Kinematic Analysis and Synthesis - krn

My very first step for this process was to quickly put together a model of my mechanism with the Planar Mechanism Kinematic Simulator (PMKS) tool. Below is an image of the mechanism at its initial position.

My kinematic analysis included a manual paper calculation for the initial orientation shown in the kinematic diagram and then MATLAB analysis for the theta range from 145 degrees to 205 degrees (note: limits were set based on the toggle limits of the mechanism). Images showing the steps of the paper analysis are shown below. I broke the analysis into two "sub-mechanisms". This first was a crank slider from the input crank to the horizontal slider. The second was a vector loop from the connecting the second slider to the input. The complete position analysis is shown and then the velocity and acceleration analyses are shown manually only for the crank slider sub-mechanism. It is worth noting that because the second slider was also rotating the second sliding block experienced coriolis acceleration. 

Finally, there was also my MATLAB code for the analysis over the 60 degree theta range. This code will be in the appendix; however, below is an image an angular velocity plot generated during my analysis. This is for link 3 which contains the second slider and connects the input to the follower.