Academic Year 2013 - 2014

Assignment 2:
SimMechanics Modelling
Advanced Dynamics with Applied Computer Modelling
Keval Chauhan
D13123499

M.E. In Mechanical Engineering

Department of Mechanical Engineering,

School of Mechanical & Transport Engineering,
Dublin Institute of Technology

Contents
Introduction ............................................................................................................................................... 3
Model Parameters ..................................................................................................................................... 3
Flowchart .................................................................................................................................................. 4
MATLAB Results ................................................................................................................................. 5
Appendix, .................................................................................................................................................. 9
MATLAB CODE: ............................................................................................................................... 10
SimMechanics ..................................................................................................................................... 12

Introduction
In this study, the parameters of four bar linkage is examined using MATLAB script & SimMechanics.This
assignments examines the parameters of a four bar linkage for two scenarios,
The MATLAB coding is used to calculate the position of the pins for one complete revolution and the
SimMechanics program is used to build a model of the four bar linkage.

Model Parameters

Y
y

b
Link 4

Link 3

2
O2

Link 2
d

Figure 1 Model Parameters

O4

Flowchart

MATLAB Results
Movement of Pin A
80
60
40

Y Axis (mm)

20
0
-20
-40
-60
-80
-80

-60

-40

-20

0
20
X Axis (mm)

Figure 2 Position of Pin A

40

60

80

Movement of Pin B
140

120

Y Axis (mm)

100

80

60

40

20

0
-20

20

40

60
X Axis (mm)

Figure 3 Position of Pin B

80

100

120

Movement of COG link 3

140

120

Y Axis (mm)

100

80

60

40

20

0
-50

50
X Axis (mm)

Figure 4 Position of COG of Link 3

100

Appendix
MATLAB CODE:
clear all
clc
a=40;
b=80;
c=90;
d=100;

% SCENARIO 1
i=1;
theta_store_2(i)=0;
theta_store_3(i)=0;
theta_store_4(i)=0;
store_Ax(i)= 0;
store_Ay(i)= 0;
store_Bx(i)= 0;
store_By(i)= 0;
COG_link3x_store (i) = 0;
COG_link4x_store (i) = 0;
for theta2=0:360 % one complete revolution
k1 = d/a;
k2 = d/c;
k3 = (a^2-b^2+c^2+d^2)/(2*a*c);
R = theta2 * (pi / 180);
% To calculate theta_4
A = cos(R)-k1-(k2*cos(R))+k3;
B = -(2* sin(R));
C = k1 - ((k2+1)*cos(R))+k3;
theta4_R =2*atan((-B-(sqrt((B^2)-(4*A*C))))/(2*A));
theta4 = theta4_R * (180/ pi);
% To calculate theta_3
k4=d/b;
k5=(c^2-d^2-a^2-b^2)/(2*a*b);
D=cos(R)-k1+(k4*cos(R))+k5;
E=(-2)*sin(R);
F=k1+(k4-1)*cos(R)+k5;
theta3_R =2*atan((-E-(sqrt((E^2)-(4*D*F))))/(2*D));
theta3 = theta3_R * (180/ pi);
theta_store_2(i)=theta2;
theta_store_3(i)=theta3;
theta_store_4(i)=theta4;

Position_Ax = (b*cos(R));

Position_Ay = (b*sin(R));
Position_Bx = (Position_Ax +(c*cos(theta3_R)));
Position_By = (Position_Bx +(c*sin(theta3_R)));
COG_link3x= ((Position_Ax +Position_Bx)/2);
COG_link4x= ((Position_Ay +Position_By)/2);

store_Ax(i)= (b*cos(R));
store_Ay(i)= (b*sin(R));
store_Bx(i)= (Position_Ax +(c*cos(theta3_R)));
store_By(i)= (Position_Ay +(c*sin(theta3_R)));
store_COG_L3x (i) = ((Position_Ax +Position_Bx)/2);
store_COG_L3y (i) = ((Position_Ay +Position_By)/2);
i=i+1;
end

figure (1)
hold on
plot(store_Ax,store_Ay);
hold off
title ('Movement of Pin A');
xlabel('X Axis (mm)');
ylabel('Y Axis (mm)');
grid on
figure (3)
hold on
plot(store_Bx,store_By);
hold off
title ('Movement of Pin B');
xlabel('X Axis (mm)');
ylabel('Y Axis (mm)');
grid on
figure (2)
hold on
plot(store_COG_L3x,store_COG_L3y);
hold off
title ('Movement of COG link 3');
xlabel('X Axis (mm)');
ylabel('Y Axis (mm)');
grid on

SimMechanics