Pi 3

Problem I.3.
b
2
A
0
x
1
Figure PI.3.1
PI_3_1.nb
H*Problem I .3 .1*L
Apply@Clear, Names@"Global`*"DD;
Off@General::spellD;
Off@General::spell1D;
xP = a Cos@qD
yP = b Sin@qD
"xP^2a^2+yP^2b^2=1"
ParametricPlot@8 Cos@qD, 3 Sin@qD<, 8q, 0, 2 p<D
a Cos@qD
b Sin@qD
xP^2a^2+yP^2b^2=1
3
2
1
-1
-0.5
0.5
-1
-2
-3
Graphics
Problem I.3.2
0.02
0.01
B
D
-0.01
-0.02
0.02 0.04 0.06 0.08 0.1 0.12 0.14
Figure PI.3.2
PI_3_2_I.nb
(*Problem I.3.2 particular case: f
= p/15
*)
Apply[Clear,Names["Global`*"]];
Off[General::spell];
Off[General::spell1];
(* Input data *)
AB=CD=0.04;
AD=BC=0.09;
f = p/15;
Print["particular case: f
= p/15 "];
(* Position of joint A *)
xA = yA = 0;
(* Position of joint D *)
xD = AD ;
yD = 0 ;
(* Position of joint B *)
xB = AB Cos[f] ;
yB = AB Sin[f] ;
Print["xB = ",xB," m "];
Print["yB = ",yB," m "];
(* Position of joint C *)
Print["Equations for C (xC, yC)"];
Print["(xC-xB)^2+(yC-yB)^2-BC^2 = 0,
(1)"];
eqCI =(xc-xB)^2+(yc-yB)^2-BC^2 == 0;
Print[eqCI," (1)"];
Print["(xC-xD)^2+(yC-yD)^2-CD^2 = 0,
(2)"];
eqCII= (xc-xD)^2+(yc-yD)^2-CD^2 == 0;
Print[eqCII," (2)"];
Print["Solution for C (xC, yC)"];
solutionC=Simplify[Solve[{eqCI,eqCII},{xc,yc}]];
(* Two solutions for C *)
xC1 = xc/.solutionC[[1]];
yC1 = yc/.solutionC[[1]];
Print["xC1
Print["yC1
Print["xC2
Print["yC2
=
=
=
=
",xC1,"
",yC1,"
",xC2,"
",yC2,"
m"];
m"];
m"];
m"];
Print[" Select the correct position for C "]

Print[" for 0 <= f <= p => yC <= 0 "]
Print[" for p < f <= 2 p => yC >= 0 "]
(* Select the correct position for C *)
If [ 0 <= f <= p,
If [yC1<0,xC=xC1;yC=yC1,xC=xC2;yC=yC2] ,
If [yC1>0,xC=xC1;yC=yC1,xC=xC2;yC=yC2]
] ;
Print["xC = ",xC," m"];
Print["yC = ",yC," m"];
markers=Table[{Point[{0,0}],
Point[{xB,yB}],
Point[{xC,yC}],
Point[{xD,yD}],
Point[{-0.05,0}]}];
name=Table[{Text["A",{0,0},{1,0}],
] ;
PI_3_2_I.nb

Point[{xB,yB}],
Point[{xC,yC}],
Point[{xD,yD}],
Point[{-0.05,0}]}];
Text["B",{xB,yB},{-1,-1}],
Text["C",{xC,yC},{-1,-1}],
Text["D",{xD,yD},{1,0}]}];
graph[increment]=Graphics[{
{RGBColor[1,0,0],Line[{{0,0},{xB,yB}}]},
{RGBColor[0,1,0],Line[{{xB,yB},{xC,yC}}]},
{RGBColor[0,0,0],Line[{{xC,yC},{xD,yD}}]},
{RGBColor[0,1,1],PointSize[0.01],markers},{name}}];
C2x
C2y
= ( xB + xC ) / 2 ;
= ( yB + yC ) / 2 ;
Print["(a)"];
Print["xM = ( xB + xC ) / 2 = ",C2x," m"];
Print["yM = ( yB + yC ) / 2 = ",C2y," m"];
Mx
My
= ( xB + 0.5 xC ) / (1+0.5) ;
= ( yB + 0.5 yC ) / (1+0.5) ;
Print["(b)"];
Print["xM = ( xB + 0.5 xC ) / (1+0.5) = ",Mx," m"];
Print["yM = ( yB + 0.5 yC ) / (1+0.5) = ",My," m"];
particular case: f
= p15
xB = 0.0391259 m
yB = 0.00831647 m
Equations for C HxC, yCL
HxC-xBL^2+HyC-yBL^2-BC^2 = 0,
H1L
HxC-xDL^2+HyC-yDL^2-CD^2 = 0,
H2L
-0.0081 + H-0.0391259 + xcL2 + H-0.00831647 + ycL2 == 0 H1L

-0.0016 + H-0.09 + xcL2 + yc2 == 0 H2L
Solution for C HxC, yCL
xC1 = 0.124441 m
yC1 = -0.0203426 m
xC2 = 0.129126 m
yC2 = 0.00831647 m
Select the correct position for C
for
0 <= f <= p
=> yC <= 0
PI_3_2_I.nb
for
p < f <= 2 p
=> yC >= 0
xC = 0.124441 m
yC = -0.0203426 m
HaL
xM = H xB + xC L 2 = 0.0817834 m
yM = H yB + yC L 2 = -0.00601305 m
HbL
xM = H xB + 0.5 xC L H1+0.5L = 0.0675643 m
yM = H yB + 0.5 yC L H1+0.5L = -0.00123654 m
PI_3_2_II.nb
(*Problem I.3.2*)
(* Input data *)
AB=CD=0.04;
AD=BC=0.09;
xA = yA = 0;
xD = AD ;
yD = 0 ;
increment = 0 ;
For [ f = 0 , f <= 2 p , f += p/10 ,
Print["f
",f," rad = ", f 180/p," deg"];
xB = AB Cos[f] ;
yB = AB Sin[f] ;
(1)"];
eqCI =(xc-xB)^2+(yc-yB)^2-BC^2 == 0;
Print[eqCI," (1)"];
(2)"];
Print["xC1
Print["yC1
Print["xC2
Print["yC2
=
=
=
=
",xC1,"
",yC1,"
",xC2,"
",yC2,"
m"];
m"];
m"];
m"];

If [ 0 <= f <= p,
] ;
Point[{xB,yB}],
Point[{xC,yC}],
Point[{xD,yD}],
Point[{-0.05,0}]}];
Text["B",{xB,yB},{-1,-1}],
] ;
PI_3_2_II.nb

Point[{xB,yB}],
Point[{xC,yC}],
Point[{xD,yD}],
Point[{-0.05,0}]}];
Text["B",{xB,yB},{-1,-1}],
Text["C",{xC,yC},{-1,-1}],
Text["D",{xD,yD},{1,0}]}];
Show[Graphics[graph[increment]],
PlotRange{{-.1,.2},{-.05,.05}},
FrameTrue,AxesOrigin{0,0},FrameLabel{"x","y"},
Axes{True,True},AspectRatioAutomatic];
increment++ ;
C2x [ increment ] = ( xB + xC ) / 2 ;
C2y [ increment ] = ( yB + yC ) / 2 ;
Print["(a)"];
Print["xM = ( xB + xC ) / 2 = ",C2x[ increment ]," m"];
Print["yM = ( yB + yC ) / 2 = ",C2y[ increment ]," m"];
Mx [ increment ] = ( xB + 0.5 xC ) / (1+0.5) ;
My [ increment ] = ( yB + 0.5 yC ) / (1+0.5) ;
Print["(b)"];
Print["xM = ( xB + 0.5 xC ) / (1+0.5) = ",Mx[ increment ]," m"];
Print["yM = ( yB + 0.5 yC ) / (1+0.5) = ",My[ increment ]," m"];
Print[" "];
Print[" --------------------------------- "];
Print[" "];
]; (* End of FOR loop *)
0 rad = 0 deg
xB = 0.04 m
yB = 0 m
H1L
H2L
-0.0081 + H-0.04 + xcL2 + yc2 == 0 H1L

-0.0016 + H-0.09 + xcL2 + yc2 == 0 H2L
PI_3_2_II.nb

xC1 = 0.13 m
yC1 = 0. m
xC2 = 0.13 m
yC2 = 0. m
xC = 0.13 m
yC = 0. m
0.04
0.02
0
y
-0.02
-0.04
-0.05
HaL
0.05
x
0.1
0.15
0.2
xM = H xB + xC L 2 = 0.085 m
yM = H yB + yC L 2 = 0. m
HbL
xM = H xB + 0.5 xC L H1+0.5L = 0.07 m

yM = H yB + 0.5 yC L H1+0.5L = 0. m
---------------------------------
p
rad = 18 deg
10
xB = 0.0380423 m
yB = 0.0123607 m
H1L
H2L
-0.0081 + H-0.0380423 + xcL2 + H-0.0123607 + ycL2 == 0 H1L

-0.0016 + H-0.09 + xcL2 + yc2 == 0 H2L
xC1 = 0.118401 m
yC1 = -0.0281674 m
xC2 = 0.128042 m
PI_3_2_II.nb
yC2 = 0.0123607 m
xC = 0.118401 m
yC = -0.0281674 m
0.04
0.02
0
y
-0.02
-0.04
B
A
D
C
-0.05
HaL
0.05
x
0.1
0.15
0.2
xM = H xB + xC L 2 = 0.0782215 m
yM = H yB + yC L 2 = -0.00790335 m
HbL
xM = H xB + 0.5 xC L H1+0.5L = 0.0648284 m
yM = H yB + 0.5 yC L H1+0.5L = -0.00114867 m
---------------------------------
p
rad = 36 deg
5
xB = 0.0323607 m
yB = 0.0235114 m
H1L
H2L
-0.0081 + H-0.0323607 + xcL2 + H-0.0235114 + ycL2 == 0 H1L

-0.0016 + H-0.09 + xcL2 + yc2 == 0 H2L
xC1 = 0.0966834 m
yC1 = -0.0394377 m
xC2 = 0.122361 m
yC2 = 0.0235114 m
xC = 0.0966834 m
yC = -0.0394377 m
PI_3_2_II.nb
0.04
0.02
0
y
-0.02
-0.04
B
A
D
C
-0.05
0.05
x
HaL
0.1
0.15
0.2
xM = H xB + xC L 2 = 0.064522 m
yM = H yB + yC L 2 = -0.00796315 m
HbL
xM = H xB + 0.5 xC L H1+0.5L = 0.0538016 m
yM = H yB + 0.5 yC L H1+0.5L = 0.00252837 m
---------------------------------
3p
rad = 54 deg
10
xB = 0.0235114 m
yB = 0.0323607 m
H1L
H2L
-0.0081 + H-0.0235114 + xcL2 + H-0.0323607 + ycL2 == 0 H1L

-0.0016 + H-0.09 + xcL2 + yc2 == 0 H2L
xC1 = 0.0790381 m
yC1 = -0.0384686 m
xC2 = 0.113511 m
yC2 = 0.0323607 m
xC = 0.0790381 m
yC = -0.0384686 m
0.04
0.02
0
y
-0.02
-0.04
B
A
D
C
-0.05
0.05
x
0.1
0.15
0.2
PI_3_2_II.nb
HaL
xM = H xB + xC L 2 = 0.0512747 m
yM = H yB + yC L 2 = -0.00305398 m
HbL
xM = H xB + 0.5 xC L H1+0.5L = 0.0420203 m
yM = H yB + 0.5 yC L H1+0.5L = 0.00875091 m
---------------------------------
2p
rad = 72 deg
5
xB = 0.0123607 m
yB = 0.0380423 m
H1L
H2L
-0.0081 + H-0.0123607 + xcL2 + H-0.0380423 + ycL2 == 0 H1L

-0.0016 + H-0.09 + xcL2 + yc2 == 0 H2L
xC1 = 0.0675118 m
yC1 = -0.0330799 m
xC2 = 0.102361 m
yC2 = 0.0380423 m
xC = 0.0675118 m
yC = -0.0330799 m
B
0.04
0.02
0
y
-0.02
-0.04
-0.05
HaL
D
C
0.05
x
0.1
xM = H xB + xC L 2 = 0.0399362 m
yM = H yB + yC L 2 = 0.00248119 m
HbL
0.15
0.2
PI_3_2_II.nb
xM = H xB + 0.5 xC L H1+0.5L = 0.0307444 m

yM = H yB + 0.5 yC L H1+0.5L = 0.0143349 m
---------------------------------
p
rad = 90 deg
2
xB = 0 m
yB = 0.04 m
H1L
H2L
-0.0081 + xc2 + H-0.04 + ycL2 == 0 H1L

-0.0016 + H-0.09 + xcL2 + yc2 == 0 H2L
xC1 = 0.0603093 m
yC1 = -0.0268041 m
xC2 = 0.09 m
yC2 = 0.04 m
xC = 0.0603093 m
yC = -0.0268041 m
B
0.04
0.02
0
y
-0.02
-0.04
-0.05
HaL
D
C
0.05
x
0.1
0.15
0.2
xM = H xB + xC L 2 = 0.0301546 m
yM = H yB + yC L 2 = 0.00659794 m
HbL
xM = H xB + 0.5 xC L H1+0.5L = 0.0201031 m

yM = H yB + 0.5 yC L H1+0.5L = 0.017732 m
---------------------------------
PI_3_2_II.nb
3p
rad = 108 deg
5
xB = -0.0123607 m
yB = 0.0380423 m
H1L
H2L
-0.0081 + H0.0123607 + xcL2 + H-0.0380423 + ycL2 == 0 H1L

-0.0016 + H-0.09 + xcL2 + yc2 == 0 H2L
xC1 = 0.0557944 m
yC1 = -0.020736 m
xC2 = 0.0776393 m
yC2 = 0.0380423 m
xC = 0.0557944 m
yC = -0.020736 m
B
0.04
0.02
0
y
-0.02
-0.04
-0.05
HaL
C
0.05
x
0.1
0.15
0.2
xM = H xB + xC L 2 = 0.0217169 m
yM = H yB + yC L 2 = 0.00865315 m
HbL
xM = H xB + 0.5 xC L H1+0.5L = 0.0103577 m

yM = H yB + 0.5 yC L H1+0.5L = 0.0184495 m
---------------------------------
7p
rad = 126 deg
10
xB = -0.0235114 m
yB = 0.0323607 m
PI_3_2_II.nb
H1L
H2L
-0.0081 + H0.0235114 + xcL2 + H-0.0323607 + ycL2 == 0 H1L

-0.0016 + H-0.09 + xcL2 + yc2 == 0 H2L
xC1 = 0.0529588 m
yC1 = -0.0150979 m
xC2 = 0.0664886 m
yC2 = 0.0323607 m
xC = 0.0529588 m
yC = -0.0150979 m
0.04
0.02
0
y
-0.02
-0.04
B
A
-0.05
HaL
0.05
x
0.1
0.15
0.2
xM = H xB + xC L 2 = 0.0147237 m
yM = H yB + yC L 2 = 0.0086314 m
HbL
xM = H xB + 0.5 xC L H1+0.5L = 0.00197864 m

yM = H yB + 0.5 yC L H1+0.5L = 0.0165412 m
---------------------------------
4p
rad = 144 deg
5
xB = -0.0323607 m
yB = 0.0235114 m
H1L
H2L
-0.0081 + H0.0323607 + xcL2 + H-0.0235114 + ycL2 == 0 H1L
PI_3_2_II.nb
10
-0.0016 + H-0.09 + xcL2 + yc2 == 0 H2L

xC1 = 0.0512302 m
yC1 = -0.0098438 m
xC2 = 0.0576393 m
yC2 = 0.0235114 m
xC = 0.0512302 m
yC = -0.0098438 m
0.04
0.02
0
y
-0.02
-0.04
B
A
-0.05
HaL
0.05
x
0.1
0.15
0.2
xM = H xB + xC L 2 = 0.00943475 m
yM = H yB + yC L 2 = 0.00683381 m
HbL
xM = H xB + 0.5 xC L H1+0.5L = -0.00449706 m

yM = H yB + 0.5 yC L H1+0.5L = 0.012393 m
---------------------------------
9p
rad = 162 deg
10
xB = -0.0380423 m
yB = 0.0123607 m
H1L
H2L
-0.0081 + H0.0380423 + xcL2 + H-0.0123607 + ycL2 == 0 H1L

-0.0016 + H-0.09 + xcL2 + yc2 == 0 H2L
xC1 = 0.0502958 m
yC1 = -0.00485535 m
PI_3_2_II.nb
11
xC2 = 0.0519577 m
yC2 = 0.0123607 m
xC = 0.0502958 m
yC = -0.00485535 m
0.04
0.02
0
y
-0.02
-0.04
B
A
-0.05
HaL
0.05
x
0.1
0.15
0.2
xM = H xB + xC L 2 = 0.00612676 m
yM = H yB + yC L 2 = 0.00375267 m
HbL
xM = H xB + 0.5 xC L H1+0.5L = -0.00859625 m

yM = H yB + 0.5 yC L H1+0.5L = 0.006622 m
---------------------------------
p rad = 180 deg
xB = -0.04 m
yB = 0 m
H1L
H2L
-0.0081 + H0.04 + xcL2 + yc2 == 0 H1L
-0.0016 + H-0.09 + xcL2 + yc2 == 0 H2L

xC1 = 0.05 m
yC1 = 0. m
xC2 = 0.05 m
yC2 = 0. m
xC = 0.05 m
yC = 0. m
PI_3_2_II.nb
12
0.04
0.02
0
y
-0.02
-0.04
-0.05
HaL
0.05
x
0.1
0.15
0.2
xM = H xB + xC L 2 = 0.005 m
yM = H yB + yC L 2 = 0. m
HbL
xM = H xB + 0.5 xC L H1+0.5L = -0.01 m

yM = H yB + 0.5 yC L H1+0.5L = 0. m
---------------------------------
11 p
rad = 198 deg
10
xB = -0.0380423 m
yB = -0.0123607 m
H1L
H2L
-0.0081 + H0.0380423 + xcL2 + H0.0123607 + ycL2 == 0 H1L

