Index exceeds the number of array elements (1).

Hi guys, I try to solve a mechanisims but I always run into this problem.

%CLEAR: Variables and command window in MATLAB

clc,clear

% INPUT: PHYSICAL PARAMETERS of MECHANISM (cm)

l2=2.7;l3=6;CO4=4.6;O4F=2.3;FO2=11.3;l5=3.8;DO4=1.85;GE=2.9

% INPUT: Maximum Iteration Number Nmax

Nmax=100;

% INPUT: INITIAL GUESS VALUES for th2, th3, th5 and Sd respectively

x=[30*pi/180,60*pi/180,40*pi/180,10];

% INPUT: ERROR TOLERANCE

xe=0.001*abs(x);

% INPUT: SYSTEM INPUTS (th4,w4,a4,b,B)

b=(-25.44)*pi/180

dth=1*pi/360;

th4=30*pi/180:dth:220*pi/180;

w4=5*ones(1,length(th4));

a4=0*ones(1,length(th4));

%----------------------------------------------

xe=transpose(abs(xe));

kerr=1; %If kerr=1, results are not converged

for k=1:1:length(th4);

for n=1:Nmax

%----------------------------------------------

%Assign initial guess to unknowns

th2(k)=x(1);th3(k)=x(2);

th5(k)=x(3);Sd(k)=x(4);

% INPUT: JACOBIAN Matrix

J=zeros(4,4);

J(1,1)=-l2*sin(th2(k));J(1,2)=-l3*sin(th3(k));

J(2,1)=l2*cos(th2(k));J(2,2)=l3*cos(th3(k));

J(3,3)=-l5*sin(th5(k));;J(4,3)=-l5*cos(th5(k))

J(3,4)=1

% INPUT: Function f

f=zeros(4,1);

f(1,1)=-(CO4*cos(th4(k))+FO2+l2*cos(th2(k))+l3*cos(th3(k)));

f(2,1)=-(CO4*sin(th4(k))+O4F+l3*sin(th3(k))+l2*sin(th2(k)));

f(3,1)=-(l5*cos(th5(k))+DO4*cos(th4(k)+b)+Sd(k));

f(4,1)=-(l5*sin(th5(k))+DO4*sin(th4(k)+b)+GE);

%----------------------------------------------

eps=inv(J)*f;x=x+transpose(eps);

if abs(eps)<xe

kerr=0;break

if kerr==1

'Error nr'

end

end

end

th2(k)=x(1);th3(k)=x(2);

th3=x(3);Sd(k)=x(4);

%---velocity---------------------------

fv(1,1)=CO4*w4(k).*sin(th4(k));

fv(2,1)=-CO4*w4(k).*cos(th4(k));

fv(3,1)=DO4*w4(k).*sin(th4(k)+b);

fv(4,1)=-DO4*w4(k).*cos(th4(k)+b);

vel=inv(J)*fv;

w2(k)=vel(1);w3(k)=vel(2);

w5(k)=vel(3);Vd(k)=vel(4);

%---acceleration---------------------------

fa(1,1)=l2*(w2(k)^2)*cos(th2(k))+l3*(w3(k)^2)*cos(th3(k))+CO4*(w4(k)^2)*cos(th4(k))+CO4*a4(k)*sin(th4(k));

fa(2,1)=w2(k)^2.*l2*sin(th2(k))+w3(k)^2*l3*sin(th3(k))-CO4*a4(k)*cos(th4(k))+w4(k)^2*CO4*sin(th4(k));

fa(3,1)=w5(k)^2*l5*cos(th5(k))+DO4*a4(k)*sin(th4(k)+b)+w4(k)^2*DO4*cos(th4(k)+b);

fa(4,1)=l5*w5(k).^2*cos(th5(k))+DO4*a4(k)*sin(th4(k)+b)+DO4*w4(k)^2*cos(th4(k)+b);

acc=inv(J)*fa;

a2(k)=acc(1);a3(k)=acc(2);

a5(k)=acc(3);ad(k)=acc(4);

end

% Angle: radian --> degree

% Angle: radian --> degree

th2d=th2*180/pi;

th3d=th3*180/pi;

th4d=th4*180/pi

th5d=th5*180/pi;

