RRRPPC Spatial Mechanism: Velocity Analysis

Enter theta1, Vtheta1 (velocity of theta1), and the parameters of the mechanism below to solve for single values of vtheta2, vtheta3, vtheta4, vtheta5, and vtheta6.

theta1:

alpha1: a1: d1:
alpha2: a2: d2:
alpha3: a3: d3:
alpha4: a4: theta4:
alpha5: a5: theta5:
alpha6: a6:
Vtheta1:

Enter the parameters of the mechanism to generate plots of the ranges of vtheta2, vtheta3, and vtheta6 vs theta1.

alpha1: a1: d1:
alpha2: a2: d2:
alpha3: a3: d3:
alpha4: a4: theta4:
alpha5: a5: theta5:
alpha6: a6:
Vtheta1:

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

Vtheta2 vs Theta1
Vtheta3 vs Theta1
Vtheta6 vs Theta1
Vd4 vs Theta1
Vd5 vs Theta1
Vd6 vs Theta1