How to code summation equation?

Hello everyone !

I've got a graudation project and i stucked in here. I'm trying to do same process with a difference that I have one more V as V4 and our summations should go 1 to 4.

As a summary I got M matrice but I cannot write a code for V1,V2,V3 and V4.

Here is the my code: in this code we can find the M matrice as 4x4. Also the qs are in upper summation formula are represented as Q1,Q2,Q3 and Q4 in my code:

syms Q1 Q2 Q3 Q4 a1 s2 a3 a4 m1 m2 m3 m4

A01 = [cosd(Q1),-sind(Q1),0;sind(Q1),cosd(Q1),0;0,0,1];
A12 = [1,0,0;0,0,-1;0,1,0];
A23 = [cosd(Q3),-sind(Q3),0;sind(Q3),cosd(Q3),0;0,0,1];
A34 = [cosd(Q4),-sind(Q4),0;sind(Q4),cosd(Q4),0;0,0,1];

A04 = simplify(A01*A12*A23*A34);
A03 = simplify(A01*A12*A23);
A02 = simplify(A01*A12);

AT04 = transpose(A04);
AT03 = transpose(A03);
AT02 = transpose(A02);
AT01 = transpose(A01);

I11 = ((1/12)*m1*(a1^2))*[0,0,0;0,1,0;0,0,1];
I22 = ((1/12)*m2*(s2^2))*[1,0,0;0,1,0;0,0,0];
I33 = ((1/12)*m3*(a3^2))*[0,0,0;0,1,0;0,0,1];
I44 = ((1/12)*m4*(a4^2))*[0,0,0;0,1,0;0,0,1];

I1=A01*I11*AT01;
I2=A02*I22*AT02;
I3=A03*I33*AT03;
I4=A04*I44*AT04;

Jv1 = [0,0,0,0;0,0,0,0;0,0,0,0];
Jw1 = [0,0,0,0;0,0,0,0;1,0,0,0];
Jv2 = [0,0,0,0;0,0,0,0;1,1,0,0];
Jw2 = [0,0,0,0;0,0,0,0;0,0,0,0];
Jv3 = [-(a3*cosd(Q3)*sind(Q1))/2,0,-(a3*sind(Q3))/2,0;(a3*cosd(Q1)*cosd(Q3))/2,(a3*cosd(Q3))/2,(a3*cosd(Q3))/2,0;0,0,0,0];
Jw3 = [0,0,0,0;0,0,0,0;1,1,1,0];
Jv4 = [-((sind(Q1))*(a3*cosd(Q3)+a4*cosd(Q3+Q4)))/2,0,-(a3*sind(Q3)+a4*sind(Q3+Q4))/2,-(a4*sind(Q4))/2;((cosd(Q1)*(a3*cosd(Q3)+a4*cosd(Q3+Q4))))/2,(a3*cosd(Q3)+a4*cosd(Q3+Q4))/2,(a3*cosd(Q3)+a4*cosd(Q3+Q4))/2,(a4*cosd(Q4))/2;0,0,0,0];
Jw4 = [0,0,0,0;0,0,0,0;1,1,1,1];

JvT1 = transpose(Jv1);
JwT1 = transpose(Jw1);
JvT2 = transpose(Jv2);
JwT2 = transpose(Jw2);
JvT3 = transpose(Jv3);
JwT3 = transpose(Jw3);
JvT4 = transpose(Jv4);
JwT4 = transpose(Jw4);

M = JvT1*m1*Jv1 + JwT1*I1*Jw1 + JvT2*m2*Jv2 + JwT2*I2*Jw2 + JvT3*m3*Jv3 + JwT3*I3*Jw3 + JvT4*m4*Jv4 + JwT4*I4*Jw4