-0.0016 + H-0.09 + xcL2 + yc2 == 0 H2L
xC1 = 0.0519577 m
yC1 = -0.0123607 m
xC2 = 0.0502958 m
yC2 = 0.00485535 m
xC = 0.0502958 m
yC = 0.00485535 m
0.04
0.02
0
y
-0.02
-0.04
-0.05
0.05
x
0.1
0.15
0.2
PI_3_2_II.nb
13
HaL
xM = H xB + xC L 2 = 0.00612676 m
yM = H yB + yC L 2 = -0.00375267 m
HbL
xM = H xB + 0.5 xC L H1+0.5L = -0.00859625 m

yM = H yB + 0.5 yC L H1+0.5L = -0.006622 m
---------------------------------
6p
rad = 216 deg
5
xB = -0.0323607 m
yB = -0.0235114 m
H1L
H2L
-0.0081 + H0.0323607 + xcL2 + H0.0235114 + ycL2 == 0 H1L

-0.0016 + H-0.09 + xcL2 + yc2 == 0 H2L
xC1 = 0.0576393 m
yC1 = -0.0235114 m
xC2 = 0.0512302 m
yC2 = 0.0098438 m
xC = 0.0512302 m
yC = 0.0098438 m
0.04
0.02
0
y
-0.02
-0.04
C
A
-0.05
HaL
B
0
0.05
x
0.1
xM = H xB + xC L 2 = 0.00943475 m
yM = H yB + yC L 2 = -0.00683381 m
HbL
0.15
0.2
PI_3_2_II.nb
14
xM = H xB + 0.5 xC L H1+0.5L = -0.00449706 m

yM = H yB + 0.5 yC L H1+0.5L = -0.012393 m
---------------------------------
13 p
rad = 234 deg
10
xB = -0.0235114 m
yB = -0.0323607 m
H1L
H2L
-0.0081 + H0.0235114 + xcL2 + H0.0323607 + ycL2 == 0 H1L

-0.0016 + H-0.09 + xcL2 + yc2 == 0 H2L
xC1 = 0.0664886 m
yC1 = -0.0323607 m
xC2 = 0.0529588 m
yC2 = 0.0150979 m
xC = 0.0529588 m
yC = 0.0150979 m
0.04
0.02
0
y
-0.02
-0.04
C
A
-0.05
HaL
B
0
0.05
x
0.1
0.15
0.2
xM = H xB + xC L 2 = 0.0147237 m
yM = H yB + yC L 2 = -0.0086314 m
HbL
xM = H xB + 0.5 xC L H1+0.5L = 0.00197864 m
yM = H yB + 0.5 yC L H1+0.5L = -0.0165412 m
---------------------------------
PI_3_2_II.nb
15
7p
rad = 252 deg
5
xB = -0.0123607 m
yB = -0.0380423 m
H1L
H2L
-0.0081 + H0.0123607 + xcL2 + H0.0380423 + ycL2 == 0 H1L

-0.0016 + H-0.09 + xcL2 + yc2 == 0 H2L
xC1 = 0.0776393 m
yC1 = -0.0380423 m
xC2 = 0.0557944 m
yC2 = 0.020736 m
xC = 0.0557944 m
yC = 0.020736 m
0.04
0.02
0
y
-0.02
-0.04
C
A
B
-0.05
HaL
0.05
x
0.1
0.15
0.2
xM = H xB + xC L 2 = 0.0217169 m
yM = H yB + yC L 2 = -0.00865315 m
HbL
xM = H xB + 0.5 xC L H1+0.5L = 0.0103577 m
yM = H yB + 0.5 yC L H1+0.5L = -0.0184495 m
---------------------------------
3p
rad = 270 deg
2
xB = 0 m
yB = -0.04 m
PI_3_2_II.nb
16
H1L
H2L
-0.0081 + xc2 + H0.04 + ycL2 == 0 H1L
-0.0016 + H-0.09 + xcL2 + yc2 == 0 H2L

xC1 = 0.0603093 m
yC1 = 0.0268041 m
xC2 = 0.09 m
yC2 = -0.04 m
xC = 0.0603093 m
yC = 0.0268041 m
0.04
0.02
0
y
-0.02
-0.04
C
A
D
B
-0.05
HaL
0.05
x
0.1
0.15
0.2
xM = H xB + xC L 2 = 0.0301546 m
yM = H yB + yC L 2 = -0.00659794 m
HbL
xM = H xB + 0.5 xC L H1+0.5L = 0.0201031 m
yM = H yB + 0.5 yC L H1+0.5L = -0.017732 m
---------------------------------
8p
rad = 288 deg
5
xB = 0.0123607 m
yB = -0.0380423 m
H1L
H2L
-0.0081 + H-0.0123607 + xcL2 + H0.0380423 + ycL2 == 0 H1L
PI_3_2_II.nb
17
-0.0016 + H-0.09 + xcL2 + yc2 == 0 H2L

xC1 = 0.102361 m
yC1 = -0.0380423 m
xC2 = 0.0675118 m
yC2 = 0.0330799 m
xC = 0.0675118 m
yC = 0.0330799 m
C
0.04
0.02
0
y
-0.02
-0.04
D
B
-0.05
HaL
0.05
x
0.1
0.15
0.2
xM = H xB + xC L 2 = 0.0399362 m
yM = H yB + yC L 2 = -0.00248119 m
HbL
xM = H xB + 0.5 xC L H1+0.5L = 0.0307444 m
yM = H yB + 0.5 yC L H1+0.5L = -0.0143349 m
---------------------------------
17 p
rad = 306 deg
10
xB = 0.0235114 m
yB = -0.0323607 m
H1L
H2L
-0.0081 + H-0.0235114 + xcL2 + H0.0323607 + ycL2 == 0 H1L

-0.0016 + H-0.09 + xcL2 + yc2 == 0 H2L
xC1 = 0.113511 m
yC1 = -0.0323607 m
PI_3_2_II.nb
18
xC2 = 0.0790381 m
yC2 = 0.0384686 m
xC = 0.0790381 m
yC = 0.0384686 m
C
0.04
0.02
0
y
-0.02
-0.04
D
B
-0.05
HaL
0.05
x
0.1
0.15
0.2
xM = H xB + xC L 2 = 0.0512747 m
yM = H yB + yC L 2 = 0.00305398 m
HbL
xM = H xB + 0.5 xC L H1+0.5L = 0.0420203 m
yM = H yB + 0.5 yC L H1+0.5L = -0.00875091 m
---------------------------------
9p
rad = 324 deg
5
xB = 0.0323607 m
yB = -0.0235114 m
H1L
H2L
-0.0081 + H-0.0323607 + xcL2 + H0.0235114 + ycL2 == 0 H1L

-0.0016 + H-0.09 + xcL2 + yc2 == 0 H2L
xC1 = 0.122361 m
yC1 = -0.0235114 m
xC2 = 0.0966834 m
yC2 = 0.0394377 m
xC = 0.0966834 m
yC = 0.0394377 m
PI_3_2_II.nb
19
0.04
0.02
0
y
-0.02
-0.04
D
B
-0.05
HaL
0.05
x
0.1
0.15
0.2
xM = H xB + xC L 2 = 0.064522 m
yM = H yB + yC L 2 = 0.00796315 m
HbL
xM = H xB + 0.5 xC L H1+0.5L = 0.0538016 m
yM = H yB + 0.5 yC L H1+0.5L = -0.00252837 m
---------------------------------
19 p
rad = 342 deg
10
xB = 0.0380423 m
yB = -0.0123607 m
H1L
H2L
-0.0081 + H-0.0380423 + xcL2 + H0.0123607 + ycL2 == 0 H1L

-0.0016 + H-0.09 + xcL2 + yc2 == 0 H2L
xC1 = 0.128042 m
yC1 = -0.0123607 m
xC2 = 0.118401 m
yC2 = 0.0281674 m
xC = 0.118401 m
yC = 0.0281674 m
0.04
0.02
0
y
-0.02
-0.04
C
A
-0.05
0.05
x
0.1
0.15
0.2
PI_3_2_II.nb
20
HaL
xM = H xB + xC L 2 = 0.0782215 m
yM = H yB + yC L 2 = 0.00790335 m
HbL
xM = H xB + 0.5 xC L H1+0.5L = 0.0648284 m
yM = H yB + 0.5 yC L H1+0.5L = 0.00114867 m
---------------------------------
2 p rad = 360 deg
xB = 0.04 m
yB = 0 m
H1L
H2L
-0.0081 + H-0.04 + xcL2 + yc2 == 0 H1L

-0.0016 + H-0.09 + xcL2 + yc2 == 0 H2L
xC1 = 0.13 m
yC1 = 0. m
xC2 = 0.13 m
yC2 = 0. m
xC = 0.13 m
yC = 0. m
0.04
0.02
0
y
-0.02
-0.04
-0.05
HaL
0.05
x
xM = H xB + xC L 2 = 0.085 m
yM = H yB + yC L 2 = 0. m
HbL
0.1
0.15
0.2
PI_3_2_II.nb
21
xM = H xB + 0.5 xC L H1+0.5L = 0.07 m

yM = H yB + 0.5 yC L H1+0.5L = 0. m
---------------------------------
H*All the positions on the same graphic*LShow@Table@graph@iD, 8i, increment - 1<D,

PlotRange 88-.06, .15<, 8-.05, .05<<, Frame True, AxesOrigin 8xA, yA<,
FrameLabel 8"x", "y"<, Axes 8True, True<, AspectRatio AutomaticD;
0.04
0.02
0
B B B
B
B
B
-0.02
A
B
B
B B B
-0.04
-0.05
C
B
C
B CC
C
B C
C
B CC
C
B
C
C
C
C
D
C
C
C
0.05
x
C
0.1
ListPlot@Table@8C2x@iD, C2y@iD<, 8i, 1, increment<D,

PlotRange 88-.06, .15<, 8-.05, .05<<, PlotJoined True, Frame True,
Axes 8True, True<, AxesLabel 8"xC2", "yC2"<, AspectRatio AutomaticD;
yC2
0.04
0.02
0
xC2
-0.02
-0.04
-0.05
0.05
0.1
ListPlot@Table@8Mx@iD, My@iD<, 8i, 1, increment<D,

PlotRange 88-.06, .15<, 8-.05, .05<<, PlotJoined True, Frame True,
Axes 8True, True<, AxesLabel 8"xM", "yM"<, AspectRatio AutomaticD;
yM
0.04
0.02
0
xM
-0.02
-0.04
-0.05
0.05
0.1
PI_3_3_I.nb
(*Problem I.3.3 particular case: f
= -p/3
*)
(* Input data *)
AB=0.03;
BC=0.065;
CD=0.05;
BM=0.09;
CM=0.12;
"For simplicity select:"
"AD=BC "
"A and D on the same horizontal axis"
AD=BC;
f = -p/3;
Print["particular case: f
= -p/3 "];
xA = yA = 0;
xD = AD ;
yD = 0 ;
xB = AB Cos[f] ;
yB = AB Sin[f] ;
(1)"];
eqCI =(xc-xB)^2+(yc-yB)^2-BC^2 == 0;
Print[eqCI," (1)"];
(2)"];
Print["xC1
Print["yC1
Print["xC2
Print["yC2
=
=
=
=
",xC1,"
",yC1,"
",xC2,"
",yC2,"
m"];
m"];
m"];
m"];

Print[" constrain: Sign[yB] Sign[yC] "]
If [ Sign[yB]Sign[yC1],
xC=xC1;yC=yC1,xC=xC2;yC=yC2 ];
(* Position of joint M *)

Print[" constrain: Sign[yB] Sign[yC] "]
PI_3_3_I.nb

Print["Equations for M (xM, yM)"];
Print["(xM-xB)^2+(yM-yB)^2-BM^2 = 0,
(3)"];
eqMI =(xm-xB)^2+(ym-yB)^2-BM^2 == 0;
Print[eqMI," (3)"];
Print["(xm-xC)^2+(ym-yC)^2-CM^2 = 0,
(4)"];
eqMII= (xm-xC)^2+(ym-yC)^2-CM^2 == 0;
Print[eqMII," (4)"];
Print["Solution for M (xM, yM)"];
solutionM=Simplify[Solve[{eqMI,eqMII},{xm,ym}]];
(* Two solutions for M *)
xM1 = xc/.solutionC[[1]];
yM1 = yc/.solutionC[[1]];
xM2 = xc/.solutionC[[2]];
yM2 = yc/.solutionC[[2]];
Print["xM1
Print["yM1
Print["xM2
Print["yM2
=
=
=
=
",xM1,"
",yM1,"
",xM2,"
",yM2,"
m"];
m"];
m"];
m"];
Print[" Select the correct position for M "]

Print[" constrain: yM > yB "]
If [yM1>yB,xM=xM1;yM=yM1,xM=xM2;yM=yM2];
Print["xM = ",xM," m"];
Print["yM = ",yM," m"];
Point[{xB,yB}],
Point[{xC,yC}],
Point[{xD,yD}],
Point[{xM,yM}],
Point[{-0.05,0}]}];
Text["B",{xB,yB},{-1,-1}],
Text["C",{xC,yC},{1,0}],
Text["M",{xM,yM},{1,0}],
Text["D",{xD,yD},{1,0}]}];
graph=Graphics[{
{RGBColor[0,0,1],Line[{{xB,yB},{xM,yM}}]},
{RGBColor[0,0,1],Line[{{xC,yC},{xM,yM}}]},
Show[Graphics[graph],
PlotRange{All,All},
Show[Graphics[graph],
PI_3_3_I.nb
PlotRange{All,All},
For simplicity select:

AD=BC
A and D on the same horizontal axis
particular case: f
= -p3
xB = 0.015 m
yB = -0.0259808 m
H1L
H2L
-0.004225 + H-0.015 + xcL2 + H0.0259808 + ycL2 == 0 H1L

-0.0025 + H-0.065 + xcL2 + yc2 == 0 H2L
xC1 = 0.0758605 m
yC1 = -0.0488063 m
xC2 = 0.0313049 m
yC2 = 0.036941 m
constrain: Sign@yBD Sign@yCD
xC = 0.0758605 m
yC = -0.0488063 m
Equations for M HxM, yML
HxM-xBL^2+HyM-yBL^2-BM^2 = 0,
H3L
Hxm-xCL^2+Hym-yCL^2-CM^2 = 0,
H4L
-0.0081 + H-0.015 + xmL2 + H0.0259808 + ymL2 == 0 H3L

-0.0144 + H-0.0758605 + xmL2 + H0.0488063 + ymL2 == 0 H4L
Solution for M HxM, yML
xM1 = 0.0758605 m
yM1 = -0.0488063 m
xM2 = 0.0313049 m
yM2 = 0.036941 m
PI_3_3_I.nb
Select the correct position for M

constrain: yM > yB
xM = 0.0313049 m
yM = 0.036941 m
M
0.02
y
-0.02
-0.04
C
-0.04 -0.02
0.02
x
0.04
0.06
PI_3_3_II.nb
(*Problem I.3.3*)
(* Input data *)
AB=0.03;
BC=0.065;
CD=0.05;
BM=0.09;
CM=0.12;
"For simplicity select: AD=BC and "
"A and D on the same horizontal axis"
AD=BC;
xA = yA = 0;
xD = AD ;
yD = 0 ;
increment = 0 ;
For [ f = 0 , f <= 2 p , f += p/10 ,
Print["f
",f," rad = ", f 180/p," deg"];
xB = AB Cos[f] ;
yB = AB Sin[f] ;
(1)"];
eqCI =(xc-xB)^2+(yc-yB)^2-BC^2 == 0;
Print[eqCI," (1)"];
(2)"];
Print["xC1
Print["yC1
Print["xC2
Print["yC2
=
=
=
=
",xC1,"
",yC1,"
",xC2,"
",yC2,"
m"];
m"];
m"];
m"];
Print[" Select the correct position for C "];

Print[" constrain: Sign[yB] Sign[yC] "];
Print[" Select the correct position for C "];

Print[" constrain: Sign[yB] Sign[yC] "];
PI_3_3_II.nb

Print["Equations for M (xM, yM)"];
Print["(xM-xB)^2+(yM-yB)^2-BM^2 = 0,
(3)"];
eqMI =(xm-xB)^2+(ym-yB)^2-BM^2 == 0;
Print[eqMI," (3)"];
Print["(xm-xC)^2+(ym-yC)^2-CM^2 = 0,
(4)"];
eqMII= (xm-xC)^2+(ym-yC)^2-CM^2 == 0;
Print[eqMII," (4)"];
Print["Solution for M (xM, yM)"];
solutionM=Simplify[Solve[{eqMI,eqMII},{xm,ym}]];
(* Two solutions for M *)
xM1 = xm/.solutionM[[1]];
yM1 = ym/.solutionM[[1]];
xM2 = xm/.solutionM[[2]];
yM2 = ym/.solutionM[[2]];
Print["xM1
Print["yM1
Print["xM2
Print["yM2
=
=
=
=
",xM1,"
",yM1,"
",xM2,"
",yM2,"
m"];
m"];
m"];
m"];
Print[" Select the correct position for M "];

Print[" constrain: yM > yB "];
If [yM1>yB,xM=xM1;yM=yM1,xM=xM2;yM=yM2];
Print["xM = ",xM," m"];
Print["yM = ",yM," m"];
Point[{xB,yB}],
Point[{xC,yC}],
Point[{xD,yD}],
Point[{xM,yM}],
Point[{-0.05,0}]}];
Text["B",{xB,yB},{-1,-1}],
Text["C",{xC,yC},{1,0}],
Text["M",{xM,yM},{1,0}],
Text["D",{xD,yD},{1,0}]}];
{RGBColor[0,0,1],Line[{{xB,yB},{xM,yM}}]},
{RGBColor[0,0,1],Line[{{xC,yC},{xM,yM}}]},
PlotRange{All,All},
increment++ ;
Mx [ increment ] = xM ;
My [ increment ] = yM ;
Print[" "];
PI_3_3_II.nb
PlotRange{All,All},
increment++ ;
Mx [ increment ] = xM ;
My [ increment ] = yM ;
Print[" "];
Print[" --------------------------------- "];
Print[" "];
]; (* End of FOR loop *)
For simplicity select: AD=BC and

