The linkage lengths were approximated by measuring with a tape measure. The lengths are given below, measured in inches, as well as the vector equations in phasor form.
R7 has the perpendicular offset included as a separate vector, however the angle of that vector can always be known because the link is ternary.
A four-bar mechanism is formed between R0, R2, R3, and R4. The vector loop is provided by:
Theta for the ground link will be assumed 0 for all t, and theta for R2 will be considered as the input link. Measuring from the rocker.
r chair in real life, theta_2 varies from 165 to 15 degrees, with 165 as the closed position, and 15 as the open position.
The velocity loop equation is the time derivative of the vector loop, given by:
After solving the four bar composed of R0, R2, R3, and R4, R5 can be solved because the direction of R5 is always opposite R4 The remaining unknown vectors are R6 and R7, which means they can be solved using one more vector loop equation. The equation is given below:
The angular velocity of link 5 must also be the angular velocity of link 4. The velocity equation: