How can I complete this code or reach the result according to this mechanism?

% Define physical parameters of the mechanism

AB = 0.09; % m, length of arm 1

BC = 0.4; % m, length of arm 2

CD = 0.7; % m, length of arm 3

La = 0.75; % m

Lb = 0.35; % m

% Define simulation parameters

Nmax = 100; % Maximum number of iterations

x = [20*pi/180, 320*pi/180]; % Adjusted initial guess for th2, th3 (in radians)

xe = 0.0001 * abs(x); % Slightly relaxed error tolerance

dth = 5 * pi / 180; % Step size for thq

thQ = 0:dth:2*pi; % Range of thq (in radians)

w1 = -0.2944 * ones(size(thQ)); % Constant angular velocity w1

acc1 = zeros(size(thQ)); % Constant angular acceleration acc1

% Preallocate arrays for results

th2 = zeros(size(thQ));

th3 = zeros(size(thQ));

w2 = zeros(size(thQ));

w3 = zeros(size(thQ));

acc2 = zeros(size(thQ));

acc3 = zeros(size(thQ));

% Main loop for each th2 value

for k = 1:length(thQ)

x_temp = x; % Temporary variable for the current iteration

kerr = 1; % Flag for convergence

% Iterative solver for position analysis

for n = 1:Nmax

th2_temp = x_temp(1);

th3_temp = x_temp(2);

J = [-BC*sin(th2_temp), -CD*sin(th3_temp); BC*cos(th2_temp), CD*cos(th3_temp)];

% Check for singularity in Jacobian

if cond(J) > 1e10

disp(['Warning: Jacobian is near singular at th2 index: ', num2str(k)]);

break;

end

f = [-(AB*cos(thQ(k)) + BC*cos(th2_temp) + CD*cos(th3_temp) - La); ...

-(AB*sin(thQ(k)) + BC*sin(th2_temp) + CD*sin(th3_temp) + Lb)];

eps = J\f; % More efficient than inv(J)*f

x_temp = x_temp + eps';

if all(abs(eps) < xe)

kerr = 0;

break;

end

end

if kerr == 1

disp(['Error: Solution did not converge at th2 index: ', num2str(k), ' (th2 = ', num2str(thQ(k) * 180/pi), ' degrees)']);

else

th2(k) = x_temp(1);

th3(k) = x_temp(2);

% Velocity analysis

fv = [-AB*sin(thQ(k))*w1(k); AB*cos(thQ(k))*w1(k)];

vel = J\fv;

w2(k) = vel(1);

w3(k) = vel(2);

% Acceleration analysis

fa = [-AB*cos(thQ(k))((w1(k))^2) - BC*cos(th2(k))((w2(k))^2) - CD*cos(th3(k))*((w3(k))^2) - AB*sin(thQ(k))*acc1(k); ...

AB*cos(thQ(k))acc1(k) - BC*sin(th2(k))((w2(k))^2) - CD*sin(th3(k))((w3(k))^2) - AB*sin(thQ(k))((w1(k))^2)];

acc = J\fa;

acc2(k) = acc(1);

acc3(k) = acc(2);

end

end

% Convert angles to degrees for plotting

th2d = th2 * 180/pi;

th3d = th3 * 180/pi;

% Plotting results

figure(1);

subplot(3,3,1), plot(thQ, th2d, 'r', 'LineWidth', 2), xlabel('\theta_Q (rad)'), ylabel('\theta_2 (deg)'), grid on;

subplot(3,3,2), plot(thQ, w2, 'r', 'LineWidth', 2), xlabel('\theta_Q (rad)'), ylabel('\omega_2 (rad/s)'), grid on;

subplot(3,3,3), plot(thQ, acc2, 'r', 'LineWidth', 2), xlabel('\theta_Q (rad)'), ylabel('\alpha_2 (rad/s^2)'), grid on;

subplot(3,3,4), plot(thQ, th3d, 'r', 'LineWidth', 2), xlabel('\theta_Q (rad)'), ylabel('\theta_3 (deg)'), grid on;

subplot(3,3,5), plot(thQ, w3, 'r', 'LineWidth', 2), xlabel('\theta_Q (rad)'), ylabel('\omega_3 (rad/s)'), grid on;

subplot(3,3,6), plot(thQ, acc3, 'r', 'LineWidth', 2), xlabel('\theta_Q (rad)'), ylabel('\alpha_3 (rad/s^2)'), grid on;

[Ruben]

yes

[Steven Lord]

It's not clear to me what help you're hoping to receive. Please ask a specific question about where you're having difficulty and we may be able to provide some guidance.