Assignment and mini project

task 3.py

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+# -*- coding: utf-8 -*-
+"""
+Created on Fri Aug 26 00:27:59 2022
+
+@author: turpa
+"""
+
+import math
+import lmfit
+import numpy as np
+import scipy as sp
+import matplotlib.pyplot as plt
+x=5
+y=3
+l1=4
+l2=3
+Fx=0.2*(x-2)
+Fy=0.2*(y-1)
+#x=int(input("enter the value of x="))
+#y=int(input("enter the value of y="))
+#l1=int(input("enter the value of l1="))
+#l2=int(input("enter the value of l2="))
+def anglecalc(x,y,l1,l2):
+    D=((x**2+y**2-l1**2-l2**2)/(2*l1*l2))
+    theta=math.degrees(math.atan(math.sqrt(1-D**2)/D))
+    q1=math.degrees(math.atan(y/x))-math.degrees(math.atan((l2*math.sin(math.radians(theta)))/(l1+l2*math.cos(math.radians(theta)))))
+    q2=q1+theta
+    return(q1,q2,theta)
+
+q1,q2,theta = anglecalc(x, y, l1, l2)
+xout=l1*math.cos(math.radians(q1))+l2*math.cos(math.radians(q2))
+yout=l1*math.sin(math.radians(q1))+l2*math.sin(math.radians(q2))
+a=[]
+b=[]
+q1dis=np.linspace(0, q1,10)
+for i in range(0,10):
+    x=l1*math.cos(math.radians(q1dis[i]))+l2*math.cos(math.radians(q1dis[i]))
+    a.append(x)
+    y=l1*math.sin(math.radians(q1dis[i]))+l2*math.sin(math.radians(q1dis[i]))
+    b.append(y)
+q2dis=np.linspace(0,q2,10)
+for i in range(0,10):
+    x=l1*math.cos(math.radians(q1))+l2*math.cos(math.radians(q2dis[i]))
+    a.append(x)
+    y=l1*math.sin(math.radians(q1))+l2*math.sin(math.radians(q2dis[i]))
+    b.append(y)
+plt.plot(a,b)
+plt.show()
+Torq1=-l1*Fx*math.sin(math.radians(q1))+l1*Fy*math.cos(math.radians(q1))
+Torq2=-l2*Fx*math.sin(math.radians(q2))+l1*Fy*math.cos(math.radians(q2))
+print("Torques required at each joint", Torq1,Torq2)

task 4.py

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+
+import math
+import lmfit
+import numpy as np
+import scipy as sp
+import matplotlib.pyplot as plt
+x=5
+y=3
+l1=4
+l2=3
+x0,y0 = 0,0
+q1=35
+q2=35
+x1=l1*math.cos(math.radians(q1))
+x2=x1+l2*math.cos(math.radians(q2))
+y1=l1*math.sin(math.radians(q1))
+y2=y1+l2*math.sin(math.radians(q2))
+xout=l1*math.cos(math.radians(q1))+l2*math.cos(math.radians(q2))
+yout=l1*math.sin(math.radians(q1))+l2*math.sin(math.radians(q2))
+a=[]
+b=[]
+q1dis=np.linspace(35, 135,101)
+for i in range(0,100):
+    x=l1*math.cos(math.radians(q1dis[i]))+l2*math.cos(math.radians(q1dis[i]))
+    a.append(x)
+    y=l1*math.sin(math.radians(q1dis[i]))+l2*math.sin(math.radians(q1dis[i]))
+    b.append(y)
+xn=a[np.size(a)-1]
+yn=b[np.size(a)-1]
+plt.figure()
+plt.plot([x0,x1],[y0,y1],linewidth=2)
+plt.plot([x1,x2],[y1,y2],linewidth=2)
+plt.plot(a,b,linewidth=2)
+plt.plot(x0,y0,"ko",linewidth=4)
+plt.plot([x0,xn],[y0,yn],linewidth=2)
+#plt.plot([x0,a[np.size(a)-1]],[y0,np.size(b)-1],line=2)
+plt.plot(x1,y1,"ko",linewidth=4)
+plt.plot(x2,y2,"r*",linewidth=4)

