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 in Equation 1.