In this section, I wanted to conduct kinematic analysis to find position, velocity, and acceleration for key components of the 6-bar mechanism. To begin, I split the 6 bar-mechanism into two vector loops. The figure below shows the figure split into different sized lengths and distinguished by color.
DOF Calculation:
To find the degrees of freedom for this mechanism, I used the following formula. There are 3 pin joints as well as D and E which are considered both pin and slider joints. In total, the DOF is 1.
Figure _. Annotated Drawing of 6 Bar Mechanism
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To find acceleration equations, I simply took the derivative of the velocity equations with respect to time. It is important to note here that, there are double derivatives due to Coriolis acceleration. Due to the complexity of the equations, I chose to only include the final solutions below.
