1 views

Uploaded by Fiandjafar

f 101175112642938

f 101175112642938

© All Rights Reserved

- How to - Chain Assembly
- Inversion of 4 Bar Mechanism
- Mechatronic Systems for Machine Tools
- Structural Model for Conceptual Design Of
- Final Ppt on Automobile
- Welding electrode Rod Making
- Raste Gar 1989
- Economy of machinery and manufacture.pdf
- MC-SMO-SYS_01_04
- Quantitative Techniques
- Alignment Test Report
- Prob 7-03 to 7-04 _ 7-11
- Thèse Gustavo Mendoza
- xingchen fan - resume
- 6 IC General
- MOM QB
- Design Ooptimisation and Buckling Analysis of Tube in Tube Drag Link
- Sprengel Ford
- trouble shooter report
- Tecnotion Inverts Linear Motor Principle

You are on page 1of 11

1, 2016

mechanism for 12 precision points path generation

Department of Mechanical Engineering,

Jamia Millia Islamia,

New Delhi 110025, India

Email: khalidnafees@gmail.com

Email: amohammad1@jmi.ac.in

Email: am200647@gmail.com

*Corresponding author

manufacturing procedures wherein requirement to design mechanisms that can

precisely follow a specified path through a given number of precision points are

to be fulfilled. With these objectives, a six-bar Stephenson III linkage

mechanism, having one degree of freedom has been dimensionally synthesised

for 12 precision points. The complex number dyadic and triadic loop closure

equations have been used to synthesise the mechanism for path generation. In

this approach, loop closure equations are solved simultaneously for 12

displacement positions of coupler tracing point and 12 orientation positions of

various links for which the output link oscillates. The prescribed parameters are

displacement vector (δj) and coupler link motion and the designer is not

constrained to restrict the remaining orientation angles of links. Finally, a code

has been developed in MATLAB to solve these loop closure equations for

determination of the dimensional length of each link.

generation; precision points; six-bar mechanism; Stephenson III.

Mohammad, A. (2016) ‘Dimensional synthesis of six-bar Stephenson III

mechanism for 12 precision points path generation’, Int. J. Mechanisms and

Robotic Systems, Vol. 3, No. 1, pp.80–90.

Biographical notes: Khalid Nafees received his BE and MTech from the

Department of Mechanical Engineering, Jamia Millia Islamia, New Delhi,

India. He was a gold medallist at UG and PG level. Currently, he is pursuing

PhD from Department of Mechanical Engineering, Jamia Millia Islamia,

New Delhi. He has published in national and international conferences and

journals. His fields of interest are mechanism synthesis, machine drawing and

machine design.

Dr. Aas Mohammad received his MTech from IIT, New Delhi, India and PhD

from the Department of Mechanical Engineering, Jamia Millia Islamia,

New Delhi, India. Currently, he is working as an Associate Professor at

Department of Mechanical Engineering, Jamia Millia Islamia, New Delhi,

India. He has 21 years of teaching experience. He has guided many MTech and

PhD students in their research work. He has extensive publications in various

Dimensional synthesis of six-bar Stephenson III mechanism 81

interest are mechanics, mechanism and machine theory, engineering graphics,

finite element analysis and robotic manipulators.

1 Introduction

The dimensional synthesis is the last phase in mechanism synthesis that deals with the

determination of principal kinematic dimensions, i.e., link lengths, pivot-to-pivot

distances on binary, ternary and so on, cam profile dimensions, eccentricities, gear ratios,

etc. It determines the starting position of mechanism, which is usually specified by way

of an angular position of an input link with respect to the fixed link of reference. The

synthesis problem is performed for three common tasks, namely, path generation,

function generation and rigid body guidance. The latter two are rarely discussed in this

paper as the main focus is on path generation.

The path generation is the most important method used in mechanism synthesis for

industrial application that requires precise motion control along a specified path. The

major decisions required for complete synthesis are: different linkage selections, their

type, number and dimensions. Many methods for the path generation using mechanisms

of different number of links and their joints have been proposed by several researchers.

