Displacement Analysis of RRPR Mechanism
Vector equation
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Separate into real and imaginary equations
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real |
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imaginary |
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Observe that, |
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Substitute
q's
Rearranging,
Solve for r4 and
q4Eliminate r4
Rearranging
where,
Use Half-Tangent Rule to get two values of
q4. Each of these two values will yield a value of r4 as follows,
