though code seems to be correct there is some problem coupler is getting stretched in half rotation

axis(gca ,'equal');%aspect ratio
axis([-30 30 -30 30]);%axis limits
w=15;
a=[0 0];
d=[12 0];
r1=12;
r2=6;
r3=15;
r4=13;

for t=0:600
    theta=(w*t*2*3.14)/60;
       b=r2*[cosd(theta) sind(theta)];
       crank=line([a(1) b(1)],[a(2) b(2)],'color','r','linewidth',5);
       k=sqrt((b(1)-d(1))^2+(b(2)-d(2))^2);
       alpha=acosd((k*k+r1*r1-r2*r2)/(2*k*r1));
       
       beta=acosd((k*k+r4*r4-r3*r3)/(2*k*r4));
       disp(acosd((k*k+r4*r4-r3*r3)/(2*k*r4)));
       phi=180-(alpha+beta);
       c=[r1+r4*cosd(phi) r4*sind(phi)];
       output=line([d(1) c(1)],[d(2) c(2)],'color','g','linewidth',5);
       coupler=line([c(1) b(1)],[c(2) b(2)] ,'color','k','linewidth',5);
       pt_a=viscircles(a,0.1);
       pt_b=viscircles(b,0.1);
       pt_c=viscircles(c,0.1);
       pt_d=viscircles(d,0.1);
       traj1=viscircles(a,r2);
       traj2=viscircles(c,0.1);
       
       pause(0.001);
       delete(crank);
       
       
       
       
       delete(output);
       delete(coupler);
       delete(traj1);
       delete(pt_b);
       delete(pt_c);
       delete(pt_d);
       
end

[darova]

Can you show α and β angles?

[sonali utage]

[sonali utage]

@darova can u fndout any error now?

[darova]

Answer 1

[darova]

Try this solution

• find angle
• rotate by angle