ME 301 THEORY OF MACHINES I FALL 2012 SECTION 02

How to Animate Scotch- Yoke Mechanism in MATLAB

B E

S43 S13

C D

x
L

Virtually disconnect joint B. And loop closure equation becomes; AB2= AD + DC + CE+ EB3
r2 e
i 12

= r1 + i b1 s13 + i s43

Real part :
r2 cos 12 = r1 s13 s13 := r1 r2 cos 12

( )

( )

Imaginary part:
r2 sin 12 = b1 + s43 s43 := r2 sin 12 b1

( )

( )

In order to be able to animate this Scotch-yoke mechanism, coordinates of ends of each line in the system should be determined.

Let's start with AB line

The coordinates of the point A is A(0,0), which means, xA=0 yA=0

The coordinates of point B can be found as:

AB := r2 e
i 12

xB := r2 cos 12

( ) ( )

real part is x-coordinate and imaginary part is y-coordinate.

yB := r2 sin 12

B r2 cos 12 , r2 sin 12

( )

( ) ) = B( xB , yB)

Now, we know the coordinates of the end points of the line AB. Then, we can draw AB line in MATLAB such as: x=[ xA xB]; y=[ yA yB]; plot(x,y) ( This is a 1-2 matrix) (This is a 1-2 matrix)

Note that xA, xB, yA and yB are found before. Let's rotate AB link 360 degrees in MATLAB for 12=0:0.1:(2*pi) xA=0; yA=0; xB= r2*cos(12); yB= r2*sin(12); x=[ xA xB]; y=[ yA yB]; plot(x,y) end this means that 12 is between 0 and 2pi and increases by an increment 0.1

( This is a 1-2 matrix) (This is a 1-2 matrix)

As for line KL The coorddinates of point K can be found as:

AK = AD + DC + CE + EK
AK := r1 + i b1 s13 + ib.2 xK= r1 - s13; real part is x-coordinate

yK= b1 + b2;

imaginary part is y coordinate

The coordinates of point L;

AL := r1 + i b1 s13 i b2 xL := r1 s13

yL := b1 b2

Then, we can plot line KL in MATLAB such as; xK=r1-s13; yK=b1+b2; xL= r1-s13; yL= b1 - b2; x=[ xA xB]; y=[ yA yB]; plot(x,y)

Finally, line EM can be drawn as how AB and KL are drwan

The CODE
%% the animation of scotch yoke mechanism

r2=15; % length of line AB b2=35; % the length of line KL r4=50; % length of line EM r1=60; b1=5; for teta12=0:0.01:2*pi % teta12 increases by 0.01, the idea is that for each teta12 value we draw the system s43=(r2*sin(teta12)-b1); % for every teta12, we have to find corresponding s13 and s43 s13=r1-r2*cos(teta12); %% Line AB XA=0; % x-coordinate of point A of the line AB YA=0; %y-coordinate of point A of the line AB XB=r2*cos(teta12); % x-coordinate of point B of the line AB YB=r2*sin(teta12); % y-coordinate of point B of the line AB X=[XA XB]; Y=[YA YB]; plot(X,Y,'-yo','LineWidth', 3,'MarkerEdgeColor','b', 'MarkerSize',8) %instead you can use only plot(X,Y) % -yo means that end points are circle and the color of the line is yellow. Linewidth,3, make the width of line 3. b means blue color. hold on % hold on enable us to draw another figure onto the figure drawn before which means by keeping the figure drawn before %% line KL XK=r1-s13; % x-coordinate of point K of the line KL YK=b1+b2; % y-coordinate of point K of the line KL XL=r1-s13; % x-coordinate of point L of the line KL YL=b1-b2; % y-coordinate of point L of the line KL

X=[XK XL]; Y=[YK YL]; plot(X,Y,'-go','LineWidth', 3, 'MarkerSize',8) %% line EM XE=r1-s13; YE=b1; XM=r1+r4-s13; YM=b1; X=[XE XM]; Y=[YM YM]; plot(X,Y,'-mo','LineWidth', 3,'MarkerSize',8) %% the lower ground line X=[r1-40 r1-20]; Y=[-1+b1 -1+b1]; plot(X,Y) % plots the lower ground line %% the upper ground line X=[r1-40 r1-20]; Y=[1+b1 1+b1]; plot(X,Y) % plots the upper ground line axis equal axis manual axis([-60 70 -30 50]) % this makes the boundray of the figure keeps constant. For x axis from -60 to 70. For y axis from -30 to 50. grid on hold off % after hold off command, if we plot a figure, the figure drawn before is deleted pause(0.005)% program waits, by changing 0.005,you can change the speed of the animation end