Bulatovic and Djordjevic (2004) optimally synthesised a four-bar mechanism using

H-J optimisation method wherein tracer point passes through straight line comprising of

16 desired coupler points. Ullah and Kota (1997) optimally synthesised a four-bar

mechanism using a stochastic global algorithm. Smaili, Diab and Atallah (2005) applied

tabu-gradient search algorithm to dimensionally synthesise a four-bar mechanism

wherein they obtained global minimal solution by a gradient search. Smaili and Diab

(2007) suggested an anti-gradient technique for path generation of planar kinematic

linkage. Laribi et al. (2004) proposed a combined genetic algorithm-fuzzy logic method

for the synthesis of path generation mechanism. Acharyya and Mandal (2009) highlighted

the advantages of DE algorithm in minimising the error in the synthesis of four-bar

mechanism. Erkaya and Uzmay (2008) designed an optimum path generator consisting of

four bars with specified revolute joint clearances using ANN and GA based on the

minimisation of path and transmission angle errors. Zhou and Cheung (2001) highlighted

that the magnitude of orientation structural error of the fixed link of given crank-rocker

mechanism is the total difference between the desired and generated paths, which is

formulated as the sum of squares of the differences between these paths over a number of

points. Zhou (2009) proposed dimensional synthesis of an adjustable four-bar mechanism

that follows a continuous path precisely. Final optimum solution is obtained by technique

of genetic algorithm. Mohammad and Kumar (2013) used a complex number dyadic loop

closure equation technique to dimensionally synthesise a six-bar mechanism for path

generation subjected to eight precision points.

In this research work, dimensional synthesis of a six-bar Stephenson III mechanism

that traces a curve defined by 12 precision points has been carried out. Section 2 explains

one application of this mechanism. The loop closure equations (dyadic and triadic) have

been derived for the dimensional synthesis. A code has been developed in MATLAB to

82 K. Nafees and A. Mohammad

solve these loop closure equations for determination of the dimensional length of

each link.

application, then other mechanisms with single degree of freedom, e.g., six-bar linkage

mechanism, are employed. One such application is cassette tape cartridges whose

configuration is shown in Figure 1(a). It consists of a leader tape and a device through

which tape is passed and guided at the time of running operation. The final configuration

of tape should match with dashed line and in running operation the position should follow

numbers successively from 1 to 5. To guide the tape loop at positions 2, 3 and 5 properly

in the direction of travel, the following are the necessary requirements for the linkage:

1 The input crank link must rotate by complete revolution of 360°.

2 There should be a proper timely relationship between input crank rotation and the

position of the path points on successive numbers from 2 to 5.

3 Angular orientation of the coupler link must be specified at each prescribed position

for path generation.

The aforementioned requirements are fulfiled when Stephenson III linkage mechanism as

shown in Figure 1(b) is chosen. As this mechanism is not used nowadays due to

technological advancements, so the synthesis of six-bar mechanism discussed in this

work is not confined to this application only. Therefore, precision points are chosen

independently.

Dimensional synthesis of six-bar Stephenson III mechanism 83

The technique used for synthesising path generators is called as the loop closure equation

technique. The first or starting position of the kth bar can be written as:

Z k = Z k eiθ1 = Z k (cos θ1 + i sin θ1 ) (1)

where i = −1 , k = kth bar of the chain, Z k = Z k = length between the pivot of the bar

and the pivot on the slider in the first position, θ1 = arg, Z k = angle measured to vector

Z k from the real axis of a fixedly oriented rectangular coordinate system translating with

the pivot of the bar (counter clockwise rotations are positive).

For four-bar chain (Figure 2) with link vectors Z k , representing the mechanism loop,

the loop closure equation is written as follows:

4

∑Z

k =1

k =0 (2)

The equation of closure for the four bar linkage in its first position will be

Z 2 + Z 3 + Z 4 − Z1 = 0 (3)

Similarly, the equation of closure for the four bar linkage in its jth position will be

Z 2' + Z 3' + Z 4' − Z1 = 0 (4)

iθ

Using Z k' = Z k e j , above equation can be rewritten as

iφ iγ j iψ j

Z 2 e j + Z 3e + Z 4e − Z1 = 0 (5)

iφ iγ

equation in complex unknowns Z1, Z2, Z3, Z4 and has complex coefficients e j , e j

iψ j

and e .

Figure 2 Four-bar mechanism for writing loop closure equation (see online version for colours)

84 K. Nafees and A. Mohammad

The configuration of six-bar Stephenson III linkage mechanism is shown in Figure 3. The

link 1 is ternary link which is fixed at pivots O1, O2 and O3. The link 2 acts as a crank

which rotates about fixed point O1. The link 3 is ternary link whose point B mobility is

controlled by binary link 6 pivoted at fixed point O3. The link 4 is binary link with an

offset at point D. This point D is the tracing point for which the mechanism is to be

dimensionally synthesised. The link 5 is binary link which oscillates about fixed point O2.

