RPPRRPR Spatial Mechanism: Displacement Analysis

Enter theta1 and the parameters of the mechanism below to solve for single values of theta2, theta3, theta4, theta5, theta6, and theta7.

theta1:

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

Enter the parameters of the mechanism to generate plots of the ranges of theta4, theta5 and theta7 vs theta1.

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

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

Theta4 vs Theta1
Theta5 vs Theta1
Theta7 vs Theta1
d2 vs Theta1
d3 vs Theta1
d6 vs Theta1