RPPRRPR Spatial Mechanism: Acceleration Analysis

Enter theta1, Vtheta1 (velocity of theta1), Atheta1 (acceleration of theta1), and the parameters of the mechanism below to solve for single values of atheta2, atheta3, atheta4, atheta5, atheta6, and atheta7.

theta1:

alpha1: a1: d1:
alpha2: a2: theta2:
alpha3: a3: theta3:
alpha4: a4: d4:
alpha5: a5: d5:
alpha6: a6: theta6:
alpha7: a7: d7:
Vtheta1:
Atheta1:

Enter the parameters of the mechanism to generate plots of the ranges of atheta4, atheta5 and atheta7 vs theta1.

alpha1: a1: d1:
alpha2: a2: theta2:
alpha3: a3: theta3:
alpha4: a4: d4:
alpha5: a5: d5:
alpha6: a6: theta6:
alpha7: a7: d7:
Vtheta1
Atheta1

Check the boxes for the plots you would like to display.

Atheta4 vs Theta1
Atheta5 vs Theta1
Atheta7 vs Theta1
d2 vs Theta1
d3 vs Theta1
d6 vs Theta1