A and D on the same horizontal axis
f
0 rad = 0 deg
xB = 0.03 m
yB = 0 m
H1L
H2L
-0.004225 + H-0.03 + xcL2 + yc2 == 0 H1L

-0.0025 + H-0.065 + xcL2 + yc2 == 0 H2L
xC1 = 0.0721429 m
yC1 = -0.0494872 m
xC2 = 0.0721429 m
yC2 = 0.0494872 m
xC = 0.0721429 m
yC = 0.0494872 m
H3L
H4L
-0.0081 + H-0.03 + xmL2 + ym2 == 0 H3L
-0.0144 + H-0.0721429 + xmL2 + H-0.0494872 + ymL2 == 0 H4L
PI_3_3_II.nb

xM1 = 0.0870858 m
yM1 = -0.0695788 m
xM2 = -0.0477832 m
yM2 = 0.0452745 m
constrain: yM > yB
xM = -0.0477832 m
yM = 0.0452745 m
0.05
0.04
0.03
y
0.02
0.01
0
-0.04 -0.02
B
D
0.02 0.04 0.06
A
0
x
---------------------------------
p
rad = 18 deg
10
xB = 0.0285317 m
yB = 0.00927051 m
H1L
H2L
-0.004225 + H-0.0285317 + xcL2 + H-0.00927051 + ycL2 == 0 H1L

-0.0025 + H-0.065 + xcL2 + yc2 == 0 H2L
xC1 = 0.056704 m
yC1 = -0.049307 m
xC2 = 0.0812579 m
yC2 = 0.047283 m
PI_3_3_II.nb
xC = 0.0812579 m
yC = 0.047283 m
H3L
H4L
-0.0081 + H-0.0285317 + xmL2 + H-0.00927051 + ymL2 == 0 H3L

-0.0144 + H-0.0812579 + xmL2 + H-0.047283 + ymL2 == 0 H4L
xM1 = -0.0362142 m
yM1 = 0.0717843 m
xM2 = 0.0673825 m
yM2 = -0.0719121 m
constrain: yM > yB
xM = -0.0362142 m
yM = 0.0717843 m
0.07
0.06
0.05
0.04
y
0.03
0.02
B
0.01
0
-0.04 -0.02
A
0
0.02
x
0.04
D
0.06
0.08
---------------------------------
p
rad = 36 deg
5
xB = 0.0242705 m
yB = 0.0176336 m
H1L
H2L
-0.004225 + H-0.0242705 + xcL2 + H-0.0176336 + ycL2 == 0 H1L
PI_3_3_II.nb
-0.0025 + H-0.065 + xcL2 + yc2 == 0 H2L

xC1 = 0.0426338 m
yC1 = -0.0447186 m
xC2 = 0.0823039 m
yC2 = 0.0469103 m
xC = 0.0823039 m
yC = 0.0469103 m
H3L
H4L
-0.0081 + H-0.0242705 + xmL2 + H-0.0176336 + ymL2 == 0 H3L

-0.0144 + H-0.0823039 + xmL2 + H-0.0469103 + ymL2 == 0 H4L
xM1 = -0.0298747 m
yM1 = 0.0895244 m
xM2 = 0.0499141 m
yM2 = -0.0686358 m
constrain: yM > yB
xM = -0.0298747 m
yM = 0.0895244 m
M
0.08
0.06
C
y
0.04
B
0.02
0
-0.04 -0.02
A
0
0.02
x
0.04
D
0.06
0.08
PI_3_3_II.nb
---------------------------------
3p
rad = 54 deg
10
xB = 0.0176336 m
yB = 0.0242705 m
H1L
H2L
-0.004225 + H-0.0176336 + xcL2 + H-0.0242705 + ycL2 == 0 H1L

-0.0025 + H-0.065 + xcL2 + yc2 == 0 H2L
xC1 = 0.0334375 m
yC1 = -0.038779 m
xC2 = 0.078041 m
yC2 = 0.0482694 m
xC = 0.078041 m
yC = 0.0482694 m
H3L
H4L
-0.0081 + H-0.0176336 + xmL2 + H-0.0242705 + ymL2 == 0 H3L

-0.0144 + H-0.078041 + xmL2 + H-0.0482694 + ymL2 == 0 H4L
xM1 = -0.0299027 m
yM1 = 0.100692 m
xM2 = 0.0355022 m
yM2 = -0.0639378 m
constrain: yM > yB
PI_3_3_II.nb
xM = -0.0299027 m
yM = 0.100692 m
0.1
0.08
0.06
y
0.04
B
0.02
0
-0.04 -0.02
A
0
0.02
x
0.04
D
0.06
0.08
---------------------------------
2p
rad = 72 deg
5
xB = 0.00927051 m
yB = 0.0285317 m
H1L
H2L
-0.004225 + H-0.00927051 + xcL2 + H-0.0285317 + ycL2 == 0 H1L

-0.0025 + H-0.065 + xcL2 + yc2 == 0 H2L
xC1 = 0.0280579 m
yC1 = -0.033694 m
xC2 = 0.0707374 m
yC2 = 0.0496697 m
xC = 0.0707374 m
yC = 0.0496697 m
PI_3_3_II.nb
H3L
H4L
-0.0081 + H-0.00927051 + xmL2 + H-0.0285317 + ymL2 == 0 H3L

-0.0144 + H-0.0707374 + xmL2 + H-0.0496697 + ymL2 == 0 H4L
xM1 = -0.0346275 m
yM1 = 0.1071 m
xM2 = 0.0229806 m
yM2 = -0.0604179 m
constrain: yM > yB
xM = -0.0346275 m
yM = 0.1071 m
M
0.1
0.08
0.06
y
0.04
B
0.02
0
-0.04 -0.02
A
0
0.02
0.04
---------------------------------
p
rad = 90 deg
2
xB = 0 m
yB = 0.03 m
H1L
-0.004225 + xc2 + H-0.03 + ycL2 == 0 H1L
D
0.06
PI_3_3_II.nb
10
H2L
-0.0025 + H-0.065 + xcL2 + yc2 == 0 H2L

xC1 = 0.025 m
yC1 = -0.03 m
xC2 = 0.061878 m
yC2 = 0.0499024 m
xC = 0.061878 m
yC = 0.0499024 m
H3L
H4L
-0.0081 + xm2 + H-0.03 + ymL2 == 0 H3L
-0.0144 + H-0.061878 + xmL2 + H-0.0499024 + ymL2 == 0 H4L

xM1 = -0.0423153 m
yM1 = 0.109432 m
xM2 = 0.0119255 m
yM2 = -0.0592064 m
constrain: yM > yB
xM = -0.0423153 m
yM = 0.109432 m
PI_3_3_II.nb
11
M
0.1
0.08
0.06
y
0.04
B
0.02
0
-0.04
-0.02
A
0
0.02
0.04
D
0.06
---------------------------------
3p
rad = 108 deg
5
xB = -0.00927051 m
yB = 0.0285317 m
H1L
H2L
-0.004225 + H0.00927051 + xcL2 + H-0.0285317 + ycL2 == 0 H1L

-0.0025 + H-0.065 + xcL2 + yc2 == 0 H2L
xC1 = 0.0233627 m
yC1 = -0.0276828 m
xC2 = 0.0526058 m
yC2 = 0.0484395 m
xC = 0.0526058 m
yC = 0.0484395 m
PI_3_3_II.nb
12
H3L
H4L
-0.0081 + H0.00927051 + xmL2 + H-0.0285317 + ymL2 == 0 H3L

-0.0144 + H-0.0526058 + xmL2 + H-0.0484395 + ymL2 == 0 H4L
xM1 = -0.0515927 m
yM1 = 0.10796 m
xM2 = 0.00266269 m
yM2 = -0.0606737 m
constrain: yM > yB
xM = -0.0515927 m
yM = 0.10796 m
M
0.1
0.08
0.06
y
C
0.04
B
0.02
0
-0.04
-0.02
A
0
0.02
x
---------------------------------
7p
rad = 126 deg
10
xB = -0.0176336 m
yB = 0.0242705 m
H1L
0.04
D
0.06
PI_3_3_II.nb
13
-0.004225 + H0.0176336 + xcL2 + H-0.0242705 + ycL2 == 0 H1L

H2L
-0.0025 + H-0.065 + xcL2 + yc2 == 0 H2L

xC1 = 0.0227181 m
yC1 = -0.0266878 m
xC2 = 0.0438658 m
yC2 = 0.0453139 m
xC = 0.0438658 m
yC = 0.0453139 m
H3L
H4L
-0.0081 + H0.0176336 + xmL2 + H-0.0242705 + ymL2 == 0 H3L

-0.0144 + H-0.0438658 + xmL2 + H-0.0453139 + ymL2 == 0 H4L
xM1 = -0.0614106 m
yM1 = 0.102906 m
xM2 = -0.0040604 m
yM2 = -0.0647001 m
constrain: yM > yB
xM = -0.0614106 m
yM = 0.102906 m
PI_3_3_II.nb
14
0.1 M
0.08
0.06
y
C
0.04
B
0.02
0
-0.06 -0.04 -0.02
A
0
x
0.02
0.04
D
0.06
---------------------------------
4p
rad = 144 deg
5
xB = -0.0242705 m
yB = 0.0176336 m
H1L
H2L
-0.004225 + H0.0242705 + xcL2 + H-0.0176336 + ycL2 == 0 H1L

-0.0025 + H-0.065 + xcL2 + yc2 == 0 H2L
xC1 = 0.0229433 m
yC1 = -0.0270414 m
xC2 = 0.0363838 m
yC2 = 0.0410014 m
xC = 0.0363838 m
yC = 0.0410014 m
H3L
PI_3_3_II.nb
15
-0.0081 + H0.0242705 + xmL2 + H-0.0176336 + ymL2 == 0 H3L

H4L
-0.0144 + H-0.0363838 + xmL2 + H-0.0410014 + ymL2 == 0 H4L

xM1 = -0.0710074 m
yM1 = 0.0945469 m
xM2 = -0.00732237 m
yM2 = -0.0707563 m
constrain: yM > yB
xM = -0.0710074 m
yM = 0.0945469 m
M
0.08
0.06
y
0.04
C
B
0.02
0
-0.06 -0.04 -0.02
A
0
x
0.02
0.04
D
0.06
---------------------------------
9p
rad = 162 deg
10
xB = -0.0285317 m
yB = 0.00927051 m
H1L
H2L
-0.004225 + H0.0285317 + xcL2 + H-0.00927051 + ycL2 == 0 H1L

-0.0025 + H-0.065 + xcL2 + yc2 == 0 H2L
PI_3_3_II.nb
16
xC1 = 0.0241399 m
yC1 = -0.0288176 m
xC2 = 0.0305919 m
yC2 = 0.0362779 m
xC = 0.0305919 m
yC = 0.0362779 m
H3L
H4L
-0.0081 + H0.0285317 + xmL2 + H-0.00927051 + ymL2 == 0 H3L

-0.0144 + H-0.0305919 + xmL2 + H-0.0362779 + ymL2 == 0 H4L
xM1 = -0.0798522 m
yM1 = 0.0832043 m
xM2 = -0.0062482 m
yM2 = -0.0779272 m
constrain: yM > yB
xM = -0.0798522 m
yM = 0.0832043 m
0.08 M
0.06
y0.04
0.02
B
0
A
-0.08 -0.06 -0.04 -0.02 0
x
D
0.02 0.04 0.06
---------------------------------
PI_3_3_II.nb
17
p rad = 180 deg
xB = -0.03 m
yB = 0 m
H1L
H2L
-0.004225 + H0.03 + xcL2 + yc2 == 0 H1L
-0.0025 + H-0.065 + xcL2 + yc2 == 0 H2L

xC1 = 0.0265789 m
yC1 = -0.0319972 m
xC2 = 0.0265789 m
yC2 = 0.0319972 m
xC = 0.0265789 m
yC = 0.0319972 m
H3L
H4L
-0.0081 + H0.03 + xmL2 + ym2 == 0 H3L
-0.0144 + H-0.0265789 + xmL2 + H-0.0319972 + ymL2 == 0 H4L

xM1 = -0.000292105 m
yM1 = -0.0849555 m
xM2 = -0.0874952 m
yM2 = 0.0692409 m
constrain: yM > yB
xM = -0.0874952 m
yM = 0.0692409 m
PI_3_3_II.nb
18
0.07M
0.06
0.05
0.04
y
0.03
0.02
0.01
0
B
-0.075 -0.05 -0.025
x
A
0
0.025 0.05
---------------------------------
11 p
rad = 198 deg
10
xB = -0.0285317 m
yB = -0.00927051 m
H1L
H2L
-0.004225 + H0.0285317 + xcL2 + H0.00927051 + ycL2 == 0 H1L

-0.0025 + H-0.065 + xcL2 + yc2 == 0 H2L
xC1 = 0.0305919 m
yC1 = -0.0362779 m
xC2 = 0.0241399 m
yC2 = 0.0288176 m
xC = 0.0305919 m
yC = -0.0362779 m
H3L
H4L
-0.0081 + H0.0285317 + xmL2 + H0.00927051 + ymL2 == 0 H3L

-0.0144 + H-0.0305919 + xmL2 + H0.0362779 + ymL2 == 0 H4L
PI_3_3_II.nb
19
xM1 = -0.0798522 m
yM1 = -0.0832043 m
xM2 = -0.0062482 m
yM2 = 0.0779272 m
constrain: yM > yB
xM = -0.0062482 m
yM = 0.0779272 m
0.08
0.06
0.04
y 0.02
B
-0.02
C
-0.04 -0.02
0.02
0.04
0.06
---------------------------------
6p
rad = 216 deg
5
xB = -0.0242705 m
yB = -0.0176336 m
H1L
H2L
-0.004225 + H0.0242705 + xcL2 + H0.0176336 + ycL2 == 0 H1L

-0.0025 + H-0.065 + xcL2 + yc2 == 0 H2L
PI_3_3_II.nb
20
xC1 = 0.0363838 m
yC1 = -0.0410014 m
xC2 = 0.0229433 m
yC2 = 0.0270414 m
xC = 0.0363838 m
yC = -0.0410014 m
H3L
H4L
-0.0081 + H0.0242705 + xmL2 + H0.0176336 + ymL2 == 0 H3L

-0.0144 + H-0.0363838 + xmL2 + H0.0410014 + ymL2 == 0 H4L
xM1 = -0.0710074 m
yM1 = -0.0945469 m
xM2 = -0.00732237 m
yM2 = 0.0707563 m
constrain: yM > yB
xM = -0.00732237 m
yM = 0.0707563 m
PI_3_3_II.nb
21
M
0.06
0.04
0.02
y
0
B
-0.02
-0.04
-0.04 -0.02
0.02
C
0.04
0.06
---------------------------------
13 p
rad = 234 deg
10
xB = -0.0176336 m
yB = -0.0242705 m
H1L
H2L
-0.004225 + H0.0176336 + xcL2 + H0.0242705 + ycL2 == 0 H1L

-0.0025 + H-0.065 + xcL2 + yc2 == 0 H2L
xC1 = 0.0438658 m
yC1 = -0.0453139 m
xC2 = 0.0227181 m
yC2 = 0.0266878 m
xC = 0.0438658 m
yC = -0.0453139 m
PI_3_3_II.nb
22
H3L
H4L
-0.0081 + H0.0176336 + xmL2 + H0.0242705 + ymL2 == 0 H3L

-0.0144 + H-0.0438658 + xmL2 + H0.0453139 + ymL2 == 0 H4L
xM1 = -0.0614106 m
yM1 = -0.102906 m
xM2 = -0.0040604 m
yM2 = 0.0647001 m
constrain: yM > yB
xM = -0.0040604 m
yM = 0.0647001 m
M
0.06
0.04
0.02
y
0
-0.02
-0.04
-0.04 -0.02
0.02
x
---------------------------------
7p
rad = 252 deg
5
xB = -0.00927051 m
yB = -0.0285317 m
H1L
C
0.04
0.06
PI_3_3_II.nb
23
-0.004225 + H0.00927051 + xcL2 + H0.0285317 + ycL2 == 0 H1L

H2L
-0.0025 + H-0.065 + xcL2 + yc2 == 0 H2L

xC1 = 0.0526058 m
yC1 = -0.0484395 m
xC2 = 0.0233627 m
yC2 = 0.0276828 m
xC = 0.0526058 m
yC = -0.0484395 m
H3L
H4L
-0.0081 + H0.00927051 + xmL2 + H0.0285317 + ymL2 == 0 H3L

-0.0144 + H-0.0526058 + xmL2 + H0.0484395 + ymL2 == 0 H4L
xM1 = -0.0515927 m
yM1 = -0.10796 m
xM2 = 0.00266269 m
yM2 = 0.0606737 m
constrain: yM > yB
xM = 0.00266269 m
yM = 0.0606737 m
PI_3_3_II.nb
24
0.06
0.04
0.02
y
0
-0.02
B
-0.04
C
-0.04 -0.02
0.02
x
---------------------------------
3p
rad = 270 deg
2
xB = 0 m
yB = -0.03 m
H1L
H2L
-0.004225 + xc2 + H0.03 + ycL2 == 0 H1L
-0.0025 + H-0.065 + xcL2 + yc2 == 0 H2L

xC1 = 0.025 m
yC1 = 0.03 m
xC2 = 0.061878 m
yC2 = -0.0499024 m
xC = 0.061878 m
yC = -0.0499024 m
0.04
0.06
PI_3_3_II.nb
25
H3L
H4L
-0.0081 + xm2 + H0.03 + ymL2 == 0 H3L
-0.0144 + H-0.061878 + xmL2 + H0.0499024 + ymL2 == 0 H4L

xM1 = -0.0423153 m
yM1 = -0.109432 m
xM2 = 0.0119255 m
yM2 = 0.0592064 m
constrain: yM > yB
xM = 0.0119255 m
yM = 0.0592064 m
0.06
0.04
0.02
y
-0.02
B
-0.04
-0.04 -0.02
0.02
x
---------------------------------
8p
rad = 288 deg
5
xB = 0.00927051 m
yB = -0.0285317 m
H1L
0.04
C
0.06
PI_3_3_II.nb
26
-0.004225 + H-0.00927051 + xcL2 + H0.0285317 + ycL2 == 0 H1L

