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Therefore linkage is Grashof
Klann Linkage Kinematic Analysis:
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Therefore linkage is Grashof
The initial approach for the kinematic analysis was to analyze the systemthe linkage using Stephenson's six bar linkage analysis approach by creating two vector loops and using the common linkage between the two to find the missing values. Unfortunately, this method was extremely complicated and we were unable make significant progress within a long period of time and eventually moved on to simply using the displacement, velocity, and acceleration plots in motiongen. Below is a link to a google colab that was used initially to analyze the first vector loop - designated as the 4 bar loop consisting of the crank - to find the properties of the oscillating bar.
https://colab.research.google.com/drive/1coDzB8L6NwIw3rEnqCVQiPSXJW28SUmu?usp=sharing
For this linkage specifically, we did not focus on force analysis since we are primarily interested in the position profile of the end of the linkage
The videos below show the animations for both the original Klann linkage (approximately the one used for the prototype) and our modified version with a more vertical profile.
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