Machine . - _ ee ) G Mechanism pte, - Came Ye bar metheaism — Shider Gah Ell Machine m™ “ b, Ns ply ptl St oee Sone lena Mechan( sm Fe 2h le dpgy Lraks Cone of Dims Phe ground rater connected by points unk ¥ y : gone} ‘ lat ge) M cota) rage € nel off Revdute = Pin oe Yposy pg, <= AWM as 0» 7 MA EUBS, anon Lo Le independat DoF = Reyres oP freden bev. vey tl be PAM MeL sill yeSEOUL EEL EEE eke b eee bee e eee e ceeded Slider Ceenk mecheayp g' op tebe Type a posh fey bt Rewlie Tout (Rabon ong) a 4S SY lat on i, of jot Roschate péiinh (pm Joint Dob om number of inclofor danf Para me fe or (lea hols necked fo eater fre mecanersme C joint) > fevlitetimt Of 4 cote og Q@ Prismatic pint Pegi, Ip oll) 2,9 binke x Tee A igh Cnet Sy Dee a Dof = 4 isce |. ; © oy Nrndoriva ( Joint lek plinhe Transla hon F Ro ta ton — Plerar Mec hanisem 20 sfse BD Spore Dotag Pof = 8 fobetowet gaint (ce tanshfon ton) . C+ a fn PEK BAA) Ov 028 ahh gel J cs (DP. ‘Pherial Feit PoP = 3 “ Slog, HIP dys : BD Helical Gaints eye! oop Dot = | PRY SA Ga ole > Dv AGRI iRolia witlead 1 siping iy ae Shas | Guid) a Peaetratyon Niet hor Sepera hin) —__ J 2g, Se, O48 age? Rolly) DMF date y V2 — Dof <1 Q) folly with sh ching confect) _ aa tle! yorgall ~4/ oe = Dede ge cash silty “3 09 63 gpa? onde) Igh CT a Blog EL Tse berate liok@ Coround) B bok@ (am) => Revelutect Joint PPT ELT Bl TTT Tat | : Def =1 ee (. lyk@ acme Paeai et 7 ef A 2 bieK® f ink G@ = hls with chili s hicks © gate ¢ J ope4) bbau\ Mob ly = ™ Ze Seats 2 fs - al? Wy Shy Pinion eee w= & “ Jps “4 Powerg,) = Surrey \ Ty Th Lage) Slipplng J! eo? DQ ; a _ellisg soith SSppty : | | le tem gia aaneann ee ek5) 9 a 7 = Job bd dH KHHGHEHKHAHOHAHHHHOUGERSAHOeNeE” Moby 2) A sei futher aff tadeporkas pocareles Ncecles) fe canal the olin of the yneehanesim - a = ett Wmv bo Sits 3 Wa : a os eh Rane EO 7 Ww is tnumbor of Libr enchdecl tre ground ( Bed a = é Ohe_chegrens ed Freecom Feouhh - No ot Toute. degrees P recom aunts, i a _ ; T= = ma 2% Yel) = 74M -o _ _ tes - flee ” ed PS 2b ap M pe => pewnetes =. eaclab i ‘nal the ice hens we Shite cae (a wrohibn) 7 - we Ze ants stachically ince tev initclel - aesos aggro . ze No yo hon il 28) oe. 28) ow —@ @ Ne 4 Tye - og cut) 2 = : x Yo _yrotin prints Jeunt CadArag Wak Mecham a d Gin Gy 97 _ Mee 7 _ IF {ome ~ 20) = “Rally oh shal ; ) a i a - “Rati witheet s\obin __ Cron moing. mechagifin) aefalling so et lity “Noe a st REO hr A HF CH CW-| ay - Ky i ao avthank Shay ~ aes —! gear i 4,eel yj Rolling or Thout Shabety‘ ve bar machan srt 2 9 Lope BH Rr meer — BD pasition d Smelter cond igure bom 3) Deo pare 1) Franomirt™ angle coxplen = | foKer| ° cw fh ee “on Ts = ; of gilapll ; " Sdpn57 55) Loe ld rewluchea Cenk Link@p. - ose Naber 2 Roche Crash ft oriberion Ss thoy test Linh Ls loyyest ae \| Puy = te fhe — frre Laks - Sele Pep => Geashili gawme chons'sen => at least ne Linh Gan Mall Acomblet revelubron| |Sy > Peg No link wan ticle opel Mevei, = Sephiet see Py 66 lest one \rak Ty, pes soft — Pesto settonce ® S4L > Pag == Craghalt mechan an make acomplete Revohatvon, a (pee recher | Cnon- Crashof mechonesn) Cre lak Kan deo ic 4 S, a Cam plet veuehiie Ee (ksBZ Srl i< Prf Shey bet lnk one PP side