H2L
-0.0025 + H-0.065 + xcL2 + yc2 == 0 H2L

xC1 = 0.0707374 m
yC1 = -0.0496697 m
xC2 = 0.0280579 m
yC2 = 0.033694 m
xC = 0.0707374 m
yC = -0.0496697 m
H3L
H4L
-0.0081 + H-0.00927051 + xmL2 + H0.0285317 + ymL2 == 0 H3L

-0.0144 + H-0.0707374 + xmL2 + H0.0496697 + ymL2 == 0 H4L
xM1 = -0.0346275 m
yM1 = -0.1071 m
xM2 = 0.0229806 m
yM2 = 0.0604179 m
constrain: yM > yB
xM = 0.0229806 m
yM = 0.0604179 m
PI_3_3_II.nb
27
0.06
0.04
0.02
y
-0.02
B
-0.04
C
-0.04 -0.02
0.02
0.04
0.06
---------------------------------
17 p
rad = 306 deg
10
xB = 0.0176336 m
yB = -0.0242705 m
H1L
H2L
-0.004225 + H-0.0176336 + xcL2 + H0.0242705 + ycL2 == 0 H1L

-0.0025 + H-0.065 + xcL2 + yc2 == 0 H2L
xC1 = 0.078041 m
yC1 = -0.0482694 m
xC2 = 0.0334375 m
yC2 = 0.038779 m
xC = 0.078041 m
yC = -0.0482694 m
PI_3_3_II.nb
28
H3L
H4L
-0.0081 + H-0.0176336 + xmL2 + H0.0242705 + ymL2 == 0 H3L

-0.0144 + H-0.078041 + xmL2 + H0.0482694 + ymL2 == 0 H4L
xM1 = -0.0299027 m
yM1 = -0.100692 m
xM2 = 0.0355022 m
yM2 = 0.0639378 m
constrain: yM > yB
xM = 0.0355022 m
yM = 0.0639378 m
0.06
0.04
0.02
y
0
-0.02
-0.04
-0.04 -0.02
0.02
x
0.04
0.06
C
0.08
---------------------------------
9p
rad = 324 deg
5
xB = 0.0242705 m
yB = -0.0176336 m
H1L
-0.004225 + H-0.0242705 + xcL2 + H0.0176336 + ycL2 == 0 H1L
PI_3_3_II.nb
29
H2L
-0.0025 + H-0.065 + xcL2 + yc2 == 0 H2L

xC1 = 0.0823039 m
yC1 = -0.0469103 m
xC2 = 0.0426338 m
yC2 = 0.0447186 m
xC = 0.0823039 m
yC = -0.0469103 m
H3L
H4L
-0.0081 + H-0.0242705 + xmL2 + H0.0176336 + ymL2 == 0 H3L

-0.0144 + H-0.0823039 + xmL2 + H0.0469103 + ymL2 == 0 H4L
xM1 = -0.0298747 m
yM1 = -0.0895244 m
xM2 = 0.0499141 m
yM2 = 0.0686358 m
constrain: yM > yB
xM = 0.0499141 m
yM = 0.0686358 m
PI_3_3_II.nb
30
M
0.06
0.04
0.02
y
0
D
B
-0.02
-0.04
-0.04 -0.02
0.02
x
0.04
0.06
C
0.08
---------------------------------
19 p
rad = 342 deg
10
xB = 0.0285317 m
yB = -0.00927051 m
H1L
H2L
-0.004225 + H-0.0285317 + xcL2 + H0.00927051 + ycL2 == 0 H1L

-0.0025 + H-0.065 + xcL2 + yc2 == 0 H2L
xC1 = 0.0812579 m
yC1 = -0.047283 m
xC2 = 0.056704 m
yC2 = 0.049307 m
xC = 0.0812579 m
yC = -0.047283 m
H3L
PI_3_3_II.nb
31
-0.0081 + H-0.0285317 + xmL2 + H0.00927051 + ymL2 == 0 H3L

H4L
-0.0144 + H-0.0812579 + xmL2 + H0.047283 + ymL2 == 0 H4L

xM1 = -0.0362142 m
yM1 = -0.0717843 m
xM2 = 0.0673825 m
yM2 = 0.0719121 m
constrain: yM > yB
xM = 0.0673825 m
yM = 0.0719121 m
M
0.06
0.04
0.02
y
0
-0.02
-0.04
-0.04 -0.02
0.02
x
0.04
---------------------------------
2 p rad = 360 deg
xB = 0.03 m
yB = 0 m
H1L
H2L
-0.004225 + H-0.03 + xcL2 + yc2 == 0 H1L
0.06
C
0.08
PI_3_3_II.nb
32
-0.0025 + H-0.065 + xcL2 + yc2 == 0 H2L

xC1 = 0.0721429 m
yC1 = -0.0494872 m
xC2 = 0.0721429 m
yC2 = 0.0494872 m
xC = 0.0721429 m
yC = 0.0494872 m
H3L
H4L
-0.0081 + H-0.03 + xmL2 + ym2 == 0 H3L
-0.0144 + H-0.0721429 + xmL2 + H-0.0494872 + ymL2 == 0 H4L

xM1 = 0.0870858 m
yM1 = -0.0695788 m
xM2 = -0.0477832 m
yM2 = 0.0452745 m
constrain: yM > yB
xM = -0.0477832 m
yM = 0.0452745 m
0.05
0.04
0.03
y
0.02
0.01
0
-0.04 -0.02
B
D
0.02 0.04 0.06
A
0
x
---------------------------------
PI_3_3_II.nb
33
H*All the positions on the same graphic*LShow@Table@graph@iD, 8i, increment - 1<D,

PlotRange 8All, All<, Frame True, AxesOrigin 8xA, yA<,
0.1
M M M
M
M
0.075
0.05
y
0.025
0
-0.025
M
M
M
M
M
M M M
C CC CCC
C C
B B B CC
B
B
B
B
B
B
B
A
B
B
B
B
B
B
B B B
B
C
-0.05
-0.075-0.05-0.025
0
x
C C
C C CCC
0.025 0.05 0.075
ListPlot@Table@8Mx@iD, My@iD<, 8i, 1, increment<D,

PlotRange 8All, All<, PlotJoined True, Frame True,
Axes 8True, True<, AxesLabel 8"xM", "yM"<, AspectRatio AutomaticD;
yM
0.11
0.1
0.09
0.08
0.07
0.06
0.05
xM
-0.075-0.05-0.025
0.025 0.05
Problem I.3.3
0.02
D
-0.02
B
-0.04
C
-0.04 -0.02
0.02
0.11
0.1
0.09
0.08
0.07
0.06
0.05
0.04
0.06
x
M
-0.075
-0.025 0
0.025 0.05 0.075
Figure PI.3.3
PI_3_4.nb
(*Problem I.3.4*)
(* Input data *)
AB=0.03;
BC=0.12;
CD=0.12;
DE=0.07;
CF=0.17;
La=0.025;
Lb=0.105;
R1=0.04;
R4=0.08;
xA = yA = 0;
Print["xA= ",xA," [m]"];
Print["yA= ",yA," [m]"];
(* Position of joint E *)
xE = -Sqrt[(R1+R4)^2-La^2];
yE = -La ;
Print["xE= ",xE," [m]"];
Print["yE= ",yE," [m]"];
f =-p/6;
q = p/3;
Print["f = ",f 180/p," [deg]"];
Print["q = ",q 180/p," [deg]"];
xB = AB Cos[f] ;
yB = AB Sin[f] ;
Print["xB= ",xB," [m]"];
Print["yB= ",yB," [m]"];
xD = xE + DE Cos[q] ;
yD = yE + DE Sin[q] ;
Print["xD= ",xD," [m]"];
Print["yD= ",yD," [m]"];
eqCI =(xc-xB)^2+(yc-yB)^2-BC^2 == 0;
If [ yC1yD,
Print["xC= ",xC," [m]"];
Print["yC= ",yC," [m]"];
(* Position of joint F *)
yF=Lb-La;
xF=xC-Sqrt[CF^2-(yF-yC)^2];
Print["xF= ",xF," [m]"];
PI_3_4.nb
If [ yC1yD,
yF=Lb-La;
xF=xC-Sqrt[CF^2-(yF-yC)^2];
Print["yF= ",yF," [m]"];
Print["====================================="];
markers=Table[{
Point[{xA,yA}],
Point[{xB,yB}],
Point[{xC,yC}],
Point[{xD,yD}],
Point[{xE,yE}],
Point[{xF,yF}],
Point[{-0.05,0}]}];
Text["B",{xB,yB},{-1,-1}],
Text["C",{xC,yC},{1,0}],
Text["E",{xE,yE},{1,0}],
Text["F",{xF,yF},{1,0}],
Text["D",{xD,yD},{1,0}]}];
{RGBColor[1,0,0],Line[{{xA,yA},{xB,yB}}]},
{RGBColor[0,1,1],Line[{{xD,yD},{xE,yE}}]},
{RGBColor[0,0,1],Line[{{xC,yC},{xF,yF}}]},
PlotRange{All,All},
xA= 0 @mD
yA= 0 @mD
xE= -0.117367 @mD

yE= -0.025 @mD
f = -30 @degD
q = 60 @degD
xB= 0.0259808 @mD

yB= -0.015 @mD
xD= -0.0823669 @mD

yD= 0.0356218 @mD
xC= 0.0158469 @mD
PI_3_4.nb
yC= 0.104571 @mD
xF= -0.152368 @mD

yF= 0.08 @mD
=====================================
C
0.1
0.08F
0.06
y 0.04
0.02
0
A
B
-0.02
E
-0.15-0.125-0.1 -0.075-0.05-0.025
x
0.025
PI_3_5.nb
(*Problem I.3.5*)
(*
AB
BC
CD
Lc
CE
EF
La
Lb
Input data *)
= 0.15 ;
= 0.40 ;
= 0.37 ;
= CD ;
= 0.23 ;
= CE ;
= 0.30 ;
= 0.45 ;
(* m *)
(* m *)
(* m *)
(* m *)
(* m *)
(* m *)
xD = La ;
yD = Lb ;
xF = - Lc ;
pi = N [ Pi ] ;
fi = pi / 4 ;
(* Position of joint A(0,0) *)
xB = AB Cos [ fi ] ;
yB = AB Sin [ fi ] ;
Print["xB= ",xB," [m]"];
Print["yB= ",yB," [m]"];
eq23a = ( xc - xB )^2 + ( yc - yB )^2 - BC^2 ;
eq23b = ( xc - xD )^2 + ( yc - yD )^2 - CD^2 ;
solution = Solve [ { eq23a == 0 , eq23b == 0 },
{ xc , yc } ] ;
xc1 = xc /. solution [ [ 1 ] ] ;
yc1 = yc /. solution [ [ 1 ] ] ;
xc2 = xc /. solution [ [ 2 ] ] ;
yc2 = yc /. solution [ [ 2 ] ] ;
If [ xc1 < xD , xC = xc1 ; yC = yc1 ,
xC = xc2 ; yC = yc2 ] ;
(* Parameters m and n of line CD: y=n x + n *)
m = ( yC - yD ) / ( xC - xD ) ;
n = yC - m xC ;
eq24 = ( xe - xC )^2 + ( ye - yC )^2 - CE^2 ;
eq27 = ye - m xe - n ;
solutionE = Solve [ { eq24 == 0 , eq27 == 0 } ,
{ xe , ye } ] ;
(* Two solutions for E *)
xe1 = xe /. solutionE [ [ 1 ] ] ;
ye1 = ye /. solutionE [ [ 1 ] ] ;
xe2 = xe /. solutionE [ [ 2 ] ] ;
ye2 = ye /. solutionE [ [ 2 ] ] ;
(* Select the correct position for E *)
If [ xe1 <= xC , xE = xe1 ; yE = ye1 ,
xE = xe2 ; yE = ye2 ];
solutionE = Solve [ { eq24 == 0 , eq27 == 0 } ,

{ xe , ye } ] ;
(* Two solutions for E *)
PI_3_5.nbxe1 = xe /. solutionE [ [ 1 ] ] ;
ye1 = ye /. solutionE [ [ 1 ] ] ;
xe2 = xe /. solutionE [ [ 2 ] ] ;
ye2 = ye /. solutionE [ [ 2 ] ] ;
(* Select the correct position for E *)
If [ xe1 <= xC , xE = xe1 ; yE = ye1 ,
xE = xe2 ; yE = ye2 ];
eq28 = ( xE - xF )^2 + ( yE - yf )^2 - EF^2 ;
solutionF = Solve [ { eq28 == 0 } , { yf } ] ;
(* Two solutions for yF *)
yf1 = yf /. solutionF [ [ 1 ] ] ;
yf2 = yf /. solutionF [ [ 2 ] ] ;
(* Select the correct position for yF *)
If [ yf1 < yE , yF = yf1 ,
yF = yf2 ] ;
Print["yF= ",yF," [m]"];
(********)
(*Link 2*)
(********)
f2=ArcTan[(yB-yC)/(xB-xC)];
"f2=ArcTan[(yB-yC)/(xB-xC)]"
Print["f2 = ",f2," rad = ",f2*180/N[Pi]," deg "];
(********)
(*Link 3*)
(********)
f3=ArcTan[(yC-yD)/(xC-xD)];
"f3=ArcTan[(yC-yD)/(xC-xD)]"
(********)
(*Link 4*)
(********)
f4=ArcTan[(yF-yE)/(xF-xE)];
"f4=ArcTan[(yF-yE)/(xF-xE)]"
markers = Table [
Point
Point
Point
Point
Point
Point
Point
Point
}
name = Table [ {
Text
Text
Text
Text
Text
Text
Text
{
[
[
[
[
[
[
[
[
]
{
{
{
{
{
{
{
{
;
0 , 0 } ]
xB , yB }
xC , yC }
xD , yD }
xE , yE }
xF , yF }
(xF+xE)/2
(xB+xC)/2
,
]
]
]
]
]
,
,
,
,
,
,
,
(yF+yE)/2 } ],
(yB+yC)/2 } ]
"A" ,{0 , 0 },{ 3 , 0 } ]

"B" ,{xB , yB },{-2 , 0 } ]
"C" ,{xC , yC },{-2 ,-2 } ]
"D" ,{xD , yD },{-3 , 0 } ]
"E" ,{xE , yE },{3 , 0 } ]
"F" ,{xF , yF },{3 , 0 } ]
"C4",{(xF+xE)/2,(yF+yE)/2 }
{-2 , 0 } ]
Text [ "C2" ,{(xB+xC)/2,(yB+yC)/2}
{ 2 , 0 } ]
} ] ;
graph
[
[
[
[
[
[
[
= Graphics [
{ { RGBColor
Line [ {
{ RGBColor
Line [ {
{ RGBColor
[ 1 , 0 , 0 ] ,
{0,0},{xB,yB} } ] } ,
[ 0 , 0 , 1 ] ,
{xB,yB} , {xC,yC}} ] } ,
[ 1 , 0, 1 ] ,
,
,
,
,
,
,
,
,
,
PI_3_5.nb
graph
Text
Text
Text
Text
[
[
[
[
"D" ,{xD , yD },{-3 , 0 } ]

"E" ,{xE , yE },{3 , 0 } ]
"F" ,{xF , yF },{3 , 0 } ]
"C4",{(xF+xE)/2,(yF+yE)/2 }
{-2 , 0 } ]
Text [ "C2" ,{(xB+xC)/2,(yB+yC)/2}
{ 2 , 0 } ]
} ] ;
= Graphics [
{ { RGBColor [ 1 , 0 , 0 ] ,
Line [ { {0,0},{xB,yB} } ] } ,
{ RGBColor [ 0 , 0 , 1 ] ,
Line [ { {xB,yB} , {xC,yC}} ] } ,
{ RGBColor [ 1 , 0, 1 ] ,
Line [ { {xD,yD}, {xE,yE}} ] } ,
{ RGBColor [ 0 , 0 , 0 ] ,
Line [ { {xE,yE},{xF,yF} } ] } ,
{ RGBColor [ 0 , 1 , 1 ] ,
PointSize [ 0.01 ] , markers } ,
{ name } } ] ;
Show [ Graphics [ graph ] ,

PlotRange -> { { -.5 , .5 } ,
{ -.2 , .7 } } ,
Frame -> True,
AxesOrigin -> {0,0},
FrameLabel->{"x","y"},
Axes -> {True,True},
AspectRatio -> Automatic ] ;
xB= 0.106066 @mD
yB= 0.106066 @mD
xC= -0.0696798 @mD

yC= 0.46539 @mD
xE= -0.299481 @mD

yE= 0.474956 @mD
xF= -0.37 @mD
yF= 0.256034 @mD
f2=ArcTan@HyB-yCLHxB-xCLD
f2 = -1.11591 rad = -63.9367 deg
f3=ArcTan@HyC-yDLHxC-xDLD
f3 = -0.0416054 rad = -2.38381 deg
f4=ArcTan@HyF-yELHxF-xELD
f4 = 1.25917 rad = 72.1452 deg
,
,
,
,
,
,
PI_3_5.nb
0.6
C
E
0.4
y
0.2
D
C4
C2
B
0
-0.4
-0.2
0
x
0.2
0.4
PI_3_6.nb
(* Problem I.3.6 *)
(* Input data *)
AB=0.080;
BC=0.350;
CD=0.150;
CE=0.200;
La=0.200;
Lb=0.350;
Lc=0.040;
f=135 p/180.;
xA = yA = 0;
Print["xA = ",xA," m "];
Print["yA = ",yA," m "];
xE=La;
yE=Lb;
Print["xE = ",xE," m "];
Print["yE = ",yE," m "];
xB = AB Cos[f] ;
yB = AB Sin[f] ;
(***********)
(* Joint C *)
(***********)
"(xC-xB)^2+(yC-yB)^2-BC^2 = 0,
(1)"
eqCI = (xc-xB)^2+(yc-yB)^2-BC^2 == 0;
Print[eqCI," (1)"];
"(xC-xE)^2+(yC-yE)^2-CE^2 = 0,
(2)"
eqCII = (xc-xE)^2+(yc-yE)^2-CE^2 == 0;
Print["xC1
Print["yC1
Print["xC2
Print["yC2
=
=
=
=
",xC1,"
",yC1,"
",xC2,"
",yC2,"
m"];
m"];
m"];
m"];
"condition xC > xE =>"

