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and S+L>P+Q, resulting in Class II Grashof meaning no link can fully rotate.
Kinematic Analysis:
For each of the analyses explained below, the code as well as the hand calculations are included and labeled in the appendix.
Position Analysis:
Position Analysis was first performed on the linkage to show the positions of points 1,2, and 3 as theta 2 rotated. Point 1 is defined as the joint between the input and the sliding linkage, point 2 is the median point on the sliding linkage, and point 3 is the joint between the coupler and the sliding linkage. A graph of each position vs. theta 2 is shown below:
Velocity Analysis:
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