RRPRPPR 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: d2:
alpha3: a3: theta3:
alpha4: a4: d4:
alpha5: a5: theta5:
alpha6: a6: theta6:
alpha7: a7: d7:
Vtheta1:
Atheta1:

Enter the parameters of the mechanism to generate plots of the ranges of atheta3, atheta6 and atheta7 vs theta1.

alpha1: a1: d1:
alpha2: a2: d2:
alpha3: a3: theta3:
alpha4: a4: d4:
alpha5: a5: theta5:
alpha6: a6: theta6:
alpha7: a7: d7:
Vtheta1:
Atheta1:

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

Atheta2 vs Theta1
Atheta4 vs Theta1
Atheta7 vs Theta1
Ad3 vs Theta1
Ad5 vs Theta1
Ad6 vs Theta1