Animation of linkage operation in the full range:

Degree of Freedom:

L = 6, j1 = 7 --> DoF = 3*(6-1) - 2*7 = 1

Position analysis:

To get the position analysis for the whole linkage, we need to analyze the 4-bar mechanism within it first:

After we got 𝜃3 and 𝜃4, we can solve the vector loop equation for the 6-bar mechanism:

Plot position of joints with full 360° motion of input with Matlab:

Plot position of joints with actual motion we are doing (𝜃2 = 40~230):

Velocity analysis:

To get the velocity analysis of the whole linkage, we also need to analyze the 4-bar mechanism within it first:

After we got ⍵3 and ⍵4, we can solve the vector loop equation for the 6-bar mechanism:

Plot angular velocity with full 360° motion of input:

Plot angular velocity with actual motion we are doing:

Plot velocity of end effector with full 360° motion of input:

Plot velocity of end effector with actual motion we are doing:

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