Input,

Output,
15
0
0
10
15
20
25
30
36
40
46
50
57
60
66
70
76
80
86
90
95
100
105
110
115
120
125
130
135
140
145
150
155
160
164
170
174
180
184
190
195
200
205
210
215
220
225
230
233
240
247
250
255
260
265
270
275
280
285
290
295
300
305
310
315
320
325
330
335
340
345
350
355
360
365

Tan,
30
0
15
30
43
54
64
72
80
88
95
103
110
118
126
135
145
155
167
178
192
207
220
232
243
250
260
268
275
284
292
300
308
316
326
335
349
360

45
2
15
26
45
50
60
70
78
86
95
105
114
122
131
140
150
160
170
182
194
206
214
228
240
250
259
268
277
285
295
304
310
322
332
341
352
358

Tan,
0
0.3
0.4
0.6
0.8
1.2
1.7
2.7
5.7
-5.7
-2.7
-1.7
-1.2
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
1.2
1.7
2.7
5.7
-5.7
-2.7
-1.7
-1.2
-0.8
-0.6
-0.4
-0.2
0

15
0
0.3
0.5
0.7
1
1.5
2.2
4
14.3
-11.4
-3.7
-2.1
-1.4
-1
-0.7
-0.5
-0.3
-0.1
0.1
0.3
0.5
0.7
1
1.3
2.4
3.7
11.4
-11.4
-3.7
-2.1
-1.4
-1
-0.7
-0.5
-0.3
-0.1
0.1

30
0
0.2
0.4
0.6
0.8
1.2
1.7
2.7
5.7
-5.7
-2.7
-1.7
-1.2
-0.8
-0.58
-0.4
-0.2
0
0.2
0.4
0.6
0.8
1.2
1.7
2.7
5.7
-5.7
-2.7
-1.7
-1.2
-0.8
-0.6
-0.4
-0.2
0

45
0
0.3
0.6
0.9
1.4
2.1
3.1
5.7
28.6
-11.4
-4.3
-2.7
-1.9
-1.4
-1
-0.7
-0.5
-0.2
0
0.2
0.5
0.8
1.3
2
2.7
5.7
28.6
-11.4
-4
-2.5
-1.7
-1.3
-1
-0.7
-0.5
-0.2
0

Outp ut s ha f t a ng le vs inp ut s ha f t a ng le
400
350
300
250
200
output angle

15 degree
30 degree

400
350
300
250
15 degree

200
output angle

30 degree

150

45 degree

100
50
0
0

50

100

150

200

input angle

250

300

350

400

Output veloOutput velocity (exp), m/s

45
15
30
0
1.5
0
1.5
0.5
1.3
0.75
0.4
0.55
0.43
0.25
0.63
0.28
0.2
0.125
0.2
0.13
0.2
0.13
0.11
0.16
0.11
0.1
0.11
0.1
0.08
0.1
0.08
0.08
-0.01
0.08
0.06
0.1
0.06
0.06
0.08
0.06
0.06
0.07
0.06
0.06
0.07
0.06
0.06
0.06
0.06
0.06
0.06
0.06
0.06
0.06
0.07
0.06
0.06
0.06
0.06
0.06
0.07
0.06
0.06
0.07
0.06
0.06
0.06
0.06
0.04
0.05
0.05
0.06
0.05
0.03
0.05
0.03
0.06
0.04
0.04
0.03
0.04
0.03
0.04
0.03
0.03
0.04
0.03
0.03
0.04
0.03
0.03
0.03
0.03
0.03
0.03
0.03
0.03
0.03
0.02
0.03
0.03
0.04
0.03
0.03
0.03
0.03
0.03
0.03
0.04
0.03
0.03
-1
-1
0.2

15 degree
30 degree

the0ritical
45
1.414
1.373
1.266
1.131
1

0.891
0.8081
0.751
0.718
0.707
0.718
0.751
0.808
0.891
1
1.131
1.266
1.373
1.414
1.372
1.266
1.131
1
0.891
0.808
0.751
0.718
0.707
0.718
0.751
0.808
0.891
1
1.131
1.266
1.373
1.414

15
1.035
1.033
1.0266
1.017
1.0154
0.9934
0.9824
0.9735
0.9679
0.9659
0.96788
0.9735
0.9823
0.9934
1.0054
1.017
1.0266
1.033
1.0352
1.033
1.0266
1.017
1.005
0.9934
0.9824
0.9735
0.9678
0.9659
0.9679
0.9735
0.9824
0.9934
1.0054
1.017
1.0266
1.033
1.0352

30
1.155
1.143
1.111
1.066
1.015
0.9658
0.9238
0.8921
0.8726
0.866
0.8726
0.8921
0.9238
0.9658
1.0149
1.0659
1.1114
1.143
1.55
1.143
1.1114
1.0659
1.0149
0.966
0.9238
0.8921
0.8726
0.866
0.8726
0.8921
0.9238
0.9658
1.0149
1.0659
1.1113
1.143
1.155

15 degree
30 degree
45 degree

0
10
20
30
40
50
60
70
80
90
100
110
120
130
140
150
160
170
180
190
200
210
220
230
240
250
260
270
280
290
300
310
320
330
340
350
360