Consider the mobility of the given six-bar Stephenson III linkage mechanism (Figure 4)

between two positions when the crank O1A0 rotates through angle a1 and acquire position

O1Aj. The loop closure equations derived for this mechanism are given as follows:

Figure 4 Six-bar Stephenson III linkage mechanism displaced from home to prime position by δ

(see online version for colours)

Dimensional synthesis of six-bar Stephenson III mechanism 85

From Figure 4, writing the loop closure equations for independent vector loops

O1AjCjDjDoCoAoO1 is as follows:

i (a6 ) j i (a3 ) j i (a1 ) j

Z1 + Z 3 + Z 6 - δ j - Z 6 e - Z3 e - Z1 e =0

i (a1 ) j i (a3 ) j i (a6 ) j

(6)

Z1 [e - 1] + Z 3 [e - 1] + Z 6 [e - 1] = δ j

From Figure 4, writing the loop closure equations for independent vector loops

O3BjCjDjDoCoBoO3 is as follows:

i (a6 ) j i (a3 ) j i (a5 ) j

Z5 + Z 4 + Z 6 - δ j - Z 6 e - Z4 e - Z5 e =0 (∵ a4 = a3 )

i (a5 ) j i (a3 ) j i (a6 ) j

(7)

Z 5 [e - 1] + Z 4 [e - 1] + Z 6 [e - 1] = δ j

From Figure 4, writing the loop closure equations for independent vector loops

O2EjDjDoEoO2 is as follows:

i (a6 ) j i (a9 ) j

Z 9 + Z8 - δ j - Z8 e - Z9 e =0 (∵ a8 = a6 )

i (a9 ) j i (a6 ) j

(8)

Z 9 [e - 1] + Z 8 [e - 1] = δ j

From Figure 4, writing the loop closure equation for independent vector loop AjBjCj is as

follows:

Z 2 = Z3 – Z 4 (9)

From Figure 4, writing the loop closure equation for independent vector loop CjDjEj is as

follows:

Z 7 = Z 6 – Z8 (10)

From Figure 4, writing the loop closure equation for independent vector loop

O1AjCjDjEjO2O1 is as follows:

Z10 = Z1 + Z 3 + Z 6 – Z 8 – Z 9 (11)

From Figure 4, writing the loop closure equation for independent vector loop O1AjBjO3Cj

is as follows:

Z11 = Z1 + Z 2 – Z 5 (12)

where a1, a3, a5, a6 and a9 are the relative angular orientations of links O1A0, A0C0, O3C0,

C0D0, O2E0 with respect to home position. Equations from (6) to (12) are referred to as

kinematic synthesis equations.

6 Problem statement

It is required to synthesise a six-bar Stephenson III linkage (as shown in Figure 5) which

transmit motion along a path prescribed by 12 precision points: P1 (0.747, 0.382); P2

(0.709, 0.363); P3 (0.670, 0.347); P4 (0.573, 0.317); P5 (0.506, 0.317); P6 (0.486, 0.333);

P7 (0.502, 0.359); P8 (0.518, 0.361); P9 (0.599, 0.369); P10 (0.699, 0.388); P11 (0.785,

0.416); P12 (0.833, 0.434).

Designed parameters: The MATLAB code developed to solve the loop closure

equations solves for the following design vectors: Z1, Z2, Z3, Z4, Z5, Z6, Z7, Z8 Z9, Z10

and Z11.

86 K. Nafees and A. Mohammad

Prescribed parameters: The prescribed parameters are displacement (δj) of each point

from initial point P1, i.e., δj = Pj – P1 (where j = 1, 2,...12).

Assumed parameters: The following parameters have been assumed freely: a1j, a3j, a5j,

a6j and a9j. The ranges of variables of these orientations are (http://www.artas.nl/en/news/

item/34-sam-7-0): a1j [0, 2π], a3j [0, π/4], a5j [−π/4, 0], a6j [−π/6, 0] and a9j [0, π/6].

