VISHWAJIT KUMAR

Roll no-13800

1. Find the velocity ellipsoid of the two bar linkage along the x-axis.

Ans- Take point along the x axis starting from .2 and at an increeent of .2.

Here

l1=length of linkage 1=1 units.

L2=length of linkage 2=2 units.

So we calculate the jacobian along the x axis by the formula

J=[-l1*sin(theta1)-l2*sin(theta1+theta2) -l2*sin(theta2+theta1); l1*cos(theta1)+l2*cos(theta1+theta2) l2*(cos(theta1+theta2))];

theta1=angle of link1

theta2=angle of linkk2.

Then we calculate the SVD of J and from the singular valued obtained we plot ellipsoid graph. the graph.