45
0
1.5
0.75
0.43
0.28
0.2
0.13
0.11
0.1
0.08
0.08
0.06
0.06
0.06
0.06
0.06
0.06
0.07
0.06
0.07
0.07
0.06
0.05
0.05
0.03
0.04
0.03
0.03
0.03
0.03
0.03
0.03
0.03
0.03
0.03
0.04
1

15
1.5
0.5
0.4
0.25
0.2
0.13
0.11
0.1
0.08
0.08
0.06
0.06
0.06
0.06
0.06
0.06
0.06
0.06
0.06
0.06
0.06
0.06
0.05
0.03
0.06
0.03
0.04
0.04
0.04
0.03
0.03
0.03
0.03
0.03
0.03
0.03
1

30
0
1.3
0.55
0.63
0.125
0.2
0.16
0.11
0.1
-0.01
0.1
0.08
0.07
0.07
0.06
0.06
0.06
0.06
0.06
0.06
0.06
0.04
0.06
0.05
0.04
0.04
0.03
0.03
0.03
0.03
0.03
0.02
0.04
0.03
0.03
0.03
0.2

Output Shaft

Output Shaft Velocity (exp)

Output Shaft Velocity (exp) vs Input Shaft Angle

1.6
1.4
1.2
1
45 degree
0.8

15 degree

ut Shaft Velocity (exp)

30 degree

0.6

Column F

0.4
0.2
0
0

50

100 150 200 250 300 350 400

-0.2

Input Shaft Angle

0
10
20
30
40
50
60
70
80
90
100
110
120
130
140
150
160
170
180
190
200
210
220
230
240
250
260
270
280
290
300
310
320
330
340
350
360

45
1.414
1.373
1.266
1.131
1
0.891
0.8081
0.751
0.718
0.707
0.718
0.751
0.808
0.891
1
1.131
1.266
1.373
1.414
1.372
1.266
1.131
1
0.891
0.808
0.751
0.718
0.707
0.718
0.751
0.808
0.891
1
1.131
1.266
1.373
1.414

15
1.035
1.033
1.0266
1.017
1.0154
0.9934
0.9824
0.9735
0.9679
0.9659
0.96788
0.9735
0.9823
0.9934
1.0054
1.017
1.0266
1.033
1.0352
1.033
1.0266
1.017
1.005
0.9934
0.9824
0.9735
0.9678
0.9659
0.9679
0.9735
0.9824
0.9934
1.0054
1.017
1.0266
1.033
1.0352

30
1.155
1.143
1.111
1.066
1.015
0.9658
0.9238
0.8921
0.8726
0.866
0.8726
0.8921
0.9238
0.9658
1.0149
1.0659
1.1114
1.143
1.55
1.143
1.1114
1.0659
1.0149
0.966
0.9238
0.8921
0.8726
0.866
0.8726
0.8921
0.9238
0.9658
1.0149
1.0659
1.1113
1.143
1.155

Output Shaft Velocity (theor

Output Shaft Velocity

1.8
1.6
1.4
1.2
1
0.8
0.6
0.4
0.2
0
0

50 100 15

Inou

aft Velocity (theoritical) vs Input Angle Shaft

ty

1.8
1.6
1.4
1.2
1
0.8
0.6
0.4
0.2
0

45 degrees
15 degree
30 degree
Column E

50 100 150 200 250 300 350 400

Inout Angle

Tan,

Tan,
0
0.3
0.4
0.6
0.8
1.2
1.7
2.7
5.7
-5.7
-2.7
-1.7
-1.2
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
0.8
1.2
1.7
2.7
5.7
-5.7
-2.7
-1.7
-1.2
-0.8
-0.6
-0.4
-0.2
0

15
0
0.3
0.5
0.7
1
1.5
2.2
4
14.3
-11.4
-3.7
-2.1
-1.4
-1
-0.7
-0.5
-0.3
-0.1
0.1
0.3
0.5
0.7
1
1.3
2.4
3.7
11.4
-11.4
-3.7
-2.1
-1.4
-1
-0.7
-0.5
-0.3
-0.1
0.1

30
0
0.2
0.4
0.6
0.8
1.2
1.7
2.7
5.7
-5.7
-2.7
-1.7
-1.2
-0.8
-0.58
-0.4
-0.2
0
0.2
0.4
0.6
0.8
1.2
1.7
2.7
5.7
-5.7
-2.7
-1.7
-1.2
-0.8
-0.6
-0.4
-0.2
0

45
0
0.3
0.6
0.9
1.4
2.1
3.1
5.7
28.6
-11.4
-4.3
-2.7
-1.9
-1.4
-1
-0.7
-0.5
-0.2
0
0.2
0.5
0.8
1.3
2
2.7
5.7
28.6
-11.4
-4
-2.5
-1.7
-1.3
-1
-0.7
-0.5
-0.2
0

Tan Input Shaft Angle v

Tan Output Shaft Angle

-8

-6

-4

-2

Tan Input Sh

put Shaft Angle vs Tan Input Shaft Angle

-8

35
30
25
20

15 degree

15

30 degree

10

45 degree
Column E

5
0
-6

-4

-2

-5

-10

Tan Input Shaft Angle