Figure
34, 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
Using the values from Table 1 and ω2 = 1 rad/s