MATLAB Project - Elbow

Run a script M-File to see an animated simulation of the movement of the elbow mechanism. Put the following commands into a MATLAB script M-File named simulate.m, and then run it. You will need to have your theta.m function M-File in the same directory. Watch carefully the behaviour of the angles θ(t) and φ(t) during these two cycles.

% This program simulates the mechanical ``elbow'' system

figure(1)

THETA = linspace(0,2*pi,51); % for plotting circle

for t = 0:0.02:4

x = 15*cos(pi*t);

simulate_theta = theta(t);

% find coordinates of P

Xp = 5*sin(simulate_theta); Yp = 8 + 5*cos(simulate_theta);

axis([-15 15 0 25]), axis('equal'), axis manual

hold on

plot([0 Xp],[8 Yp],'r')

plot([Xp x],[Yp 0],'b')

plot(5*cos(THETA),8 + 5*sin(THETA),'k:') % ...(*)

plot([0 0],[0 15],'k:')

text(-8.5,20,'Simulation over two cycles','fontsize',14)

hold off

if t==0

pause(2)

elseif t==4

pause(2)

else

pause(0.1)

end

clf

end

close