Mobility Calculation

Position Analysis

Figure 1. Position analysis: angle of coupling link 3 (left) and position of sliding block c (right), both with respect to the angle of the input link.

Velocity Analysis

Figure 2. Velocity analysis: angular velocity of coupling link 3 (left) and sliding velocity of block (right), both with respect to the angle of the input link.

Acceleration Analysis

Figure 3. Acceleration analysis: angular acceleration of coupling link 3 (left) and sliding acceleration of the block (right), both with respect to the angle of the input link.

MATLAB Code