Project details (A 3-ARM Sprayer)
Due Nov. 30th, 2021
You have a 3 bar mechanisms that sprays a car. The first link (blue) is pinned to the origin and
has a length of a. The second link (gray) is pinned to first link and has a length of b. The last link
(which has the sprayer at its end) has a length of c. The sprayer must start from A and finish at
the point E. It needs to follow the following lines in order: AB, BC, CD, and DE. For each of these
lines, the sprayer has to start with zero velocity and end with zero velocity (for instance, the
velocity in A must be zero and the Velocity at B also must be zero).
Your goal is to create a design that sprays the car. You can pick the lengths of a, b, and c as you
wish. The spraying process should not take less than 2 minutes and no longer than 4 mins.
Assume that there is no collision.
The following lengths are given: O2A = 5 (m), AB = 1 (m), BC = 2 (m), CD = 0.5 (m) and DE = 2
(m). The thickness of the links are negligible.
Output of the MATLAB FILE
1) Your MATLAB file should generate an animation that shows the 3 links and the car over
time. The animation should clearly demonstrate how the system goes from A to E (your
animation should not take longer than a minute and less than 30 seconds).
2) Your MATLAB code should also generate a matrix (call it “Out”) with 5 columns.
The first 3 columns should represent the angles of the 3 links over time. The 4th column should
show the x position of the end of link 3 (where the sprayer is) and the 4th column should show the
y position of the end of link 3.