Figure 5 Six-bar Stephenson III linkage mechanism at 12 displaced positions (see online version

for colours)

It is clear from Eqs. (6) to (12) that for j = 1, the number of unknowns is 11 and the

number of equations is 7 whereas for j = 1, 2,…12, the number of unknowns is 11 and the

number of equations is 40. Therefore, for a single precision point, the number of

unknowns is more than the number of equations whereas for 12 precision points, the case

is vice versa. Although, the minimum number of precision points required to determine

the solution of the loop closure equations is 3 but as per the problem, these equations

need to satisfy the displacement along the whole path that is prescribed by 12 precision

points. In order to determine the dimensions of the given six-bar Stephenson III linkage

mechanism that satisfies displacement for 12 prescribed precision points, the following

steps are involved in mathematical mechanism synthesis technique:

1 For j = 1, 2,…12, writing Eq. (6) in the general form as

Dimensional synthesis of six-bar Stephenson III mechanism 87

Z1 [ei (a1 )10 − 1] + Z 3 [ei (a3 )10 − 1] + Z 6 [ei (a6 )10 − 1] = δ10 (22)

Z1 [ei (a1 )11 − 1] + Z 3 [ei (a3 )11 − 1] + Z 6 [ei (a6 )11 − 1] = δ11 (23)

Z1 [ei (a1 )12 − 1] + Z 3 [ei (a3 )12 − 1] + Z 6 [ei (a6 )12 − 1] = δ12 (24)

2 Solving Eqs. (13)–(24) simultaneously with the help of MATLAB code, we get

value of Z1, Z3 and Z6.

3 For j = 1, 2,…12, writing Eq. (7) in the general form as:

Z 5 [ei (a5 )10 − 1] + Z 4 [ei (a3 )10 − 1] + Z 6 [ei (a6 )10 − 1] = δ10 (34)

Z 5 [ei (a5 )11 − 1] + Z 4 [ei (a3 )11 − 1] + Z 6 [ei (a6 )11 − 1] = δ11 (35)

Z 5 [ei (a5 )12 − 1] + Z 4 [ei (a3 )12 − 1] + Z 6 [ei (a6 )12 − 1] = δ12 (36)

simultaneously with the help of MATLAB code, we get value of Z5 and Z4.

5 For j = 1, 2,…12, writing the Eq. (8) in the general form as:

88 K. Nafees and A. Mohammad

6 Solving Eqs. (37)–(48) simultaneously with the help of MATLAB code, we get

value of Z9 and Z8.

7 Based on the values of Z1, Z3, Z6, Z5, Z4, Z9 and Z8 obtained in Steps 1–6, determining

the values of Z2, Z7, Z10 and Z11 using Eqs. (9)–(12), respectively.

8 The link dimensions obtained in Step 7 are optimised using MATLAB code and the

absolute value of each link along with its orientation is expressed in Table 1.

In this paper, we summarise the state of the art in mechanism synthesis by dimensionally

synthesising a six-bar Stephenson III linkage mechanism having one degree of freedom

for 12 precision points. Many researchers have performed the dimensional synthesis work

of different mechanisms, but their synthesis is confined to 8 precision points. In this

work, a six-bar Stephenson III linkage mechanism has been synthesised for 12 precision

points. The complex number dyadic and triadic loop closure equations have been written

and solved simultaneously for 12 displacement positions for which the output link

oscillates. Finally, these loop closure equations are solved and optimised using MATLAB

code, which gives output of design vector that represents the link lengths tabulated in

Table 1. The final solution is also shown in Figure 6.

Dimensional synthesis of six-bar Stephenson III mechanism 89

Table 1 Final vector representation of each link with its absolute value and orientation

Vector representation of

each link Absolute value of each link Orientation of each link

Z1 = 0.0878 + 0.1596i |Z1| = 0.182 ∠Z1 = 61.12°

Z2 = 0.3875 − 0.0281i |Z2| = 0.389 ∠Z2 = −04.15°

Z3 = 0.4303 − 0.0969i |Z3| = 0.441 ∠Z3 = −12.69°

Z4 = 0.0428 − 0.0688i |Z4| = 0.081 ∠Z4 = −58.11°

Z5 = 0.1875 − 0.3135i |Z5| = 0.365 ∠Z5 = −59.12°

Z6 = 0.0843 + 0.0147i |Z6| = 0.086 ∠Z6 = 09.89°

Z7 = 0.2149 + 0.2906i |Z7| = 0.361 ∠Z7 = 53.52°

Z8 = −0.1305 − 0.2758i |Z8| = 0.305 ∠Z8 = 244.68°

Z9 = −0.1088 + 0.3895i |Z9| = 0.405 ∠Z9 = 105.61°

Z10 = 0.8419 − 0.0362i |Z10| = 0.843 ∠Z10 = −2.46°

Z11 = 0.2877 + 0.4450i |Z11| = 0.530 ∠Z11 = 57.12°

Figure 6 Six-bar Stephenson III linkage mechanism representing final dimensions of each link

References

Acharyya, K.S. and Mandal, M. (2009) ‘Performance of EAs for four-bar linkage synthesis’,

Mechanism and Machine Theory, Vol. 44, No. 9, pp.1784–1794.

