...
...
Figure 3, Initial linkages of the clank sliders.
Derivation
This derivation is based off equation 2:
...
(Eq. 2)
Where the derivative with respect to time is:
...
(Eq. 9)
The claw linkage velocities are similarly the derivative of equation 4:
...
(Eq. 4)
...
(Eq. 10)
I again use an equation solver on equation 9 to find the velocity of the slider, 'cx, and then use the equation solver on equation 10 to find ω4
...
and ω5.
Velocity Plot
Figure 6,
...