Page Comparison

Mobility Analysis:

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Mobility analysis confirms the 5-bar mechanism has one degree of freedom (1 DOF). As seen in the figure above, the mechanism is comprised of five links, and has full joints at O₂, A, B, C, and at the sliding contact between the slider (link 5) and the ground. O₄ is a half joint. M = 3L - 2J₁ - J₂ - 3 = 3(5) - 2(5) - 1 - 3 = 1 DOFThis leads to the following relationship:

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Kinematic Analysis:

The 5-bar mechanism can be broken into two separate vector loops - a 3-bar vector loop, and a 4-bar vector loop. The image below shows the first of these vector loops, Loop 1:

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Vector analysis of Loop 1 yields the following position, velocity, and acceleration equations. Note that we assume the length of b is changing in this vector loop.

Position Equations:

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Velocity Equations:

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Acceleration Equations: