Synthesis and position analysis of a planar four bar mechanism

Abstract

The present paper deals with the analytical synthesis and position analysis of a fourbar planar RRRP linkage. Vector loop equations are formulated for the two position synthesis of the investigated mechanism. The scalar equations of the vector loops form a system of nonlinear equations. Some of the unknowns of the system of equations are free of choice while the others are calculated numerically. The choosen and the calculated variables  provide the main geometrical measures. In the position analysis of the mechanism we also use vector loop equations which provide a system of nonlinear equations. By solving these, the dependent coordinates of the mechanism can be detemined in terms of the independent coordinate.