Four Bar Chain Mechanism

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Column1 Column2 Column3 Column4

theeta 1 theeta 2 theeta 3 theeta 4


frame crank
0 32.01 67.18 35.18
20 21.97 60.88 38.92
40 16.17 64.46 48.33
60 13.13 73.7 60.57
80 11.17 85.6 73.83
100 11.5 98.52 87.02
120 12.15 114.41 99.26
140 13.84 123.37 109.53
160 16.82 133.41 116.59
180 21.42 140.56 119.14
200 27.66 144.25 116.59
220 35.05 144.58 109.53
240 42.75 142 99.26
260 49.74 136.77 87.02
280 54.88 128.71 73.83
300 56.7 117.28 60.57
320 53.5 101.83 48.33
340 44.37 83.29 38.92
360 32.01 67.18 35.18
Column1 Column2 Column3 Column4
theeta 1 theeta 2 theeta 3 theeta 4
0 23.17 43.17 20
20 10.56 38.03 27.47
40 6.49 49.08 42.59
60 4.97 64.64 59.68
80 4.38 81.61 77.23
100 4.33 98.97 94.64
120 4.77 116.15 111.39
140 5.89 132.48 126.59
160 8.33 146.67 138.33
180 13.31 156.39 143.08
200 21.61 159.94 138.33
220 32.06 158.64 126.59
240 42.98 154.37 111.39
260 53.08 147.72 94.64
280 61.05 138.28 77.23
300 64.97 124.64 59.68
320 61.53 104.11 42.59
340 46.31 73.79 27.47
360 23.17 43.17 20
Column1 Column2 Column3 Column4
theeta 1 theeta 2 theeta 3 theeta 4
0 19.5 40.77 21.27
20 11.45 37.69 26.24
40 8.85 46.08 37.23
60 8.47 58.52 50.06
80 9.11 72.18 63.07
100 10.46 85.89 75.43
120 12.49 98.92 86.43
140 15.32 110.59 95.27
160 19.12 120.23 101.1
180 24.03 127.18 103.15
200 29.96 131.06 101.1
220 36.53 131.8 95.27
240 43.08 129.51 86.43
260 48.7 124.14 75.43
280 52.22 115.29 63.07
300 52.02 102.1 50.06
320 46.22 83.45 37.23
340 33.85 60.1 26.24
360 19.5 40.27 21.27
Column1 Column2 Column3 Column4
theeta 1 theeta 2 theeta 3 theeta 4
0 46.21 84.7 38.49
20 35.22 76.49 41.27
40 27.57 76.14 48.57
60 23.09 81.48 58.39
80 20.84 90.02 69.19
100 20.16 100.04 79.88
120 20.78 110.39 89.6
140 22.68 120.19 97.51
160 25.95 128.69 102.74
180 30.68 135.26 104.58
200 36.79 139.53 102.74
220 43.89 141.4 97.51
240 51.37 140.98 89.6
260 58.4 138.28 79.88
280 63.95 133.13 69.19
300 66.67 125.06 58.39
320 64.94 113.51 48.57
340 57.62 98.9 41.27
360 46.21 84.7 38.49

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