Bulatovic, R.R. and Djoedjevic, S.R. (2004) ‘Optimal synthesis of a four-bar linkage by method of

controlled deviation’, Theoretical and Applied Mechanics (Belgrade), Vol. 31, Nos. 3–4,

pp.265–279.

Erkaya, S. and Uzmay, I. (2008) ‘A neural-genetic (NN-GA) approach for optimizing mechanisms

having joints with clearance’, Multibody System Dynamics, Vol. 20, No. 1, pp.69–83.

90 K. Nafees and A. Mohammad

Laribi, M., Mlika, A., Romdhane, L. and Zeghloul, S. (2004) ‘A combined genetic algorithm-fuzzy

logic method GA-FL in mechanisms synthesis’, Mechanism and Machine Theory, Vol. 39,

No. 7, pp.717–735.

Mohammad, A. and Kumar, Y. (2013) ‘Dimensional synthesis of six-bar linkage for eight precision

points path generation’, International Journal of Mechanical Engineering & Technology,

Vol. 4, No. 5, pp.279–285.

Sandor, G.N. and Erdman, A.G. (1991) Advanced Mechanism Design: Analysis and Synthesis, 2nd

ed., Prentice-Hall Inc., Englewood Cliffs, NJ.

Smaili, A. and Diab, N. (2007) ‘A new approach to shape optimization for closed path synthesis of

planar mechanisms’, ASME Journal of Mechanical Design, Vol. 129, No. 9, pp.941–948.

Smaili, A., Diab, N. and Atallah, N.A. (2005) ‘Optimum synthesis of mechanisms using tabu-

gradient search algorithm’, ASME Journal of Mechanical Design, Vol. 127, No. 5,

pp.917–923.

Ullah, I. and Kota, S. (1997) ‘Optimal synthesis of mechanisms for path generation using Fourier

descriptors and global search methods’, ASME Journal of Mechanical Design, Vol. 119,

No. 4, pp.504–510.

Zhou, H. (2009) ‘Dimensional synthesis of adjustable path generation linkages using the optimal

slider adjustment’, Mechanism and Machine Theory, Vol. 44, pp.1866–1876.

Zhou, H. and Cheung, H.E. (2001) ‘Optimal synthesis of crank-rocker linkages for path generation

using the orientation structural error of the fixed link’, Mechanism and Machine Theory,

Vol. 36, No. 8, pp.973–982.

- How to - Chain AssemblyUploaded byAkshay Dolas
- Inversion of 4 Bar MechanismUploaded byMegh Bantawa
- Mechatronic Systems for Machine ToolsUploaded byphuongdx
- Structural Model for Conceptual Design OfUploaded bylizhuerta
- Final Ppt on AutomobileUploaded byHarpal Gill
- Welding electrode Rod MakingUploaded bylogosweld
- Raste Gar 1989Uploaded byAnik Sarker
- Economy of machinery and manufacture.pdfUploaded byped376
- MC-SMO-SYS_01_04Uploaded byRafael
- Quantitative TechniquesUploaded byAravind 9901366442 - 9902787224
- Alignment Test ReportUploaded bySharath Chandra Palle
- Prob 7-03 to 7-04 _ 7-11Uploaded byJorge Rivera
- Thèse Gustavo MendozaUploaded byLuis Horacio Martínez Martínez
- xingchen fan - resumeUploaded byapi-241629040
- 6 IC GeneralUploaded byDrek Greig
- MOM QBUploaded bySriramulu Jaichandar
- Design Ooptimisation and Buckling Analysis of Tube in Tube Drag LinkUploaded byVrushabh Sahare
- Sprengel FordUploaded bylumas
- trouble shooter reportUploaded byapi-248609541
- Tecnotion Inverts Linear Motor PrincipleUploaded byjames<XIII
- ME2203 am 2010Uploaded byVenkatesh Rajamani
- Need of Intermittent MotionUploaded byMegh Bantawa
- Machinery Guarding Your Practical Guide AxaUploaded byYalla Chaitanya
- TechEd SampleUploaded byFrancisco Javier Martinez Mattos
- 5 Tejinder SinghUploaded byVarun Kumar
- A Brief Look at Intersective PropertiesUploaded byEric Bakovic
- College 3 (Planning)Uploaded bystaryk
- STTRAM_Study_20100120_v2p1Uploaded bySaransh Parashar
- Evaluation Date- Final (1).pdfUploaded bySourav Panda
- PSP for MacOS ManualUploaded bypolo2718

