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The effective length of link 4 (c) and the angular offset (delta) between link 4 and the output vector P can be determined from a geometric analysis of the lengths c1, c2, and the relative angle beta, as defined in the figure.
This has the effect of modifying the output sweep between left side only, right side only, full range, narrow centered, and various intermediate combinations.
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The analysis repeated for the prescribed dial settings for left, right, center, and full sweep ranges (120°, 300°, 215°, and 20°, respectively). The XY position of the resulting nozzle location, P, with respect to the global XY coordinate frame is shown below.
A velocity analysis was also performed to determine the angular velocity of the output nozzle with respect to the rotation angle of the nozzle.
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