Link Lengths (mm): Link mass (Kg): Inertia

Link1 D 220 0 0
Link2 A 45 0.9 0.0055
Link3 B 160 6 0.02
Link4 C 110 1.1 0.009

Input values
Input angle (radians) 5.4977871440
Input angular velocity 30
Input angular accelera -20

140

120

100

80

60
y

40

20

0
0 31.81980515 113.5978418
-20

-40
x
 chart Data x y
p1 0 0
p2 31.81980515 -31.81980515
P3 113.5978418 112.674444
P4 110 0

Column I

113.5978418 110
K Values
K1 4.888888889
K2 2
K3 3.72979798 Theta 31 Theta 32
K4 1.375 -0.4463018037 0.7813172715
K5 -4.439236111

A -1.86619769
B 1.414213562
C 6.497366525
D -7.648746395
E 1.414213562
F 0.7148178207
Theta 41 Theta 42
-1.980848309 2.315863777
 Angular VelocitiesLinear
Link 3 -0.3404217884 -54.46748614
Link 4 -12.28069292 -1350.876221
Aa 80.85463883
Ba 112.674444
Ca 40535.55403
Da -74.582353
Ea 113.5978418
Fa 40208.61223

Angular Acceleration
Link 3 -356.7280933
Link 4 4.222571171
 LINK 2 LINK 3 LINK 4
MASS (kg) 0.9 6 1.1
IG(kgm^2) 0.0055 0.020 0.009
CG 22.5 70 55
R23,(mm) 70 0.0872664626

Body 1

R12,(mm) 22.5 R12X (mm) -16

R32,(mm) 22.5 R12Y (mm) 16
R32X (mm) 16
R32y (mm) -16

AG2(R) -14637.11037
AG2(I) 14000.71427
AG2(Mag) 20254.99938 mm/s^2
AG2(Ang) 136.27303 Deg

AG2X -7630.417224 mm/s^2

AG2Y -18762.77519 mm/s^2

MATRICES
M2AG2X -6,867 1
M2AG2Y -16,886 0
IG2α2 -0.11 -16
M3AG3X-FP3X -34.22963901 0
M3AG3Y-FP3Y -480.578195 0
IG3α3-T3-RP3XFP3Y+RP3YFP3X -233256.9496 0
M4AG4X-FP4X 49 0
M4AG4y-FP4y -57 0
IG4α3-T4 - RP4XFP4Y + RP4YFP4 -13 0
 MATRIX B Inverse
F12x -8863.64513527 1
F12y -15241.8196126 0
F32x 1996.269633272 2.06620948E-17
F32y -1644.67805736 0
F43x 1962.039994262 -2.06620948E-17
F43y -2125.25625236 0
F14x 2010.684642522 -1.82581294E-17
F14y -2181.92398401 4.21933682E-17
T12 -389109.493506 15.90990258

Forces(N)
F12 17631.71206
F32 2586.514713
F43 2892.458311
F14 2967.093697
T12 -389109.4935 kg⋅m2⋅s−2
 T4 10

FP 1200

Body 2

R23,(mm) 70 R23X (mm) -45

R43,(mm) 70 R23Y (mm) -53
R43X (mm) 45
R43Y (mm) 53

AG3(R) 15582.62563
AG3(I) -18371.15818
AG3(Mag) 24089.78361 mm/s^2
AG3(Ang) 130 Deg

AG3X -1711.481951 mm/s^2

AG3Y -24,029 mm/s^2

MATRIX A
0 1 0 0 0 0
1 0 1 0 0 0
-16 16 16 0 0 0
0 -1 0 1 0 0
0 0 -1 0 1 0
0 -53 -45 -53 45 0
0 0 0 -1 0 1
0 0 0 0 -1 0
0 0 0 40 37 40
-1.11651019E-16 1.39563774E-17 0.5 -0.42303888226 0.009356454674 0
1 -3.60944814E-18 0.542049396323 1.458615941499 -0.01014332122 0.542049396323
2.06620948E-17 4.62082669E-18 -0.5 0.423038882258 -0.00935645467 0
0 3.60944814E-18 -0.54204939632 -1.4586159415 0.010143321215 -0.54204939632
-2.06620948E-17 -4.62082669E-18 0.5 0.423038882258 -0.00935645467 0
0 3.60944814E-18 -0.54204939632 -0.4586159415 0.010143321215 -0.54204939632
-1.82581294E-17 -1.14113309E-18 0.5 0.423038882258 -0.00935645467 1
4.21933682E-17 2.63708551E-18 -0.54204939632 -0.4586159415 0.010143321215 -0.54204939632
15.90990258 1 33.15780875809 32.95186025319 -0.02503794004 17.24790617809
 Body 3

R41,(mm) 55 R14X (mm) 37

R34,(mm) 55 R14Y (mm) -40
R34X (mm) -37
R34Y (mm) 40

AG4(R) 5453.377156
AG4(I) -6254.527743
AG4(Mag) 8,298 mm/s^2
AG4(Ang) 131 Deg

AG4X 5404.960918 mm/s^2

AG4Y -6,296 mm/s^2

0 0
0 0
0 1
0 0
0 0
0 0
0 0
1 0
37 0
-1.11651019E-16 -3.48909435E-18
0.5 -0.01340799747
-6.6481609E-17 4.15510056E-18
-0.5 0.013407997466
8.78790316E-17 -4.1193296E-18
-0.5 0.013407997466
3.65162589E-17 -1.14113309E-18
0.5 0.013407997466
15.90990258 -0.42663986694