),'r')
    hold on
end;
axis([-50 200 -100 150])
title ('motion of the links, Closure #2')
axis equal
grid on

%plot omegas
figure
plot(theta2,omega2,'b-',theta2,omega3,'--',theta2,omega4,'-.')
legend('omega2','omega3','omega4')
axis([0 2*pi -40 80])
title ('Angular velocities of the three links')
grid on

%plot velocities
figure
polar(theta2v,va)
legend('Velocity of a')
title ('Velocity vectors')
grid on

figure
polar(thetabv,vb)
legend('Velocity of b')
title ('Velocity vectors')
grid on