task1.py

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+# -*- coding: utf-8 -*-
+"""
+Created on Sat Aug  6 21:09:59 2022
+
+@author: turpa
+"""
+import math
+import lmfit
+import numpy as np
+import scipy as sp
+import matplotlib.pyplot as plt
+x=5
+y=3
+l1=4
+l2=3
+#x=int(input("enter the value of x="))
+#y=int(input("enter the value of y="))
+#l1=int(input("enter the value of l1="))
+#l2=int(input("enter the value of l2="))
+def anglecalc(x,y,l1,l2):
+    D=((x**2+y**2-l1**2-l2**2)/(2*l1*l2))
+    theta=math.degrees(math.atan(math.sqrt(1-D**2)/D))
+    q1=math.degrees(math.atan(y/x))-math.degrees(math.atan((l2*math.sin(math.radians(theta)))/(l1+l2*math.cos(math.radians(theta)))))
+    q2=q1+theta
+    return(q1,q2,theta)
+
+q1,q2,theta = anglecalc(x, y, l1, l2)
+xout=l1*math.cos(math.radians(q1))+l2*math.cos(math.radians(q2))
+yout=l1*math.sin(math.radians(q1))+l2*math.sin(math.radians(q2))
+a=[]
+b=[]
+q1dis=np.linspace(0, q1,10)
+for i in range(0,10):
+    x=l1*math.cos(math.radians(q1dis[i]))+l2*math.cos(math.radians(q1dis[i]))
+    a.append(x)
+    y=l1*math.sin(math.radians(q1dis[i]))+l2*math.sin(math.radians(q1dis[i]))
+    b.append(y)
+q2dis=np.linspace(0,q2,10)
+for i in range(0,10):
+    x=l1*math.cos(math.radians(q1))+l2*math.cos(math.radians(q2dis[i]))
+    a.append(x)
+    y=l1*math.sin(math.radians(q1))+l2*math.sin(math.radians(q2dis[i]))
+    b.append(y)
+plt.plot(a,b)
+plt.show()

task2.py

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+import math
+import lmfit
+import numpy as np
+import scipy as sp
+import matplotlib.pyplot as plt
+x=5
+y=3
+l1=4
+l2=3
+Fx=0
+Fy=-1
+#x=int(input("enter the value of x="))
+#y=int(input("enter the value of y="))
+#l1=int(input("enter the value of l1="))
+#l2=int(input("enter the value of l2="))
+def anglecalc(x,y,l1,l2):
+    D=((x**2+y**2-l1**2-l2**2)/(2*l1*l2))
+    theta=math.degrees(math.atan(math.sqrt(1-D**2)/D))
+    q1=math.degrees(math.atan(y/x))-math.degrees(math.atan((l2*math.sin(math.radians(theta)))/(l1+l2*math.cos(math.radians(theta)))))
+    q2=q1+theta
+    return(q1,q2,theta)
+
+q1,q2,theta = anglecalc(x, y, l1, l2)
+xout=l1*math.cos(math.radians(q1))+l2*math.cos(math.radians(q2))
+yout=l1*math.sin(math.radians(q1))+l2*math.sin(math.radians(q2))
+a=[]
+b=[]
+q1dis=np.linspace(0, q1,10)
+for i in range(0,10):
+    x=l1*math.cos(math.radians(q1dis[i]))+l2*math.cos(math.radians(q1dis[i]))
+    a.append(x)
+    y=l1*math.sin(math.radians(q1dis[i]))+l2*math.sin(math.radians(q1dis[i]))
+    b.append(y)
+q2dis=np.linspace(0,q2,10)
+for i in range(0,10):
+    x=l1*math.cos(math.radians(q1))+l2*math.cos(math.radians(q2dis[i]))
+    a.append(x)
+    y=l1*math.sin(math.radians(q1))+l2*math.sin(math.radians(q2dis[i]))
+    b.append(y)
+plt.plot(a,b)
+plt.show()
+Torq1=-l1*Fx*math.sin(math.radians(q1))+l1*Fy*math.cos(math.radians(q1))
+Torq2=-l2*Fx*math.sin(math.radians(q2))+l1*Fy*math.cos(math.radians(q2))
+print("Torques required at each joint", Torq1,Torq2)