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Or
Considering links 3 and 6, another loop equation may be written.
Or
Note: since links 5 and 6 are two sides of the same rigid link. Links R2,
R5 and R6 comprise another loop.
The last loop is made up of link R1, R2, R3, and R4
Equations (8.22) may be written twice remembering that
Equations (8.26) may be solved for R3 and R6 after which eqs. (8.23)
and (8.24) may be used to solve for R2 and R4.
Design an automated assembly line mechanism which will operate in the
horizontal plane and will allow an object at point C1 to be picked up and
move 2.6 pulg. At an angle of 120 with the horizontal while the object is
rotated through 15 to point C2. Then the object is to be moved to point
C3 located 3.2 pulg. From C2 at an angle of 140 with the horizontal an
the object rotated through 30 from its original orientation. Input crank
rotation is to be 20 from position 1 to 2 and 60 from position 1 to
position 3.