If[xC1>xE,xC=xC1;yC=yC1,xC=xC2;yC=yC2];
(***********)
(* Joint D *)
(***********)
Print["Equations for D (xD, yD)"];
"(xD-xC)^2+(yD-yC)^2-CD^2 = 0,
(3)"
eqDI = (xd-xC)^2+(yd-yC)^2-CD^2 == 0;
Print[eqDI," (3)"];
"(yC-yE)/(xC-xE) = (yD-yE)/(xD-xE),
(4)"
eqDII = (yC-yE)/(xC-xE) == (yd-yE)/(xd-xE);
Print[eqDII," (4)"];
If[xC1>xE,xC=xC1;yC=yC1,xC=xC2;yC=yC2];
PI_3_6.nbPrint["yC = ",yC," m"];
(***********)
(* Joint D *)
(***********)
Print["Equations for D (xD, yD)"];
"(xD-xC)^2+(yD-yC)^2-CD^2 = 0,
(3)"
eqDI = (xd-xC)^2+(yd-yC)^2-CD^2 == 0;
Print[eqDI," (3)"];
"(yC-yE)/(xC-xE) = (yD-yE)/(xD-xE),
(4)"
eqDII = (yC-yE)/(xC-xE) == (yd-yE)/(xd-xE);
Print[eqDII," (4)"];
Print["Solution for D (xD, yD)"];
solutionC=Simplify[Solve[{eqDI,eqDII},{xd,yd}]];
(* Two solutions for D *)
xD1 = xd/.solutionC[[1]];
yD1 = yd/.solutionC[[1]];
xD2 = xd/.solutionC[[2]];
yD2 = yd/.solutionC[[2]];
Print["xD1
Print["yD1
Print["xD2
Print["yD2
=
=
=
=
",xD1,"
",yD1,"
",xD2,"
",yD2,"
m"];
m"];
m"];
m"];
"condition xD > xC =>"

If[xD1>xC,xD=xD1;yD=yD1,xD=xD2;yD=yD2];
Print["xD = ",xD," m"];
Print["yD = ",yD," m"];
(***********)
(* Point F *)
(***********)
xF=xD;
yF=-Lc;
Print["xF = ",xF," m"];
Print["yF = ",yF," m"];
(********)
(*Link 2*)
(********)
f2=ArcTan[(yB-yC)/(xB-xC)];
(********)
(*Link 3*)
(********)
f3=ArcTan[(yC-yE)/(xC-xE)];
"f3=ArcTan[(yC-yE)/(xC-xE)]"
Point[{xB,yB}],
Point[{xC,yC}],
Point[{xD,yD}],
Point[{xE,yE}],
Point[{xF,yF}],
Point[{-0.05,0}]}];
Text["B",{xB,yB},{-1,-1}],
Text["C",{xC,yC},{-1,-1}],
Text["D",{xD,yD},{1,0}],
Text["E",{xE,yE},{1,0}],
Text["F",{xF,yF},{1,0}]
}];
{RGBColor[0,0,0],Line[{{xC,yC},{xE,yE}}]},
{RGBColor[1,0,1],Line[{{xD,yD},{xF,yF}}]},
Text["B",{xB,yB},{-1,-1}],
Text["C",{xC,yC},{-1,-1}],
PI_3_6.nb
Text["D",{xD,yD},{1,0}],
Text["E",{xE,yE},{1,0}],
Text["F",{xF,yF},{1,0}]
}];
{RGBColor[0,0,0],Line[{{xC,yC},{xE,yE}}]},
{RGBColor[1,0,1],Line[{{xD,yD},{xF,yF}}]},
PlotRange{All,All},
xA = 0 m
yA = 0 m
xE = 0.2 m
yE = 0.35 m
xB = -0.0565685 m
yB = 0.0565685 m
H1L
HxC-xEL^2+HyC-yEL^2-CE^2 = 0,
H2L
-0.1225 + H0.0565685 + xcL2 + H-0.0565685 + ycL2 == 0 H1L

-0.04 + H-0.2 + xcL2 + H-0.35 + ycL2 == 0 H2L
xC1 = 0.00656629 m
yC1 = 0.400827 m
xC2 = 0.276186 m
yC2 = 0.165079 m
condition xC > xE =>

xC = 0.276186 m
yC = 0.165079 m
Equations for D HxD, yDL
HxD-xCL^2+HyD-yCL^2-CD^2 = 0,
H3L
-0.0225 + H-0.276186 + xdL2 + H-0.165079 + ydL2 == 0 H3L
HyC-yELHxC-xEL = HyD-yELHxD-xEL,
-0.35 + yd
-2.42724 == H4L
-0.2 + xd
H4L
PI_3_6.nb
Solution for D HxD, yDL

xD1 = 0.333325 m
yD1 = 0.0263885 m
xD2 = 0.219046 m
yD2 = 0.30377 m
condition xD > xC =>

xD = 0.333325 m
yD = 0.0263885 m
xF = 0.333325 m
yF = -0.04 m
f2 = 0.315225 rad = 18.0611 deg
f3=ArcTan@HyC-yELHxC-xELD
f3 = -1.18 rad = -67.6088 deg
E
0.3
0.2
y
0.1
0
B
D
A
0
0.1
0.2
x
F
0.3
PI_3_7.nb
H*Problem I .3 .7*L
H*Input data*L
AB = 0.040;
AD = 0.150;
BC = 0.100;
CE = 0.030;
EF = 0.120;
a = 0.090;
phi = Pi 6;
H*Position of joint A*L

xA = yA = 0;
H* Position of joint D *L
xD = AD;
yD = 0;
H*Position of joint B*L
xB = AB Cos@phiD;
yB = AB Sin@phiD;
H* Position of joint C *L
eqnC1 = H xCsol - xB L ^ 2 + H yCsol - yB L ^ 2 - BC ^ 2 0 ;
eqnC2 = H yCsol - yB L H xCsol - xB L H yB - yDL HxB - xDL;
solutionC = Solve@ 8eqnC1 , eqnC2< , 8xCsol , yCsol< D; H* Two solutions for C *L
xC1 = xCsol . solutionC@@1DD;
yC1 = yCsol . solutionC@@1DD;
If @xC1 >= 0 , xC = xC1 ; yC = yC1 , xC = xC2 ; yC = yC2 D;
H* Position of joint E *L
eqnE1 = HHyEsol - yCL HxEsol - xCLL HHyB - yDL HxB - xDLL -1;
eqnE2 = HxEsol - xCL ^ 2 + HyEsol - yCL ^ 2 - CE ^ 2 0;
solutionE = Solve @ 8 eqnE1, eqnE2< , 8 xEsol , yEsol < D;
H* Two solutions for E *L
xE1 = xEsol . solutionE@@1DD;
yE1 = yEsol . solutionE@@1DD;
yE2 = yEsol . solutionE@@2DD; If @ yE1 < yC, xE = xE1; yE = yE1, xE = xE2; yE = yE2D;
H* Position of joint F *L
xF = a;
yF = yE - Sqrt@EF^ 2 - HxF - xEL ^ 2D ;
Print@"phi = ", phi, " rad
Print@"AH", xA, ",", yA, "L
Print@"BH", xB, ",", yB, "L
Print@"CH", xC, ",", yC, "L
Print@"DH", xD, ",", yD, "L
Print@"EH", xE, ",", yE, "L
Print@"FH", xF, ",", yF, "L
= ", phi 180 N@PiD, " deg"D;

@mD"D;
@mD"D;
@mD"D;
@mD"D;
@mD"D;
@mD"D;
PI_3_7.nb
H********L
H*Link 2*L
H********L
f2 = ArcTan@HyB - yCL HxB - xCLD;
"f2=ArcTan@HyB-yCLHxB-xCLD"
Print@"f2 = ", f2, " rad = ", f2 * 180 N@PiD, " deg "D;
H********L
H*Link 4*L
H********L
f4 = ArcTan@HyF - yEL HxF - xELD;
"f4=ArcTan@HyF-yELHxF-xELD"
H*Graph of the mecanism*L
markers = Table@8Point@8xA, yA<D, Point@8xB, yB<D,
Point@8xC, yC<D, Point@8xD, yD<D, Point@8xE, yE<D, Point@8xF, yF<D<D;
name = Table@8Text@"A", 80, 0<, 8-1, 1<D, Text@"B", 8xB, yB<, 80, -1<D,
Text@"C", 8xC, yC<, 8-1, -1<D, Text@"D", 8xD, yD<, 8-1, -1<D,
Text@"E", 8xE, yE<, 8-1, 1<D, Text@"F", 8xF, yF<, 8-1, 1<D<D;
graph@incrementD = Graphics@88RGBColor@1, 0, 0D, Line@88xA, yA<, 8xB, yB<<D<,

8RGBColor@0, 1, 0D, Line@88xB, yB<, 8xD, yD<<D<, 8RGBColor@0, 0, 1D,
Line@88xC, yC<, 8xE, yE<<D<, 8RGBColor@1, 0, 1D, Line@88xE, yE<, 8xF, yF<<D<,
8RGBColor@1, 1, 1D, PointSize@0.01D, markers<, 8name<<D;
Show@Graphics@graph@incrementDD,
PlotRange 88-.05, .25<, 8-.16, .125<<, Frame True, AxesOrigin 8xA, yA<,
p
phi = rad = 30. deg
6
AH0,0L @mD
BH0.034641,0.02L @mD
CH0.133171,0.00291764L @mD
DH0.15,0L @mD
EH0.128046,-0.0266414L @mD
FH0.09,-0.14045L @mD
f2 = -0.171665 rad = -9.83571 deg
f4 = 1.24817 rad = 71.5151 deg
PI_3_7.nb
0.1
0.05
B
0
y
C D
A
E
-0.05
-0.1
-0.15
0
0.05
0.1
x
0.15
0.2
0.25
PI_3_8.nb
H*Problem I .3 .8*L
H*Input data*L
AB = .250;
AE = .640;
BC = .240;
BD = .670;
CD = .660;
CF = .850;
DE = .420;
b = .170;
phi = Pi 6.;

xA = 0;
yA = 0;
Print@"xA = ", xA, " @mD"D;
Print@"yA = ", yA, " @mD"D;
xB = AB Cos@phiD;
yB = AB Sin@phiD;
Print@"xB = ", xB, " @mD"D;
Print@"yB = ", yB, " @mD"D;
H*Position of joint E*L

yE = -b;
eqnE1 = HxEsol - xAL ^ 2 + HyE - yAL ^ 2 - AE^ 2 0;
solutionE = Solve@8eqnE1<, 8xEsol<D;
H*Solution for xE*L
H*Select Correct Position for E*L
xE = If@xE1 xA, xE1, xE2D;
Print@"xE = ", xE, " @mD "D;
Print@"yE = ", yE, " @mD "D;
H*Position of joint D*L

eqnD1 = HxB - xDsolL ^ 2 + HyB - yDsolL ^ 2 - BD ^ 2 0;
eqnD2 = HxE - xDsolL ^ 2 + HyE - yDsolL ^ 2 - DE ^ 2 0;
solutionD = Solve@8eqnD1, eqnD2<, 8xDsol, yDsol<D;
H*Two solutions for D*L
xD1 = xDsol . solutionD@@1DD;
yD1 = yDsol . solutionD@@1DD;
H*Select the Correct Position of D*L

If@yE yD1, xD = xD1; yD = yD1, xD = xD2; yD = yD2D;
Print@"xD= ", xD , " @mD "D;
Print@"yD= ", yD , " @mD "D;
H*Position of joint C*L
PI_3_8.nb
eqnC1 = HxB - xCsolL ^ 2 + HyB - yCsolL ^ 2 - BC ^ 2 0;
eqnC2 = HxD - xCsolL ^ 2 + HyD - yCsolL ^ 2 - CD ^ 2 0;
solutionC = Solve@8eqnC1, eqnC2<, 8xCsol, yCsol<D;
H*Select the Correct Position of C*L

If@yB yC1, xC = xC1; yC = yC1, xC = xC2; yC = yC2D;
Print@"xC= ", xC , " @mD "D;
Print@"yC= ", yC , " @mD "D;
H*Position of joint F*L
yF = 0;
eqnF1 = HxC - xFsolL ^ 2 + HyCL ^ 2 - CF ^ 2 0;
solutionF = Solve@8eqnF1<, 8xFsol<D;
H*Two solutions for xF*L
xF1 = xFsol . solutionF@@1DD;
H*Select Correct Position for F*L
xF = If@xF1 xC, xF1, xF2D;
Print@"xF= ", xF , " m "D;
Print@"yF= ", yF , " m "D;
H********L
H*Link 2*L
H********L
H********L
H*Link 3*L
H********L
f3 = ArcTan@HyE - yDL HxE - xDLD;
"f3=ArcTan@HyE-yDLHxE-xDLD"
H********L
H*Link 4*L
H********L
f4 = ArcTan@HyF - yCL HxF - xCLD;
"f4=ArcTan@HyF-yCLHxF-xCLD"
H*Graph of the mechanism*L
Text@"C", 8xC, yC<, 8-1, -1<D, Text@"D", 8xD, yD<, 80, -1<D,
Text@"E", 8xE, yE<, 8-1, 1<D, Text@"F", 8xF, yF<, 8-1, 1<D<D;
PI_3_8.nb
graph = Graphics@8
8RGBColor@1, 0, 0D, Line@88xA, yA<, 8xB, yB<<D<,
Line@88xD, yD<, 8xE, yE<<D<, 8RGBColor@0, 0, 1D, Line@88xB, yB<, 8xC, yC<<D<,
8RGBColor@1, 1, 0D, Line@88xC, yC<, 8xF, yF<<D<, 8RGBColor@0, 0, 1D,
Line@88xC, yC<, 8xD, yD<<D<, 8RGBColor@0, 0, 0D, PointSize@0.035D, markers<,
Show@Graphics@graphD, PlotRange 88-.25, 1.3<, 8-.3, .45<<, Frame True,
AxesOrigin 8xA, yA<, FrameLabel 8"x", "y"<,
Axes 8True, True<, AspectRatio AutomaticD;
xA = 0 @mD
yA = 0 @mD
xB = 0.216506 @mD
yB = 0.125 @mD
xE = 0.617009 @mD
yE = -0.17 @mD
xD= 0.885937 @mD

yD= 0.152611 @mD
xC= 0.259725 @mD
yC= 0.361077 @mD
xF= 1.02922 m
yF= 0 m
f2 = 1.38973 rad = 79.6258 deg
f3=ArcTan@HyE-yDLHxE-xDLD
f3 = 0.8759 rad = 50.1854 deg
f4=ArcTan@HyF-yCLHxF-xCLD
f4 = -0.438737 rad = -25.1378 deg
0.4
0.3
0.2
y 0.1
0
-0.1
B
A
-0.2
-0.2
E
0
0.2
0.4
0.6
x
0.8
1.2
PI_3_9.nb
(*Problem I.3.9*)
initdata = {AB->0.12, AC->0.06, BD->0.24, DE->0.33,EF->0.19,La->.3, Lb->.07, phi>N[Pi]150/180};
xA = yA = 0;
xC = -AC ;
yC = 0 ;
xF = La ;
yF = Lb ;
xB = AB Cos[phi] ;
yB = AB Sin[phi] ;
Print["xB = ", xB ," = ", xB/.initdata, " m" ];
Print["yB = ", yB ," = ", yB/.initdata, " m" ];
eqnD1 = ( xDsol - xB )^2 + ( yDsol - yB )^2 - BD^2 == 0 ;
eqnD2 = ( yDsol - yB ) / ( xDsol - xB ) == ( yB - yC ) / ( xB - xC );
solutionD = Solve [ { eqnD1 , eqnD2 } , { xDsol , yDsol } ];
xD1 = xDsol /. solutionD[[1]];
yD1 = yDsol /. solutionD[[1]];
If [ (yD1/.initdata) <= 0 , xD = xD1 ; yD = yD1 , xD = xD2 ; yD=yD2 ] ;
Print["xD = ",xD/.initdata," m"];
Print["yD = ",yD/.initdata," m"];
eqnE1 = ( xEsol - xD )^2 + ( yEsol - yD )^2 - DE^2 == 0;
eqnE2 = ( xEsol - xF )^2 + ( yEsol - yF )^2 - EF^2 == 0;
(*Mathematica 5 cannot solve the next system *)
(*Use Mathematica 4.2*)
solutionE = Solve [ { eqnE1 , eqnE2 } , { xEsol , yEsol } ];
(*Two solutions for E*)
xE1=xEsol/.solutionE[[1]];
yE1=yEsol/.solutionE[[1]];
xE2=xEsol/.solutionE[[2]];
yE2=yEsol/.solutionE[[2]];
If[(yE1/.initdata)0,xE=xE1;yE=yE1,xE=xE2;yE=yE2];
Print["xE = ",xE/.initdata," m"];
Print["yE = ",yE/.initdata," m"];
(********)
(*Link 2*)
(********)
f2=ArcTan[(yB-yC)/(xB-xC)]/.initdata;
(********)
(*Link 4*)
(********)
f4=ArcTan[(yE-yD)/(xE-xD)]/.initdata;
If[(yE1/.initdata)0,xE=xE1;yE=yE1,xE=xE2;yE=yE2];
Print["xE = ",xE/.initdata," m"];
Print["yE = ",yE/.initdata," m"];
PI_3_9.nb
(********)
(*Link 2*)
(********)
f2=ArcTan[(yB-yC)/(xB-xC)]/.initdata;
(********)
(*Link 4*)
(********)
f4=ArcTan[(yE-yD)/(xE-xD)]/.initdata;
"f4=ArcTan[(yE-yD)/(xE-xD)]"
(********)
(*Link 5*)
(********)
f5=ArcTan[(yE-yF)/(xE-xF)]/.initdata;;
"f5=ArcTan[(yE-yF)/(xE-xF)]"
xB = AB Cos@phiD = -0.103923 m
yB = AB Sin@phiD = 0.06 m
xD = 0.0378427 m
yD = -0.133656 m
xE = 0.366833 m
yE = -0.107858 m
f2 = -0.938882 rad = -53.794 deg
f4 = 0.078255 rad = 4.48368 deg
f5=ArcTan@HyE-yFLHxE-xFLD
f5 = -1.21135 rad = -69.4055 deg
PI_3_9.nb
H*GRAPH OF THE MECHANISM*L

xB = xB
yB = yB
xC = xC
yC = yC
xD = xD
yD = yD
xE = xE
yE = yE
xF = xF
yF = yF
. initdata;
. initdata;
. initdata;
. initdata;
. initdata;
. initdata;
. initdata;
. initdata;
. initdata;
. initdata;

name = Table@8
Text@"A",
Text@"B",
Text@"C",
Text@"D",
Text@"E",
Text@"F",
80, 0<, 8-1, 1<D,

