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Figure
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4, Initial linkages of the clank sliders.
Derivation
This derivation is based off equation 2:
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(Eq. 2)
Where the derivative with respect to time is:
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(Eq. 9)
The claw linkage velocities are similarly the derivative of equation 4:
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(Eq. 4)
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(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 ω
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4 and ω5.
Again, because the rest of the system is parallel to links 4 and 5, the end effectors have the same angular velocities.
Velocity Plot
Using the values from Table 1 and ω2 = 1 rad/s
Figure
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7,
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