Code for Results

clear all
clf
clc
a= 1.5;
b_tot = 5.5;
c = 4;
d_tot = 5.3;
f = 5.5;
g = 1.85;
h = 1;
l = 3.5;
k = 1.25;
n = 4;
crank = 0:1:360;
theta1 = pi/2;

for i = 1:length(crank)
    theta2 = deg2rad(crank(i));
    if (theta2 > pi/2) && (theta2 <= (3/2*pi))
    theta3 = atan(((a*sin(theta2))-c)/(a*cos(theta2)))-pi;
    else
        theta3 = atan(((a*sin(theta2))-c)/(a*cos(theta2)));
    end
        theta3deg(i) = rad2deg(theta3);
    
    b(i) = (a*sin(theta2)-c)/sin(theta3);
    
    b2 = b_tot - b(i);
    theta32 = abs(theta3);
    
    theta4 = atan(((b2*sin(theta32))-f)/((b2*cos(theta32))-g));
    theta4deg(i) = rad2deg(theta4);
        
    dx(i) = (g-(b2*cos(theta32)));
    dy(i) = (f-(b2*sin(theta32)));
    d(i) = sqrt((dx(i)^2)+(dy(i)^2));
    
    phi = atan((n-(b2+h))/k);
    phideg(i) = rad2deg(phi);
    m(i) = l - (k*(cos(phi)));
    
end

O = [0 0];
axis(gca, 'equal');
axis([-5 5 -2 10])
figure(1)
for i = 1:length(crank)
    theta2 = deg2rad(crank(i));
    theta3 = deg2rad(theta3deg(i));
    theta4 = deg2rad(theta4deg(i));
    A = a*[cos(theta2) sin(theta2)];
    B = b_tot*[-cos(theta3) -sin(theta3)] + A;
    D = d(i)*[-(cos(theta4)) (sin(theta4))] + B;
    link2 = line([O(1) A(1)],[O(2) A(2)]);
    link3 = line([A(1) B(1)],[A(2) B(2)]);
    link4 = line([D(1) B(1)],[D(2) B(2)]);
    pin = viscircles([0, c],.01);
    pin2 = viscircles([-g, f+c], .01);
    pause(0.005);
    if i <length(crank)
        delete(link2)
        delete(link3)
        delete(link4)
    end
end
figure(2)
plot(crank, theta3deg)
title('Theta_3')

figure(3)
plot(crank, b)
title('Length b_1')

figure(4)
plot( crank, d)
title('Length d_1')

figure(5)
plot(crank, theta4deg)
title('Theta_4')

figure(6)
plot(crank, phideg)
title('Theta_5')

figure(7)
plot(crank, m)
title('Length m')