8xB, yB<, 8-1.5, 0<D,
8xC, yC<, 8-1, -1<D,
8xD, yD<, 8-1, -1<D,
8xE, yE<, 8-0.5, 1<D,
8xF, yF<, 8-2, 1<D<D;
graph = Graphics@88RGBColor@1, 0, 0D, Line@88xA, yA<, 8xB, yB<<D<,

8RGBColor@0, 1, 0D, Line@88xB, yB<, 8xC, yC<<D<,
8RGBColor@0, 1, 0D, Line@88xC, yC<, 8xD, yD<<D<, 8RGBColor@0, 0, 1D,
Line@88xD, yD<, 8xE, yE<<D<, 8RGBColor@0, 1, 1D, Line@88xE, yE<, 8xF, yF<<D<,
Show@Graphics@graphD, PlotRange 8All, All<, Frame True, AxesOrigin 8xA, yA<,
0.05
0
y
-0.05
F
C
A
-0.1
D
-0.1
E
0.1
0.2
x
0.3
PI_3_10.nb
H*Problem I .3 .10*L
initdata = 8AB .1, BC .26, AD .24, DE .08, EF .25, CD .14, La .02, phi N@PiD 4<;
xA = yA = 0;
Print@"xA = ", xA, " m"D;
Print@"yA = ", yA, " m"D;
H*Postiton of joint D*L
xD = AD . initdata;
yD = 0;
Print@"xD = ", xD, " m"D;
Print@"yD = ", yD, " m"D;
xB = AB Cos@phiD . initdata;
yB = AB Sin@phiD . initdata;
Print@"xB = ", xB, " m"D;
Print@"yB = ", yB, " m"D;
eqnC1 = HxB - xCsolL ^ 2 + HyB - yCsolL ^ 2 - BC ^ 2 0;
eqnC2 = HxCsol - xDL^ 2 + HyCsol - yDL ^ 2 - CD ^ 2 0;
H*Two solutions for C*L
xC1 = xCsol . solutionC@@1DD . initdata;
yC1 = yCsol . solutionC@@1DD . initdata;
xC2 = xCsol . solutionC@@2DD . initdata;
yC2 = yCsol . solutionC@@2DD . initdata;
H*Select the correct position for C*L
If@yC1 0, xC = xC1; yC = yC1, xC = xC2; yC = yC2D;
Print@"xC = ", xC, " m"D;
Print@"yC = ", yC, " m"D;
eqnE1 = HyEsol - yDL HxEsol - xDL == HyC - yDL HxC - xDL;
eqnE2 = HxEsol - xDL^ 2 + HyEsol - yDL ^ 2 - DE ^ 2 0;
solutionE = Solve@8eqnE1, eqnE2<, 8xEsol, yEsol<D;
xE1 = xEsol . solutionE@@1DD . initdata;
yE1 = yEsol . solutionE@@1DD . initdata;
xE2 = xEsol . solutionE@@2DD . initdata;
yE2 = yEsol . solutionE@@2DD . initdata;
H*Select the correct position for E*L
If@0 yE1, xE = xE1; yE = yE1, xE = xE2; yE = yE2D;
H*another way of calculating the position for EE*L
phi3 = ArcTan@HyD - yCL HxD - xCLD;
xE = xC - HCD + DEL Cos@phi3D . initdata;
yE = yC - HCD + DEL Sin@phi3D . initdata;
Print@"xE = ", xE, " m"D;
PI_3_10.nb
Print@"yE = ", yE, " m"D;

yF = -La . initdata;
xF = xE + Sqrt@EF ^ 2 - HyF - yEL^ 2D . initdata;
Print@"xF = ", xF, " m"D;
Print@"yF = ", yF, " m"D;
H********L
H*Link 2*L
H********L
H********L
H*Link 3*L
H********L
f3 = ArcTan@HyC - yDL HxC - xDLD;
"f3=ArcTan@HyC-yDLHxC-xDLD"
H********L
H*Link 4*L
H********L
name = Table@8Text@"A", 8xA, yA<, 8-1, 1<D, Text@"B", 8xB, yB<, 80, -1<D,
Text@"C", 8xC, yC<, 8-1, 1<D, Text@"D", 8xD, yD<, 8-1, -1<D,
Text@"E", 8xE, yE<, 80, -1<D, Text@"F", 8xF, yF<, 80, -1<D<D;

Line@88xC, yC<, 8xE, yE<<D<, 8RGBColor@0, 1, 1D, Line@88xE, yE<, 8xF, yF<<D<,
xA = 0 m
yA = 0 m
xD = 0.24 m
yD = 0 m
xB = 0.0707107 m
yB = 0.0707107 m
PI_3_10.nb
xC = 0.327878 m
yC = 0.108983 m
xE = 0.189784 m
yE = -0.0622763 m
xF = 0.436183 m
yF = -0.02 m
f2 = 0.14774 rad = 8.46488 deg
f3=ArcTan@HyC-yDLHxC-xDLD
f3 = 0.892198 rad = 51.1192 deg
f4 = 0.169922 rad = 9.73579 deg
0.1
0.075
0.05
y 0.025
0
-0.025
-0.05
B
D
A
E
0
0.1
0.2
x
0.3
0.4
PI_3_11.nb
H*Input data*L
AB = 0.15;
AC = 0.45;
BD = 0.7;
La = 0.1;
Lb = 0.2;
phi = 120 Pi 180.;

xA = yA = 0;
xC = -AC;
yC = 0;
xE = -AC - La;
yE = Lb;
xB = AB Cos@phiD;
yB = AB Sin@phiD;
H*Parameters m and n of line BC:y=m x+b*L
m = HyB - yCL HxB - xCL;
b = yB - m xB;
eqnD1 = HxDsol - xBL^ 2 + HyDsol - yBL ^ 2 - BD ^ 2 0;
eqnD2 = yDsol - m * xDsol - b 0;
H*Two solutions for D*LxD1 = xDsol . solutionD@@1DD;
H*Select the correct position for D*L
If@xD1 0, xD = xD1; yD = yD1, xD = xD2; yD = yD2D
Print@"phi = ", phi, " rad = ", phi 180 N@PiD, " deg"D;
H********L
H*Link 2*L
H********L
H********L
H*Link 5*L
H********L
PI_3_11.nb
markers = Table@
8Point@8xA, yA<D, Point@8xB, yB<D, Point@8xC, yC<D, Point@8xD, yD<D, Point@8xE, yE<D<D;
name = Table@
8Text@"A", 80, 0<, 8-1, 1<D, Text@"B", 8xB, yB<, 80, -1<D, Text@"C", 8xC, yC<, 8-1, -1<D,
Text@"D", 8xD, yD<, 80, -1<D, Text@"E", 8xE, yE<, 8-1, 1<D<D;
Line@88xD, yD<, 8xE, yE<<D<, 8RGBColor@1, 1, 1D, PointSize@0.01D, markers<, 8name<<D;
Show@Graphics@graphD, PlotRange 88-.9, .3<, 8-.7, .7<<, Frame True,
-0.099225
phi = 2.0944 rad = 120. deg
xB = -0.075 m
yB = 0.129904 m
xD = -0.736438 m
yD = -0.099225 m
f2 = 0.333473 rad = 19.1066 deg
f5 = 1.01359 rad = 58.0742 deg
0.6
0.4
0.2
y
B
C
D
-0.2
-0.4
-0.6
-0.8
-0.6
-0.4
-0.2
x
0.2
PI_3_12.nb
H*Input*L
AB = 0.180;
BD = 0.700;
La = 0.210;
angle = 135;
phi = N@PiD angle 180;
Print@"phi = ", phi, " rad = ", angle, " deg"D;
xA = yA = 0;
xC = -La;
yD = 0;
xE = -La;
yE = -0.24;
H*B*L
xB = AB Cos@phiD;
yB = AB Sin@phiD;
H*D*L
eqnD = HxB - xDL ^ 2 + HyB - yDL ^ 2 BD^ 2;

solutionD = Solve@8eqnD<, 8xD<D;
xD1 = xD . solutionD@@1DD;
xD2 = xD . solutionD@@2DD;
If@xD1 xB, xD = xD1, xD = xD2D;

H*C*L
yC = yB - HHyB - yDL HxB - xDLL HxB - xCL;

H********L
PI_3_12.nb
H*Link 2*L
H********L
f2 = ArcTan@HyB - yDL HxB - xDLD;
"f2=ArcTan@HyB-yDLHxB-xDLD"
H*Graphs*L
markers = Table@
name = Table@
Text@"D", 8xD, yD<, 80, -1<D, Text@"E", 8xE, yE<, 81, 1<D<D;
Line@88xC, yC<, 8xE, yE<<D<, 8RGBColor@1, 1, 1D, PointSize@0.01D, markers<, 8name<<D;
Show@Graphics@graphD, PlotRange 88-1, 0.25<, 8-0.3, 0.25<<,
Frame True, AxesOrigin 8xA, yA<, FrameLabel 8"x", "y"<,
phi = 2.35619 rad = 135 deg
xA = 0 m
yA = 0 m
xB = -0.127279 m
yB = 0.127279 m
xC = -0.21 m
yC = 0.111983 m
xD = -0.815611 m
yD = 0 m
xE = -0.21 m
f2=ArcTan@HyB-yDLHxB-xDLD
f2 = 0.182845 rad = 10.4762 deg
0.2
C B
0.1
0
y
-0.1
D
A
-0.2
-0.8
-0.6
-0.4
x
E
-0.2
0.2
PI_3_13.nb
AB
AC
BD
DE
EF
La
Lb
= .100;
= .240;
= .400;
= .250;
= .135;
= .035;
= .170;
phi = 135 Pi 180;
H*Position of joint A*LxA = yA = 0;

xC = -AC; yC = 0;
xF = -AC + La; yF = Lb;
xB = AB Cos@phiD;
yB = AB Sin@phiD;
eqnD1 = HxDsol - xBL^ 2 + HyDsol - yBL ^ 2 - BD ^ 2 0;

eqnD2 = HyDsol - yBL HxB - xCL HyB - yCL HxDsol - xBL;
If@HyD1L 0, xD = xD1; yD = yD1, xD = xD2; yD = yD2D;
eqnE1 = HxEsol - xFL^ 2 + HyEsol - yFL ^ 2 - EF ^ 2 0;
eqnE2 = HxEsol - xDL^ 2 + HyEsol - yDL ^ 2 - DE ^ 2 0;
H*Two solutions for E*L
If@HxE1L xF, xE = xE1; yE = yE1, xE = xE2; yE = yE2D;
H*Print phi and the solutions for B,D,and E*L
Print@"phi = ", phi, " rad = ", phi 180 N@PiD, " deg"D;
PI_3_13.nb
Print@"xD
Print@"yD
Print@"xE
Print@"yE
=
=
=
=
",
",
",
",
xD,
yD,
xE,
yE,
"
"
"
"
m"D;
m"D;
m"D;
m"D;
H********L
H*Link 2*L
H********L
H********L
H*Link 4*L
H********L
f4 = ArcTan@HyD - yEL HxD - xELD;
"f4=ArcTan@HyD-yELHxD-xELD"
H********L
H*Link 5*L
H********L
H* Graph of the mechanism *L

markers = Table@8Point@8xA, yA<D, Point@8xB, yB<D, Point@8xC, yC<D,
Point@8xD, yD<D, Point@8xE, yE<D, Point@8xF, yF<D<D;
Text@"C", 8xC, yC<, 8-1, -1<D, Text@"D", 8xD, yD<, 81, 0<D,
Text@"E", 8xE, yE<, 8-1, 1<D , Text@"F", 8xF, yF<, 80, -1<D <D;
graph@incrementD = Graphics@8
8RGBColor@0, 1, 0D, Line@88xB, yB<, 8xD, yD<<D<,
8RGBColor@0, 0, 1D, Line@88xD, yD<, 8xE, yE<<D<,
8RGBColor@1, 0, 1D, Line@88xE, yE<, 8xF, yF<<D<,
Show@Graphics@graph@incrementDD,
PlotRange 88-.55, .12<, 8-.2, .4<<, Frame True,
3p
phi = rad = 135. deg
4
xB = -0.0707107 m
yB = 0.0707107 m
xD = -0.439807 m
PI_3_13.nb
yD = -0.0834577 m
xE = -0.337608 m
yE = 0.144699 m
f2 = 0.395664 rad = 22.6699 deg
f4=ArcTan@HyD-yELHxD-xELD
f4 = 1.14966 rad = 65.8707 deg
f5 = 0.188532 rad = 10.8021 deg
0.4
0.3
0.2
F
E
y 0.1
B
C
A
D
-0.1
-0.5
-0.4
-0.3
-0.2
x
-0.1
0.1
PI_3_14.nb
initdata = 8
AB 0.12,
BC 0.45,
CD 0.18,
DE 0.18,
EF 0.30,
La 0.45,
Lb 0.15,
Lc 0.14,
phi@tD N@PiD 120 180.<;
H* Position of A*L
xA = yA = 0;
H* Position of D*L
xD = -La;
yD = Lb;
Print@"xD=", xD, "=", xD . initdata, " m"D;
Print@"yD=", yD, "=", yD . initdata, " m"D;
H* Position of B*L
xB = AB Cos@phi@tDD;
yB = AB Sin@phi@tDD;
Print@"xB=", xB, "=", xB . initdata, " m"D;
Print@"yB=", yB, "=", yB . initdata, " m"D;
H* Pos of C*L
eqnC1 = HxCsol - xBL^ 2 + HyCsol - yBL ^ 2 - BC ^ 2 0;
H*2 solns for C*L
If @HyC1 . initdataL < HyC2 . initdataL, xC = xC1; yC = yC1, xC = xC2; yC = yC2D;

Print@"xC=", xC . initdata, " m"D;
Print@"yC=", yC . initdata, " m"D;
phi2 = ArcTan@HyB - yCL HxB - yCLD;
Print@"phi2=", phi2 . initdata, " rad"D;
H*Pos of E*L
xE = xC + HHCD + DEL HCos@phi3DLL;
yE = yC + HHCD + DEL HSin@phi3DLL;
Print@"xE=", xE . initdata, " m"D;
Print@"yE=", yE . initdata, " m"D;
PI_3_14.nb
H*Pos of F*L
yF = Lb + Lc;
eqnF = HHyF . initdataL - HyE . initdataLL ^ 2 +
HxFsol - HxE . initdataLL ^ 2 - HEF . initdataL ^ 2 0;
solutionF = Solve@8eqnF<, 8xFsol<D;
H*2 Solutions *L
If@HxF1 . initdataL 0, xF = xF1, xF = xF2D;
Print@"xF=", xF . initdata, " m"D;
Print@"yF=", yF . initdata, " m"D;
H*Angle of 4*L
phi4 = ArcTan@HyF - yEL HxF - xELD;
markers = Table@8
Point@8xA, yA<D,
Point@8xB . initdata,
Point@8xC . initdata,
Point@8xD . initdata,
Point@8xE . initdata,
Point@8xF . initdata,
<D;
name = Table@8
Text@"A",
Text@"B",
Text@"C",
Text@"D",
Text@"E",
Text@"F",
<D;
yB .
yC .
yD .
yE .
yF .
initdata<D,
initdata<D,
initdata<D,
initdata<D,
initdata<D
8xA, yA<, 8-1, 1<D,

8xB . initdata, yB .
8xC . initdata, yC .
8xD . initdata, yD .
8xE . initdata, yE .
8xF . initdata, yF .
graph = Graphics@
88RGBColor@1, 0, 0D,
Line@88xA . initdata,
8RGBColor@0, 1, 0D,
Line@88xB . initdata,
8RGBColor@0, 0, 1D,
Line@88xC . initdata,
8RGBColor@1, 0, 1D,
Line@88xE . initdata,
8RGBColor@1, 1, 1D,
markers<,
8name<<D;
initdata<,
initdata<,
initdata<,
initdata<,
initdata<,
81, -1<D,
80, 1<D,
8-1.5, 0<D,
8-1, 1<D,
80, -1<D
yA . initdata<, 8xB . initdata, yB . initdata<<D<,
yB . initdata<, 8xC . initdata, yC . initdata<<D<,

yC . initdata<, 8xE . initdata, yE . initdata<<D<,
yE . initdata<, 8xF . initdata, yF . initdata<<D<,
Show@Graphics@graphD,
PlotRange 88-.6, .1<,
8-.1, .4<<,
Frame True,
AxesOrigin 8xA . initdata, yA . initdata<,
FrameLabel 8"x", "y"<,
,
PI_3_14.nb
3
Axes 8True, True<,
AspectRatio AutomaticD;
xD=-La=-0.45 m
yD=Lb=0.15 m
xB=AB Cos@phi@tDD=-0.06 m
yB=AB Sin@phi@tDD=0.103923 m
xC=-0.491061 m
yC=-0.0252542 m
phi2=-1.30804 rad
phi3=1.34066 rad
xE=-0.408939 m
yE=0.325254 m
xF=-0.111018 m
yF=0.29 m
phi4=-0.117786 rad
0.4
E
0.3
0.2
y
D
B
0.1
0
C
-0.5
-0.4
-0.3
-0.2
x
-0.1
0.1
PI_3_15.nb
AB = 0.14;
BC = 0.65;
CE = 0.25;
CD = 0.40;
EF = 0.35;
La = 0.37;
Lb = 0.55;
Lc = 0.70;
phi = N@PiD 120 180;
xA = yA = 0;
xD = La;
yD = Lb;
yF = Lc;
xB = AB Cos@phiD;
yB = AB Sin@phiD;
If@HyC1L HyBL, xC = xC1; yC = yC1, xC = xC2; yC = yC2D;

phi2 = ArcTan@HyC - yBL HxC - xBLD;
phi2s = phi2;
Print@"phi2 = ", Hphi2L 180 Pi, " deg"D;
Print@"xD = ", La, " m"D;
Print@"yD = ", Lb, " m"D;
BE = BC + CE;
xE = xB + BE Cos@phi2D;
yE = yB + BE Sin@phi2D;
PI_3_15.nb
xF = xE - HEF^ 2 - HyF - yEL ^ 2L ^ .5;

