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3.1 Given/measured parameters for both slider-crank mechanisms

Fig. 3MATLAB given/measured parameters

The known parameters prior to performing kinematic analysis of each fourbar slider-crank mechanism are shown in Fig.13. Both fourbar slider-crank mechanisms have the same link length values and configuration (open). The constant link length values (input crank length (a), coupler rod length(b), and ground offset (c)), were obtained by measuring each link with a ruler in units of millimeters. Link c (offset ground length) is 0mm because the slider axis extended passes through the crank pivot. Thus, this means both slider-crank mechanisms are fourbar non-offset inversion #1 slider-crank mechanisms, where the slider block translates (Norton).

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Given all the measured parameters that we know, shown in fig. ###  we 3 we are able to perform a position analysis on each slider-crank mechanism, in order to find its coupler bar angle (theta3) , and its ground slider position length from the crank pivot (d).  To begin the analysis of each slider-crank mechanism, the linkages of the mechanism are represented as position vectors as shown in Fig. ### 4-5 below. The position vector R4 is 0, since the mechanism is a fourbar non-offset inversion #1 slider-crank. A closed vector loop equation (1) shown below represents the vector positions in the mechanism.

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fig. 4 Position Vector Loop Horizontal Slider-Crank Mechanism                                                                                                              fig. 5 Position vector loop vertical slider-crank mechanism

R₂ –R₃ – 0 – R₁ = 0                (1)

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