Page Comparison

Derivation

MA =
\begin{vmatrix}
\frac{\omega_{crank}}{\omega_{out}}
\end{vmatrix}
\begin{vmatrix}
\frac{r_{crank}}{r_{out}}
\end{vmatrix}

The mechanical advantage of a system is defined by:

Image Added ..........................................................................(Eq. 11)

For my case, the input radius  and angular velocity comes from the crank itself, not link 2. The output angular velocity can either be ω₄ or ω₅. The output radius is the same for link 4 and link 5.

Image Added ............................................................(Eq. 12)

I have solved for the angular velocity ratio for | ω₂ / ω_out | in the previous section. We can thereby solve for the equivalent angular velocity ratio for | ω_crank / ω_out |:

Image Added.........................................................(Eq. 13)

Image Added................................................................................(Eq. 14)

Substituting equation 13 and equation 14 to equation 12 gives:

Image Added........................................(Eq. 15)

Finally the total mechanical advantage is the summation of both end effector forces:

Image Added.................(Eq. 16)

Plot

Image Added