Print@"xF = ", xF, " m"D;
Print@"yF = ", Lc, " m"D;
phi3 = ArcTan@HyC - yDL HxC - xDLD;
Print@"phi3 = ", phi3 180 Pi, " deg"D;
phi4 = ArcTan@HyE - yFL HxE - xFLD;


Text@"C", 8xC, yC<, 8-1, -1<D, Text@"D", 8xD, yD<, 80, -1<D,
Text@"E", 8xE, yE<, 8-1, 1<D, Text@"F", 8xF, yF<, 81, 1<D<D;

8RGBColor@0, 0, 1D, Line@88xC, yC<, 8xE, yE<<D<, 8RGBColor@0, 1, 0D,
Line@88xC, yC<, 8xD, yD<<D<, 8RGBColor@1, 0, 0D, Line@88xE, yE<, 8xF, yF<<D<,
Show@Graphics@graphD, PlotRange 88-.15, .4<, 8-.1, 1.1<<,
xB = -0.07 m
yB = 0.121244 m
xC = 0.031589 m
yC = 0.763256 m
phi2 = 81.0083 deg
xD = 0.37 m
yD = 0.55 m
xE = 0.0706617 m
yE = 1.01018 m
xF = -0.0914684 m
yF = 0.7 m
phi3 = -32.2178 deg
phi4 = 62.4043 deg
PI_3_15.nb
0.8
C
F
0.6
y
0.4
0.2
B
A
-0.1
0.1 0.2 0.3 0.4

x
PI_3_16.nb
AB = 0.06;
BC = 0.16;
CF = 0.15;
CD = 0.06;
DE = 0.18;
La = 0.21;
Lb = 0.12;
Lc = 0.065;
phi = 30 N@PiD 180;
xA = yA = 0;

xF = La;
yF = Lb;
Print@"xF = ", La, " m"D;
Print@"yF = ", Lb, " m"D;
yE = -Lc;
xB = AB Cos@phiD;
yB = AB Sin@phiD;
eqnC2 = HxCsol - xFL^ 2 + HyCsol - yFL ^ 2 - CF ^ 2 0;
If@HyBL HyC1L, xC = xC1; yC = yC1, xC = xC2; yC = yC2D;

phi2 = ArcTan@HyC - yBL HxC - xBLD;
BD = BC + CD;
xD = xB + BD Cos@phi2D;
yD = yB + BD Sin@phi2D;
xE = xD + HDE^ 2 - HyE - yDL ^ 2L ^ .5;
PI_3_16.nb
Print@"xE = ", xF, " m"D;

Print@"yE = ", -Lc, " m"D;
phi4 = ArcTan@HyE - yDL HxE - xDLD;
xF = 0.21 m
yF = 0.12 m
xB = 0.0519615 m
yB = 0.03 m
xC = 0.200409 m
yC = -0.0296931 m
phi2 = -21.9058 deg
xD = 0.256077 m
yD = -0.052078 m
xE = 0.21 m
yE = -0.065 m
phi4 = -4.11675 deg
PI_3_16.nb

name = Table@8Text@"A", 80, 0<, 8-1, 1<D, Text@"B", 8xB, yB<, 80, -1.5<D,
Text@"C", 8xC, yC<, 8-1, -1<D, Text@"D", 8xD, yD<, 80, -1.5<D,
Text@"E", 8xE, yE<, 8-1, -1.2<D, Text@"F", 8xF, yF<, 81, 1<D<D;
graph = Graphics@8
8RGBColor@0, 0, 1D, Line@88xB, yB<, 8xC, yC<<D<, 8RGBColor@0, 0, 1D,
Line@88xC, yC<, 8xD, yD<<D<, 8RGBColor@1, 0, 0D, Line@88xD, yD<, 8xE, yE<<D<,
8RGBColor@0, 1, 0D, Line@88xC, yC<, 8xF, yF<<D<,
F
0.1
0.075
0.05
B
y 0.025
0
A
C
-0.025
-0.05
E
0
0.1
0.2
0.3
x
0.4
PI_3_17.nb
H* Input data *L
AB = .020; H*m*L
BC = .050; H*m*L
AD = .025; H*m*L
BE = .060; H*m*L
H* Input angle *L
angle = 60;
phi = N@PiD angle 180 ;
H* Position of joint A *L
xA = yA = 0;
H* Position of joint B *L
xB = AB Cos@phiD ;
yB = AB Sin@phiD ;
H* Position of joint C *L
xC = 0;
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
yC = yB - HBC ^ 2 - xB^ 2L ;
H* Position of joint D *L
xD = 0;
yD = -AD;
H* Print the solutions for B and D and E *L
Print@"xA = ", xA, " mm"D;
Print@"yA = ", yA, " mm"D;
Print@"xB = ", xB, " mm"D;
Print@"yB = ", yB, " mm"D;
Print@"xC = ", xC, " mm"D;
Print@"yC = ", yC, " mm"D;
Print@"xD = ", xD, " mm"D;
Print@"yD = ", yD, " mm"D;
H* Position of joint E *L
m = HHyB - yDL HxB - xDLL;
eqnE1 = H yB - yEsol L ^ 2 + H xB - xEsol L ^ 2 - BE ^ 2 == 0 ;
eqnE2 = HyEsol - yDL HxEsol - xDL - m == 0 ;
solutionE = Solve @ 8 eqnE1 , eqnE2 < , 8 xEsol , yEsol < D;
H* Two solutions for E *L
H* Select the correct position for E *L
If @ yE1 <= yD, xE = xE1 ; yE = yE1 , xE = xE2 ; yE = yE2 D ;
H********L
H*Link 2*L
H********L
PI_3_17.nb
H********L
H*Link 3*L
H********L
f3 = ArcTan@HyB - yDL HxB - xDLD;
"f3=ArcTan@HyB-yDLHxB-xDLD"
H* Graph of the mecanism *L
markers = Table @ 8 Point @ 8 xA , yA < D , Point @ 8 xB , yB < D , Point @ 8 xC , yC < D ,
Point @ 8 xD , yD < D, Point @ 8 xE , yE < D <D ;
name = Table @ 8 Text @ "A" , 80 , 0 <, 81 , 1 < D , Text @ "B" , 8xB , yB <, 8 0 , -1 < D ,
Text @ "C" , 8xC , yC <, 81, 1< D , Text @ "D" , 8xD , yD <, 8 1 , 1 < D,
Text @ "E" , 8xE , yE <, 81, 1< D <D ;
graph = Graphics @ 8
8 RGBColor @ 1 , 0 , 0 D , Line @ 8 8xA, yA<, 8xB, yB< < D < ,
8 RGBColor @ 1 , 0 , 1 D , Line @ 8 8xB, yB< , 8xE, yE<< D < ,
8 RGBColor @ 1 , 1 , 0 D , Line @ 8 8xB, yB< , 8xC, yC<< D <,
8 RGBColor @ 0 , 0 , 0 D , PointSize @ 0.02 D , markers < , 8 name < < D ;
Show @ Graphics @ graph D , PlotRange -> 8 8 -0.01 , 0.02< , 8 -0.045, 0.02 < < ,
Frame -> True, AxesOrigin -> 8xA, yA<, FrameLabel -> 8"x", "y"<,
Axes -> 8True, True<, AspectRatio -> Automatic D ;
xB = 0.01 m
yB = 0.0173205 m
xA = 0 mm
yA = 0 mm
xB = 0.01 mm
yB = 0.0173205 mm
xC = 0 mm
yC = -0.0316693 mm
xD = 0 mm
yD = -0.025 mm
xE = -0.00379757 m
yE = -0.0410715 m
f2 = 1.36944 rad = 78.463 deg
f3=ArcTan@HyB-yDLHxB-xDLD
f3 = 1.33876 rad = 76.7053 deg
PI_3_17.nb
0.02
B
0.01
-0.01
y
-0.02
D
-0.03
C
-0.04
E
-0.005
0.005
x
0.01
0.015
0.02
PI_3_18.nb
H*Input data*L
AB = 150.;
BC = 300.;
BE = 600.;
CE = 850.;
CD = 330.;
EF = 1200.;
La = 350.;
Lb = 200.;
Lc = 100.;
phi = N@PiD * 120. 180;
xA = yA = 0;
H*Postiton of joint D*L
xD = La;
yD = Lc;
xB = AB Cos@phiD;
yB = AB Sin@phiD;
Print@"xB = ", xB, " mm"D;
Print@"yB = ", yB, " mm"D;
H*Select the correct position for C*L
If@xB xC1, xC = xC1; yC = yC1, xC = xC2; yC = yC2D;
Print@"xC = ", xC, " mm"D;
Print@"yC = ", yC, " mm"D;
eqnE1 = HxEsol - xCL^ 2 + HyEsol - yCL ^ 2 - CE ^ 2 0;
eqnE2 = HxEsol - xBL^ 2 + HyEsol - yBL ^ 2 - BE ^ 2 0;
H*Two solutions for E*L
If@HyE1L yB, xE = xE1; yE = yE1, xE = xE2; yE = yE2D;
Print@"xE = ", xE, " mm"D;
Print@"yE = ", yE, " mm"D;
PI_3_18.nb
H*Pos of F*L
yF = Lc - Lb;
xF = xE + Sqrt@EF ^ 2 - HyF - yEL^ 2D;
Print@"xF = ", xF, " mm"D;
Print@"yF = ", yF, " mm"D;
H*Angle of Link 2*L
phi2 = ArcTan@HyB - yCL HxB - xCLD;
Print@"phi2 = ", phi2, " rad"D;
H*Angle of Link 3*L
H*Angle of Link 4*L
phi4 = ArcTan@HyF - yEL HxF - xELD;
name = Table@8Text@"A", 81, 1<, 81, 0<D, Text@"B", 8xB, yB<, 80, -1<D,
Text@"C", 8xC, yC<, 80, -1<D, Text@"D", 8xD, yD<, 80, -1<D,
Text@"E", 8xE, yE<, 8-1, 1<D, Text@"F", 8xF, yF<, 80, -1<D<D;
graph = Graphics@88RGBColor@1, 0, 0D, Line@88xA, yA<, 8xB, yB<<D<, 8RGBColor@0, 0, 1D,

Line@88xB, yB<, 8xC, yC<<D<, 8RGBColor@0, 0, 1D, Line@88xC, yC<, 8xE, yE<<D<,
8RGBColor@0, 0, 1D, Line@88xB, yB<, 8xE, yE<<D<,
Line@88xE, yE<, 8xF, yF<<D<, 8RGBColor@0, 0, 0D, PointSize@0.02D, markers<, 8name<<D;
Show@Graphics@graphD, PlotRange 8All, 8-150, 450<<, Frame True, AxesOrigin 8xA, yA<,
xB = -75. mm
yB = 129.904 mm
xC = 131.621 mm
yC = 347.408 mm
xE = -672.069 mm
yE = 70.672 mm
xF = 515.732 mm
yF = -100. mm
phi2 = 0.811052 rad
phi3 = -0.847639 rad
phi4 = -0.142711 rad
PI_3_18.nb
400
300
y
200
100
0
A
F
-100
-600
-400
-200
0
x
200
400
PI_3_19.nb
H*Input data*L
AB = .15;
AC = .22;
CD = .28;
DE = .2;
La = .23;
phi = Pi 3;
xA = 0;
yA = 0;
xC = -AC;
yC = 0;
xE = -HAC + LaL;
xB = AB Cos@phiD;
yB = AB Sin@phiD;
eqnD1 = HxDs - xCL ^ 2 + yDs^ 2 - CD ^ 2 0;
eqnD2 = HyDs - yCL HxDs - xCL HyB - yCL HxB - xCL;
solutionD = Solve@8eqnD1, eqnD2<, 8xDs, yDs<D;
xD1 = xDs . solutionD@@1DD;
yD1 = yDs . solutionD@@1DD;
If@yD1 0, xD = xD1; yD = yD1, xD = xD2; yD = yD2D;
eqnE = HxE - xDL ^ 2 + HyD - yEsL ^ 2 - DE ^ 2 0;
solutionE = Solve@8eqnE<, 8yEs<D;
yE1 = yEs . solutionE@@1DD;
yE2 = yEs . solutionE@@2DD;
H*Select the correct position for yE*L
If@yE1 yE2, yE = yE1, yE = yE2D;
StylePrint@"f1
Print@"xB = ",
Print@"yB = ",
Print@"xD = ",
Print@"yD = ",
Print@"xE = ",
Print@"yE = ",
= f1
xB, "
yB, "
xD, "
yD, "
xE, "
yE, "
= 60", "Section"D;
m"D;
m"D;
m"D;
m"D;
m"D;
m"D;
H********L
H*Link 2*L
H********L
PI_3_19.nb
H********L
H*Link 4*L
H********L
Print@""D;
Print@""D;
H*Graph of the mecanism at f1=60 *L
markers = Table@
name = Table@8Text@"A", 80, 0<, 8-1, 1<D, Text@"B", 8xB, yB<, 80, -1<D, Text@"C",
8xC, yC<, 8-1, -1<D, Text@"D", 8xD, yD<, 80, -1<D, Text@"E", 8xE, yE<, 8-1, 1<D<D;
Show@Graphics@graphD, PlotRange 88-.7, .16<, 8-.2, .4<<, Frame True,
f1 = f1 = 60
xB = 0.075 m
yB = 0.129904 m
xD = -0.476255 m
yD = -0.112842 m
xE = -0.45 m
yE = 0.0854268 m
f2 = 0.414802 rad = 23.7664 deg
f4 = 1.43914 rad = 82.4567 deg
PI_3_19.nb
0.4
0.3
0.2
B
y 0.1
E
C
A
D
-0.1
-0.6
-0.4
-0.2
x
PI_3_20.nb
H*INPUT DATA*L
AB = 0.200;
AC = 0.060;
CD = 0.200;
DE = 0.500;
H*POSITION OF JOINT A*L
xA = yA = 0;
H*POSITION OF JOINT C*L
xC = AC;
yC = 0;
H*POSITION OF JOINT E*L
yE = 0;
phi = N@PiD 4;
H*POSITION OF JOINT B*L

xB = AB Cos@phiD; yB = AB Sin@phiD;
H*POSITION OF JOINT D*L
eqnD1 = HxDsol - xCL^ 2 + HyDsol - yCL ^ 2 - CD ^ 2 0;
eqnD2 = -HyB - yCL HxB - xCL HxDsol - xCL HyDsol - yCL;
H*TWO SOLUTIONS OF D*L
H*SELECT THE CORRECT POSITION OF D*L
If@xD1 xC, xD = xD1; yD = yD1, xD = xD2; yD = yD2D;
H*POSITION OF E*L
eqnE1 = HxEsol - xDL^ 2 + HyD ^ 2L - DE ^ 2 0;
SolutionE = Solve@8eqnE1<, 8xEsol<D;
H*TWO POSITION OF E*L
xE1 = xEsol . SolutionE@@1DD;
xE2 = xEsol . SolutionE@@2DD;
H*CORRECT POSITION OF E*L
If@xE1 xD, xE = xE1, xE = xE2D;
Print@"phi = ", phi,
Print@"xA = ", xA, "
Print@"yA = ", yA, "
Print@"xB = ", xB, "
Print@"yB = ", yB, "
Print@"xC = ", xC, "
Print@"yC = ", yC, "
Print@"xD = ", xD, "
Print@"yD = ", yD, "
" rad = ", phi 180 N@PiD, " deg"D;

m"D;
m"D;
m"D;
m"D;
m"D;
m"D;
m"D;
m"D;
PI_3_20.nb

H********L
H*Link 2*L
H********L
H********L
H*Link 4*L
H********L
Print@""D;
Print@""D;
H*GRAPH OF MECHANISM*Lmarkers = Table@
name = Table@8Text@"A", 80, 0<, 8-1, 1<D, Text@"B", 8xB, yB<, 80, -1<D, Text@"C",
8xC, yC<, 8-2, -1<D, Text@"D", 8xD, yD<, 80, -1<D, Text@"E", 8xE, yE<, 8-1, 1<D<D;
graph@incrementD = Graphics@88RGBColor@1, 0, 0D, Line@88xA, yA<, 8xB, yB<<D<,
Line@88xC, yC<, 8xD, yD<<D<, 8RGBColor@0, 0, 1D, Line@88xD, yD<, 8xE, yE<<D<,
Show@Graphics@graph@incrementDD, PlotRange 88-0.05, 0.8<, 8-0.15, 0.2<<,
phi = 0.785398 rad = 45. deg
xA = 0 m
yA = 0 m
xB = 0.141421 m
yB = 0.141421 m
xC = 0.06 m
yC = 0 m
xD = 0.233326 m
yD = -0.0997901 m
xE = 0.723267 m
yE = 0 m
f2 = 1.04841 rad = 60.0694 deg
PI_3_20.nb
f4 = 0.200929 rad = 11.5124 deg
0.2
0.15
0.1
0.05
y
0
-0.05
-0.1
C
A
E
D
0.2
0.4
x
0.6
0.8
PI_3_21.nb
H*Input data*Linitdata = 8AB 0.12, AC 0.2, CD .38,
La .1, b .45 , Le .2, Lh .1, phi N@PiD * H30 180L<;
H*POSITION OF JOINT A*L
xA = yA = 0;
H*POSITION OF JOINT B*L

xB = AB Cos@ phi D;
yB = AB Sin@ phi D;
Print@"xB = ", xB, " = ", xB . initdata, " m"D;
Print@"yB = ", yB, " = ", yB . initdata, " m"D;
H*POSITION OF JOINT C*L
xC = 0;
yC = -AC;
Print@"yC = ", yC . initdata, " m"D;

