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please Dont solve problem 5 , solve problem 6 using vector loop
Problem # 5. Referring to the linkage configuration and terminology shown in the Figure below, draw the linkage to scale and
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Answer #1

a)

Substituting values of a

2cosi2sint02j +7cost3i + 7sinb3j 9cost -9sintj= 6

equating i and j components

2cost27cost- 9costA = 6

2sint7sint-9sint=0

4.268 Tcoso3-9cos04= 6 - 2cos30

7sinbs-9sint,=-2sin30 -1

solving the two equations in matlab:

clear;clc 2 syms q3 q4; 3 7*cos (q3) 9*cos (q4) 4.268 e1 4 = - 9*sin (q4 7* sin (q3) e2 1 solve (e1,e2); Q3, Q4] 7 double (Q3

which gives:

03= 88.837 or 03 360 115.21 244.790

04117.29 or 04 360 143.66 216.34

b)

Substituting values of b

10costi 10sinbj10cosb3i 10sint3j-10cosi 10sint4j =201

equating i and j components

10cost 0cost- 10cos=20

10sint2 10sint3 10sint

10cose3 10cos020 10cos50 13.57

10sine3 10sin0 -10sin50 7.66

solving the two equations in matlab:

clear;clc; 1 2 syms q3 q4; 3 10 cos (q4) 10 sin (q4) 10* cos (q3) 13.57 e1 4 10* sin (q3) e2 7.6 = 6 [Q3, Q4 solve (el,e2); 7

which gives:

03-9.3747 or 03 = 360 68.262 291.738

4-117.74 or 04 = 360 170.63 189.37​​​​​​​

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