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Theta for the ground link will be assumed 0 for all t, and theta for R2 will be considered as the input link. Measuring from the rockerocker.
r chair in real life, theta_2 varies from 165 to 15 degrees, with 165 as the closed position, and 15 as the open position.
The velocity loop equation is the time derivative of the vector loop, given by:
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$$ \frac d{ddt}dt (R_2+R_3-R4-R0) = V2+V3-V4=j\omega_2 R2+j\omega_3R3-j\omega_4R4 $$$ |
After solving the four bar composed of R0, R2, R3, and R4, R5 can be solved because the direction of R5 is always opposite R4 The remaining unknown vectors are R6 and R7, which means they can be solved using one more vector loop equation