%--------Plots---------------

figure(1),

subplot(4,3,1),plot(th4d,th2d,'r','linewidth',2),xlabel('\theta_4 (^o)'),ylabel('\theta_2(^o)'),grid on;

subplot(4,3,2),plot(th4d,w2,'r','linewidth',2),xlabel('\theta_4 (^o)'),ylabel('\omega_2(r/s)'),grid on;

subplot(4,3,3),plot(th4d,a2,'r','linewidth',2),xlabel('\theta_4 (^o)'),ylabel('\alpha_2(r/s^2)'),grid on;

subplot(4,3,4),plot(th4d,th3d,'r','linewidth',2),xlabel('\theta_4(^o)'),ylabel('\theta_3 (^o)'),grid on;

subplot(4,3,5),plot(th4d,w3,'r','linewidth',2),xlabel('\theta_4(^o)'),ylabel('\omega_3 (r/s)'),grid on;

subplot(4,3,6),plot(th4d,a3,'r','linewidth',2),xlabel('\theta_4 (^o)'),ylabel('\alpha_3(r/s^2)'),grid on;

subplot(4,3,7),plot(th4d,Sd,'r','linewidth',2),xlabel('\theta_4 (^o)'),ylabel('Sd(cm)'),grid on;

subplot(4,3,8),plot(th4d,Vd,'r','linewidth',2),xlabel('\theta_4 (^o)'),ylabel('V_d(cm/s)'),grid on;

subplot(4,3,9),plot(th4d,ad,'r','linewidth',2),xlabel('\theta_4 (^o)'),ylabel('a_d(cm/s^2)'),grid on;

subplot(4,3,10),plot(th4d,th5d,'r','linewidth',2),xlabel('\theta_4 (^o)'),ylabel('theta_5(^o)'),grid on;

subplot(4,3,11),plot(th4d,w5,'r','linewidth',2),xlabel('\theta_4 (^o)'),ylabel('omega_5(r/s)'),grid on;

subplot(4,3,12),plot(th4d,a5,'r','linewidth',2),xlabel('\theta_4 (^o)'),ylabel('alpha_5(r/s^2)'),grid on;

%%-------Writing position values to file ------------------

knm=[transpose(th2d) transpose(th3d) transpose(th5d) transpose(th4d) transpose(yy)];

str = 'th2 th3 th5 th4 Y '; %# A string

fName = 'konum.txt'; %# A file name

fid = fopen(fName,'w'); %# Open the file

if fid ~= -1

fprintf(fid,'%s\r\n',str); %# Print the string

fclose(fid); %# Close the file

end

dlmwrite(fName,knm,'-append',... %# Print the matrix

'delimiter','\t', 'newline','pc');

%%-------Writing velocity values to file ------------------

hz=[transpose(th2d) transpose(w3) transpose(w5) transpose(w4) transpose(vyy)];

str = 'th2 w3 w5 w4 VY '; %# A string

fName = 'hız.txt'; %# A file name

fid = fopen(fName,'w'); %# Open the file

if fid ~= -1

fprintf(fid,'%s\r\n',str); %# Print the string

fclose(fid); %# Close the file

end

dlmwrite(fName,hz,'-append',... %# Print the matrix

'delimiter','\t', 'newline','pc');

%%-------Writing acceleration values to file ------------------

ivme=[transpose(th2d) transpose(al3) transpose(al5) transpose(al4) transpose(alyy)];

str = 'th2 al3 al5 al4 aY '; %# A string

fName = 'ivme.txt'; %# A file name

fid = fopen(fName,'w'); %# Open the file

if fid ~= -1

fprintf(fid,'%s\r\n',str); %# Print the string

fclose(fid); %# Close the file

end

dlmwrite(fName,hz,'-append',... %# Print the matrix

'delimiter','\t',...

'newline','pc');

''fa(1,1)=l2*(w2(k)^2)*cos(th2(k))+l3*(w3(k)^2)*cos(th3(k))+CO4*(w4(k)^2)*cos(th4(k))+CO4*a4(k)*sin(th4(k));'' In this line program said to me Index exceeds the number of array elements (1).

Error in Untitled2 (line 65)

>>

Please help me, Thatt my midterm homework and I cant solve. Thanks.

[Adam Danz]

Please edit your question so that your code is formatted properly and appears within a code block by using the Code Toggle tool [more info].

[Mert Gür]

thank you much for your answer. I solved it.

Answer 1

[Cris LaPierre]

Follow the steps provided in this answer to determine the issue.

[Mert Gür]

Thank you so much. I solved it.