H*Parameters m and n of line BC:y=m x+b*L
mBC = HyB - yCL HxB - xCL;
bBC = yB - mBC xB;
eqn41 = HxDsol - xCL^ 2 + HyDsol - yCL ^ 2 - CD ^ 2 0;
eqn42 = yDsol - mBC xDsol - bBC 0;
solutionD = Solve@8eqn41, eqn42<, 8xDsol, yDsol<D;

If@HyD1 . initdataL HyB . initdataL , xD = xD1; yD = yD1, xD = xD2; yD = yD2D;
Print@"xD = constant = ", xD . initdata, " m"D;
Print@"yD = ", yD . initdata, " m"D;
H*POSITION OF JOINT E*L
xE = Le;
yE = b;
Print@"xE = ", xE, " = ", xE . initdata, " m"D;
Print@"yE = ", yE, " = ", yE . initdata, " m"D;
H*POSITION OF JOINT F*L
xF = La;
yF = b;
Print@"xF = ", xF, " = ", xF . initdata, " m"D;
Print@"yF = ", yF, " = ", yF . initdata, " m"D;
H*POSITION OF JOINT G*L
xG = xD;
PI_3_21.nb
yG = b;
Print@"xG = ", xG . initdata, " m"D;
Print@"yG = constant = ", yG . initdata, " m"D;
H*POSITION OF H*L
xH = xD;
yH = Lh;
Print@"xH = ", xH . initdata, " m"D;
Print@"yH = ", yH . initdata, " m"D;
phi3 = ArcTan@mBCD;
Print@"phi3 = phi2 = ",
Hphi3 . initdataL 180 Pi, " deg = " , phi3 . initdata, " rad "D;
phi4 = N@PiD 2;
Print@"phi4= 90 deg = ", phi4 . initdata, " rad "D;
mEF = HyE - yFL HxE - xFL;
phi5 = ArcTan@mEFD;
Print@"phi5= ", phi5 . initdata, " rad "D;

markers = Table@8Point@8xA, yA<D,
Point@8xB . initdata, yB . initdata<D,
Point@8xC . initdata, yC . initdata<D,
Point@8xD . initdata, yD . initdata<D,
Point@8xE . initdata, yE . initdata<D,
Point@8xF . initdata, yF . initdata<D<D;
name = Table@8
Text@"A", 80, 0<, 8-1, 1<D,
Text@"B", 8xB . initdata, yB . initdata<, 80, -1<D,
Text@"C", 8xC, yC . initdata<, 8-1, -1<D,
Text@"D", 8xD . initdata, yD . initdata<, 80, -1<D,
Text@"E", 8xE . initdata, yE . initdata<, 8-1, 1<D,
Text@"F", 8xF . initdata, yF . initdata<, 8-1, -1<D,
Text@"G", 8xG . initdata, yG . initdata<, 80, -1<D,
Text@"H", 8xH . initdata, yH . initdata<, 8-1, 1<D<D;
graph = Graphics@
88RGBColor@1, 0, 0D,
Line@88xA, yA<, 8xB . initdata, yB . initdata<<D<,
8RGBColor@0, 1, 0D,
Line@88xC, yC . initdata<, 8xD . initdata, yD . initdata<<D<,
8RGBColor@0, 0, 1D,
Line@88xE . initdata, yE . initdata<, 8xF . initdata, yF . initdata<<D<,
8RGBColor@1, 0, 1D,
Line@88xG . initdata, yG . initdata<, 8xH . initdata, yH . initdata<<D<,
8RGBColor@1, 1, 1D,
PointSize@0.01D, markers<,
8name<<D;
Show@Graphics@graphD,
PlotRange 88-.1, .4<, 8-.25, .5<<,
Frame True,
AxesOrigin 8xA, yA<,
,
PI_3_21.nb
3
FrameLabel 8"x", "y"<,
Axes 8True, True<,
AspectRatio AutomaticD;
xA = 0 m
yA = 0 m
xB = AB Cos@phiD = 0.103923 m
yB = AB Sin@phiD = 0.06 m
xC = 0 m
yC = -0.2 m
xD = constant = 0.141038 m
yD = 0.152857 m
xE = Le = 0.2 m
yE = b = 0.45 m
xF = La = 0.1 m
yF = b = 0.45 m
xG = 0.141038 m
yG = constant = 0.45 m
xH = 0.141038 m
yH = 0.1 m
phi3 = phi2 = 68.2132 deg = 1.19055 rad
phi4= 90 deg = 1.5708 rad
phi5= 0 rad
PI_3_21.nb
0.5
F G
E
0.4
0.3
0.2
D
y
0.1
B
0
-0.1
-0.2
0.1
0.2
x
0.3
0.4
PI_3_22.nb
(*Problem I.3.22*)
(*
AB
AC
CD
Input data *)
= 0.16 ;
= 0.09 ;
= 0.16 ;
(* Input angle *)
phi = N[Pi]/6 ;
xA = yA = 0;
xC = 0 ;
yC = AC ;
xB = AB Cos[phi] ;
yB = AB Sin[phi] ;
(* Parameters m and n of line BC: y = m x + b *)
m = ( yB - yC ) / ( xB - xC ) ;
b = yB - m xB ;
eqnD1 = ( xDsol - xC )^2 + ( yDsol - yC )^2 - CD^2 == 0 ;
eqnD2 = yDsol - m xDsol - b == 0 ;
solutionD = Solve [ { eqnD1 , eqnD2 } , { xDsol , yDsol } ];
(* Select the correct position for D *)
If [ xD1 <= xC , xD = xD1 ; yD = yD1 , xD = xD2 ; yD=yD2 ] ;
(* Print the solutions for B and D *)
Print["xB = ",xB," m"];
Print["yB = ",yB," m"];
Print["xD = ",xD," m"];
Print["yD = ",yD," m"];
phi2=ArcTan[(yC-yB)/(xC-xB)];
Print["phi2 = ",(phi2) 180/Pi," deg"];
phi5=ArcTan[(yA-yD)/(xA-xD)];
Print["phi5 = ",(phi5) 180/Pi," deg"];
(* Graph of the mecanism
markers = Table [ {
Point [ { xA
Point [ { xB
Point [ { xC
Point [ { xD
} ] ;
name = Table [ {
Text [
Text [
Text [
Text [
} ] ;
graph = Graphics [
"A"
"B"
"C"
"D"
*)
,
,
,
,
,{0
,{xB
,{xC
,{xD
yA
yB
yC
yD
,
,
,
,
}
}
}
}
0
yB
yC
yD
] ,
] ,
] ,
]
},{-1 ,-1
},{ 0 ,-1
},{ -1,-1
},{ -1 ,2
}
}
}
}
] ,
] ,
] ,
]
markers = Table [
Point
Point
PI_3_22.nb
Point
Point
} ] ;
name = Table [ {
Text [
Text [
Text [
Text [
} ] ;
{
[
[
[
[
{
{
{
{
xA
xB
xC
xD
"A"
"B"
"C"
"D"
,
,
,
,
yA
yB
yC
yD
,{0
,{xB
,{xC
,{xD
,
,
,
,
}
}
}
}
0
yB
yC
yD
] ,
] ,
] ,
]
},{-1 ,-1
},{ 0 ,-1
},{ -1,-1
},{ -1 ,2
}
}
}
}
] ,
] ,
] ,
]
graph = Graphics [
{ { RGBColor [ 1 , 0 , 0 ] ,
Line [ { {xA,yA},{xB,yB} } ] } ,
{ RGBColor [ 0 , 1 , 0 ] ,
Line [ { {xB,yB} , {xD,yD}} ] } ,
{ RGBColor [ 0 , 0 , 1 ] ,
Line [ { {xD,yD}, {xA,yA}} ] } ,
{ RGBColor [ 0 , 0 , 0 ] ,
PointSize [ 0.015 ] , markers } ,
{ name } } ] ;
Show [ Graphics [ graph ] ,
PlotRange -> { All , All } ,
Frame -> True,
AxesOrigin -> {xA,yA},
FrameLabel -> {"x","y"},
Axes -> {True,True},
AspectRatio -> Automatic ] ;
xB = 0.138564 m
yB = 0.08 m
xD = -0.159585 m
yD = 0.101517 m
phi2 = -4.12781 deg
phi5 = -32.4617 deg
0.1
0.08
0.06
y
0.04
0.02
A
0
-0.15
-0.1
-0.05
0
x
0.05
0.1
PI_3_23.nb
H*Input data*L
AB = .100;
AC = .280;
BD = .470;
DE = .220;
La = .470;
f = N@PiD 6.;
Print@"phi = ", f, " rad = ", f * 180 N@PiD, " deg"D;
xA = yA = 0;
xC = AC;
yC = 0;
xB = AB Cos@fD;
yB = AB Sin@fD;
phi2 = ArcTan@HyB - yCL HxB - xCLD;
Print@"phi2 = phi3 = ", phi2, " rad = ", Hphi2L * 180 N@PiD, " deg"D;
eqnD1 = HxDs - xBL ^ 2 + HyDs - yBL ^ 2 - BD ^ 2 0;
eqnD2 = HyDs - yBL HxDs - xBL HyB - yCL HxB - xCL;
solutionD = Solve@8eqnD1, eqnD2<, 8xDs, yDs<D;
If@yD1 0, xD = xD1; yD = yD1, xD = xD2; yD = yD2D;
xE = La;
yE = yD + HDE^ 2 - HxE - xDL ^ 2L ^ .5;
phi4 = ArcTan@HyD - yEL HxD - xELD;
Print@"phi4 = ", phi4, " rad = ", Hphi4L * 180 N@PiD, " deg"D;
PI_3_23.nb

markers = Table@
name = Table@
Text@"D", 8xD, yD<, 81, -1<D, Text@"E", 8xE, yE<, 8-2, 1<D<D;
Show@Graphics@graphD, PlotRange 88-.12, .8<, 8-.1, .2<<,
phi = 0.523599 rad = 30. deg
xA = 0 m
yA = 0 m
xC = 0.28 m
yC = 0 m
xB = 0.0866025 m
yB = 0.05 m
phi2 = phi3 = -0.252995 rad = -14.4956 deg
xD = 0.541641 m
yD = -0.0676434 m
xE = 0.47 m
yE = 0.140365 m
phi4 = -1.23911 rad = -70.9956 deg
0.2
0.15
0.1
y 0.05
0
-0.05
B
C
A
0
D
0.2
0.4
x
0.6
0.8
PI_3_24.nb
H*Input data*L
phi = 145 * N@PiD 180;
AB = 0.25;
AD = 0.70;
BC = 0.30;
a = 0.65;
xA = yA = 0;
xD = AD; yD = 0;
yC = 0.25;
xB = AB Cos@phiD; yB = AB Sin@phiD;
m = HyD - yBL HxD - xBL;
b = yD - m xD;
eqn1 = HxB - xCsolL ^ 2 + HyB - yCsolL ^ 2 - BC^ 2 0;
eqn2 = m xCsol + b - yCsol 0;
sol = Solve@8eqn1, eqn2<, 8xCsol, yCsol<D;
xC1 = xCsol . sol@@1DD;
yC1 = yCsol . sol@@1DD;
xC2 = xCsol . sol@@2DD;
yC2 = yCsol . sol@@2DD;
If@xC1 xB, xC = xC1; yC = yC1, xC = xC2; yC = yC2D;
H*position for G*L
xG = -a; yG = yC;
Print@"phi = ", phi,
Print@"xB = ", xB, "
Print@"yB = ", yB, "
Print@"xC = ", xC, "
Print@"yC = ", yC, "
Print@"xD = ", xD, "
Print@"yD = ", yD, "
Print@"xG = ", xG, "
Print@"yG = ", yG, "
" rad = ", phi 180 N@PiD, " deg"D;

m"D;
m"D;
m"D;
m"D;
m"D;
m"D;
m"D;
m"D;
H********L
H*Link 2*L
H********L
PI_3_24.nb
Print@""D;
Print@""D;
markers = Table@
8Point@8xA, yA<D, Point@8xB, yB<D, Point@8xC, yC<D, Point@8xD, yD<D, Point@8xG, yG<D<D;
name = Table@
Text@"D", 8xD, yD<, 80, -1<D, Text@"G", 8xG, yG<, 8-1, 1<D<D;
Line@88xB, yB<, 8xD, yD<<D<, 8RGBColor@1, 0, 1D, Line@88xC, yC<, 8xG, yG<<D<,
Show@Graphics@graphD, PlotRange 88-.8, .8<, 8-.5, .8<<,
phi = 2.53073 rad = 145. deg
xB = -0.204788 m
yB = 0.143394 m
xC = -0.50109 m
yC = 0.190353 m
xD = 0.7 m
yD = 0 m
xG = -0.65 m
yG = 0.190353 m
f2 = -0.157176 rad = -9.00555 deg
PI_3_24.nb
0.8
0.6
0.4
0.2
C
G
B
D
-0.2
-0.4
-0.6 -0.4 -0.2
0
x
0.2
0.4
0.6
0.8

Pi 3

Diunggah oleh

Informasi Dokumen

Judul Asli

Hak Cipta

Format Tersedia

Bagikan dokumen Ini

Bagikan atau Tanam Dokumen

Opsi Berbagi

Apakah menurut Anda dokumen ini bermanfaat?

Apakah konten ini tidak pantas?

Hak Cipta:

Format Tersedia

Pi 3

Diunggah oleh

Hak Cipta:

Format Tersedia

Problem I.3.

0.02 0.04 0.06 0.08 0.1 0.12 0.14

(*Problem I.3.2 particular case: f

Print[" Select the correct position for C "]

Print["xC = ",xC," m"];

Equations for C HxC, yCL

-0.0081 + H-0.0391259 + xcL2 + H-0.00831647 + ycL2 == 0 H1L

xM = H xB + 0.5 xC L H1+0.5L = 0.0675643 m

yM = H yB + 0.5 yC L H1+0.5L = -0.00123654 m

",f," rad = ", f 180/p," deg"];

(* Select the correct position for C *)

Print["yC = ",yC," m"];

]; (* End of FOR loop *)

Equations for C HxC, yCL

-0.0081 + H-0.04 + xcL2 + yc2 == 0 H1L

Solution for C HxC, yCL

xM = H xB + 0.5 xC L H1+0.5L = 0.07 m

Equations for C HxC, yCL

-0.0081 + H-0.0380423 + xcL2 + H-0.0123607 + ycL2 == 0 H1L

xM = H xB + 0.5 xC L H1+0.5L = 0.0648284 m

yM = H yB + 0.5 yC L H1+0.5L = -0.00114867 m

Equations for C HxC, yCL

-0.0081 + H-0.0323607 + xcL2 + H-0.0235114 + ycL2 == 0 H1L

xM = H xB + 0.5 xC L H1+0.5L = 0.0538016 m

yM = H yB + 0.5 yC L H1+0.5L = 0.00252837 m

Equations for C HxC, yCL

-0.0081 + H-0.0235114 + xcL2 + H-0.0323607 + ycL2 == 0 H1L

xM = H xB + 0.5 xC L H1+0.5L = 0.0420203 m

yM = H yB + 0.5 yC L H1+0.5L = 0.00875091 m

Equations for C HxC, yCL

-0.0081 + H-0.0123607 + xcL2 + H-0.0380423 + ycL2 == 0 H1L

xM = H xB + 0.5 xC L H1+0.5L = 0.0307444 m

Equations for C HxC, yCL

-0.0081 + xc2 + H-0.04 + ycL2 == 0 H1L

xM = H xB + 0.5 xC L H1+0.5L = 0.0201031 m

Equations for C HxC, yCL

-0.0081 + H0.0123607 + xcL2 + H-0.0380423 + ycL2 == 0 H1L

xM = H xB + 0.5 xC L H1+0.5L = 0.0103577 m

Equations for C HxC, yCL

-0.0081 + H0.0235114 + xcL2 + H-0.0323607 + ycL2 == 0 H1L

xM = H xB + 0.5 xC L H1+0.5L = 0.00197864 m

Equations for C HxC, yCL

-0.0081 + H0.0323607 + xcL2 + H-0.0235114 + ycL2 == 0 H1L

-0.0016 + H-0.09 + xcL2 + yc2 == 0 H2L

xM = H xB + 0.5 xC L H1+0.5L = -0.00449706 m

Equations for C HxC, yCL

-0.0081 + H0.0380423 + xcL2 + H-0.0123607 + ycL2 == 0 H1L

xM = H xB + 0.5 xC L H1+0.5L = -0.00859625 m

p rad = 180 deg

Equations for C HxC, yCL

-0.0081 + H0.04 + xcL2 + yc2 == 0 H1L

-0.0016 + H-0.09 + xcL2 + yc2 == 0 H2L

xM = H xB + 0.5 xC L H1+0.5L = -0.01 m

Equations for C HxC, yCL

-0.0081 + H0.0380423 + xcL2 + H0.0123607 + ycL2 == 0 H1L

xM = H xB + 0.5 xC L H1+0.5L = -0.00859625 m

Equations for C HxC, yCL

-0.0081 + H0.0323607 + xcL2 + H0.0235114 + ycL2 == 0 H1L

xM = H xB + 0.5 xC L H1+0.5L = -0.00449706 m

Equations for C HxC, yCL

-0.0081 + H0.0235114 + xcL2 + H0.0323607 + ycL2 == 0 H1L

xM = H xB + 0.5 xC L H1+0.5L = 0.00197864 m

yM = H yB + 0.5 yC L H1+0.5L = -0.0165412 m

HAll the positions on the same graphicLShow@Table@graph@iD, 8i, increment - 1<D,