- Meng 2013Uploaded byFiandjafar
- Usd 827969Uploaded byFiandjafar
- 1Uploaded byFiandjafar
- skripsiUploaded byFiandjafar
- Mohammed 2013Uploaded byFiandjafar
- Dry Block Heater.pdfUploaded byFiandjafar
- Nam Dar 2013Uploaded byFiandjafar
- f 101175112642938Uploaded byFiandjafar
- f 101175112642938Uploaded byFiandjafar
- Tuning Material and Component Properties to Redu 2015 Case Studies in MechanUploaded byFiandjafar
- Editorial Board 2016 Case Studies in Mechanical Systems and Signal ProcessinUploaded byFiandjafar
- 1-s2.0-S1877705814010492-mainUploaded byFiandjafar
- Numerical Investigation of Linear Particl 2016 Case Studies in Mechanical SyUploaded byFiandjafar
- A Comparative Study of Adaptive Filters in de 2016 Case Studies in MechanicaUploaded byFiandjafar
- Design Simulation and Comparison of Co 2016 Case Studies in Mechanical SystUploaded byFiandjafar
- Content List 2016 Case Studies in Mechanical Systems and Signal ProcessingUploaded byFiandjafar
- Canuto 2013Uploaded byFiandjafar
- avci2013Uploaded byFiandjafar
- Analysis of Tri-Star Frame in Stair Climbing Hand TruckUploaded byFiandjafar
- f 231115104129768Uploaded byFiandjafar
- f 167511124938102Uploaded byFiandjafar
- f 104671123119582Uploaded byFiandjafar
- Ruk Kuman i 2014Uploaded byFiandjafar
- Pal 2014Uploaded byFiandjafar
- Mariani 2014Uploaded byFiandjafar
- Hamza h 2014Uploaded byFiandjafar
- Ceccarelli 2014Uploaded byFiandjafar
- Orsino 2013Uploaded byFiandjafar

- 5.dünya kongresi sunumlarUploaded bycerpily
- DMLec03handoutUploaded byDevang Kangad
- Kinematics of MachineryUploaded byumeshck
- 126 DesignUploaded byibrahim
- halagelUploaded byHakeemi Baseri
- Solid Works Motion Tutorial 2009Uploaded bytornnado_
- Kinematics of Machines Me 2203Uploaded byRam Ac
- Homework 1 SolutionUploaded byMrinmoy Saha
- dom-11Uploaded byravindrababug
- Degrees of freedomUploaded byReyner Loza
- Lecture03- Dynamic Force AnalysisUploaded bypoh
- Define the Term Degrees of FreedomUploaded byds_shiva
- Box Transport MechanismUploaded byInzi Gardezi
- Me6401 KomUploaded byaruunkumar1985
- kom Unit-IIUploaded byRamanathan Durai
- Chapter 5Uploaded byEric Johnson
- Mechanisms and Mechanical DesignUploaded byNizam Institute of Engineering and Technology Library
- Compliance for a Cross Four-bar Knee JointUploaded byTudoran Marian
- LengFengLee_MAE412_FinalReportUploaded byMohit Jain
- 10 Exercise 5 Acceleration Analysis of MechanismsUploaded byMohamed Mostafa
- EXP 1Uploaded byMuhammad Moin Khan
- KOM ProjectUploaded byArvene Binmer Jesary
- Four Bar LinkageUploaded byAnupGautam
- me2302-lnUploaded byManoj Balla
- Static Force AnalysisUploaded byaychiluhimhailu
- Mechanism AtlasUploaded byrodrigoipn
- Problemas de Dinamica de MaquinasUploaded byUlises Castillo Flores
- Dom Term PaperUploaded byShobhit Aggarwal
- Chapter 5. Planar LinkagesUploaded byBasudeb Shit
- landing gear project reportUploaded byAyaz_Hasanji