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6 bar linkage on MATLAB shorts
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📌Buy me a Coffee: https://buymeacoffee.com/engrprogrammer 📌Follow me on instagram : / engrprogrammer2494 ⛔Learn More about this👇 • https://engrprogrammer.com/engineerin... In this video you can see the most popular six bar linkage assignment question solved. • Note if you need the full assignment solved then you can contact me at Or [email protected] • Question 1: (40%) • Given a six-bar linkage with the link lengths L1 = 0.1 m, L2 = 0. 04 m, L3 = 0. 12 • m, and L4 = 0. 08 m, L5 = 0.12 m, L6 = 0.07 m, L7 = 0.1 m, find the values for θ3, • θ4, θ5, θ6, ω3, ω4, ω5, ω6, α3, α4, α5, and α6 as shown in Figures 1, 2, and 3 for • the open circuit of the linkage assuming θ2 = 40°, ω2 = 25 rad/sec, and α2 = 15 • rad/sec2. • The mass density is ρ=100000kg/m3, the link thickness T is 0.005 m, the joint shaft and hole radius (R1) is 0.005 m, and the link radius (R2) is 0.01 m.There is an external torque on the link 4 of τ4 N·m, applied at the centre of mass (lg4) on link 4, and at the same time an external force of Fp @θf (300°) actson link 3, applied at point p and lf = 0.04 m away from point A.Taking gravity acceleration as 9.81m/sec2, find F12, F32, F53, F43, F14, F65, and F16 at the joints and the driving torque τ12 needed to maintain motion with the given angular velocity ω2 = 25 rad/sec and acceleration α2 = 15 rad/sec2 • for this instantaneous position of the link (Figures 1 to 3). • 1) Find the values of θ3, θ4, θ5, θ6, ω3, ω4, ω5, ω6, α3, α4, α5, and α6 (5 marks) • 2) Find the accelerations of AA (m/sec2), ABA (m/sec2), AB (m/sec2), AC(m/sec2), ADC (m/sec2), and AD (m/sec2). (5 marks) • 3) Find the centre of mass values lg2 lg3 lg4 lg5 lg6 of links 2, 3, 4, 5, and 6. • 4) Find the mass moment of inertia (kg·m2) about the centre of mass of links 2, 3, 4, 5, and 6. (5 marks) • 5) Find the values of Ag2 Ag3 Ag4 Ag5 Ag6 of links 2, 3, 4, 5, and 6 (see Figure 3). (5 marks) • 6) Find the force and moment equations for dynamic force analysis on links • 2, 3, 4, 5, and 6, and cast the equations in the matrix form. • 7) Find the values for F12 (F12x and F12y), F32 (F32x and F32y), F53 (F53x and F53y), • F43 (F43x and F43y), F14 (F14x and F14y), F65 (F65x and F65y), and F16 (F16x and • F16y) at the joints and the driving torque τ12 needed to maintain motion • with the given angular velocity and acceleration of ω2 = 25 rad/sec and • α2 =15 rad/sec2 • , respectively, for this instantaneous position of the link. • (Question 6 7: 15 marks) • Question 2: (40%) • For the six-bar mechanism described in Problem 1, simulate the mechanism for • the case in which the motion begins with a crank angular velocity of ω2 = 25 • rad/sec and a constant angular acceleration of α2 =15 rad/sec2 • . • The matrix equation (matrix form in Problem 1) is solved using an m-file • function that will take all of the integrator outputs as input arguments (Figure4). • 1) Plot the values of θ2, θ3, θ4, θ5, and θ6 for the first 2 seconds. • 2) Plot the values of ω2, ω3, ω4, ω5, and ω6 for the first 2 seconds. • 3) Plot the values of α2, α3, α4, α5, and α6, for the first 2 seconds. • 4) Plot the values of Ag2 Ag3, Ag4, Ag5, and Ag6 of links 2, 3, 4, 5, and 6 for the first 2 seconds. • 5) Plot F12 (F12x and F12y), F32 (F32x and F32y), F53 (F53x and F53y), F43 (F43x and F43y), F14 (F14x and F14y), F65 (F65x and F65y), and F16 (F16x and F16y) at the joints and the driving torque τ12 needed to maintain motion for the first 2 seconds. • 6) Plot the coupler curve (plot x positions versus y positions) at the point of the centre of mass in Link 5.
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