RPRPRC 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, and atheta6.

theta1:

alpha1: a1: d1:
alpha2: a2: theta2:
alpha3: a3: d3:
alpha4: a4: theta4:
alpha5: a5: d5:
alpha6: a6:
Vtheta1:
Atheta1:

Enter the parameters of the mechanism to generate plots of the ranges of atheta3, atheta5, and atheta6 vs theta1.

alpha1: a1: d1:
alpha2: a2: theta2:
alpha3: a3: d3:
alpha4: a4: theta4:
alpha5: a5: d5:
alpha6: a6:
Vtheta1:
Atheta1:

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

Atheta3 vs Theta1
Atheta5 vs Theta1
Atheta6 vs Theta1
Ad2 vs Theta1
Ad4 vs Theta1
Ad6 vs Theta1