Links = => \ak= YacKeer Mechane Fer | => Unk @) makes OPE revel z . —_ leat) | ry 4neev eee Ey) Drates? Unk @ 1S the sma ( Sy Dowbl crank i _ side links make aa K revaluation. (| OQ Shorlat Unk is The Guplon sf ot pe # | = @B Conger makes acompet etek fren => Dowble vache = BIG Ada ies5 Chan f point Mec han btn fr : 2 e Salt = PEL - = 7 wA\ kal» Px, Cyt prtee oe) $y pesha” = —— =f = carn tits feet beezlf by 1 Cramke pace mechameron b= lane eh nak. and min. Cy 2 % me 2 Badan - _ Ayr Ka I 2 Qu aor 2 — Pep COn) rnin —d— A nag— Ss eyo ORNs sheeched = ya ap ae pout Kg ab KO Flakes wally tice ye e ne ah C5 C%max) phouuvvneem MT aKaa = cot [Fah Gas!) Ht Lwin ahs) Op tbe © vf td min Gag 4 Or = (¥o +8 FinB Sp = SSO, Crarh anffle io eere. Sia emia | T passay sin Ls Japet (Foe crank Cakes & com glel revelutisn) ~ at plib ys Py Rocker : a A> 7. \¥o — Amin Cte . Selah on Ber & cerighe C CrenW—-Recher mechani ie | Feist tron eee — the coufler fransmite the mothin fron The Cvank The Nn ~—| CRrRRRRRPPRee f - Te Fib sia A 2 ae PR Xk huey wpill sae Cae “will clecreos. A =do a> Tf ek 7 Te: pest Began ]to— 4} Zoe Oa lilly 2h Beal wa XS IMs >The _miaiun fF manne cf Showlh be caleulehedt Shen inkOF@ ape. oS = XK max r Es — tall shreched — oe S tigate el Cb 2ch co vere : ote a +) Boyx mia => %, = Os roy) ae —— | _ Tata ET / aed peqfioit fe Ws Mbe! ») . Las salah ce deh pul poke ask D272 Er? ys ALY = A xr Oy> al : ae acm Babe echanesiv- P Fe Time of wasks Time of wark : _— SS Fie Deh awe er sto Ke @ Hl ty = Coastal 5 Y, - tao? Oo. W, : . ; lee pe \ - 7 7 mil cesllive9) Siler SJ) 6 ph Seale HS) e@eD, Extrem Rrght posibn oy - hbo SAY ler gg Si 02 pe ( lb 08) ce NBA I}) aSPosition Apaly sis : “ ees ~ CMethedle) — eae Algebraic Approach = - ne p= 1 @e +5 300) - - we i aFrye. @ “! JO - are 2 7 oh Pens ag 2. ier Pe yes pro Ah Sole — et - = = maa beep ep elon ag ) 7 8 ao -f - 3 Or vO4 iO) a , 4e pd cd ide® —o 4 Lopate 7 > ; i mated Be EB 9 4 Degree of Freedom > Gabel fhe Va Oz ~» OF Cu 2 canbe. dlefarrarned . - _ > 7 a ne ae = = ie : : __ eeu e | 7 " — - Cm cons bent Cthe Ligthef Dre Ling a =) bs - L, 7 A 7 7 2 Si - af de a > oS ae > ¥ : - =) — 3 = |© Coos rp)! a i é *5in 2) 4b C£2s8y gy nO pnt ney “ @ = ce _ - = aloe al sin Jae BZ _» Real re $ z c ae at, | 4. Sia eb @ 503 COBY rb) ae = Ec piinngy part : =| & Br + bs n@s.—c¢ cua By. bas p= why + B-A age isi bon Bs =< sry + D-E eae OR Ce ae Beer | | | | +1: , J > > 3 3 Ceaneteical ftethade rE - - gies e Pra oF - . 2 Le _ - - ; 6 oi Click ‘yg pital ee sinh ee os Ve - Je weiss oR ll eed su B ; 7 Or = Mak Wo Vx = <= &b 86 19 Yoke oh ye I MechanicE BP eet GUL us Ex gab et fpssitite vie pe tt ine cyze) Licker Gaak mechahiim- i ~ —__ Pasthsn analyser a = : ee / — Quick fobun methans’rm _ aA byl Shroke -. z= Aishece befweea— the - tuo ‘thence lehe .. = Cth) -Cb-a) = 24 “ Ba “Ces s (4A), , SOM) - DER, aon, 5 Uber I gil5) shater fared - - || : | | | = oe Qurcke Retum — mechempren _$- - a A-| Dry Linke “mec heim | otf : ss, - aaa eer | be BSI | f (extreem Right ih Ow rt - Ow > Rant time yates aa gp oTuve Sth A Return - -BI bb cep pe shder Comgtmestore it We 4 i Ceank =theper Mec haa''se—— Req (Ey exhrem belt OR 2b +P GO, =%70 8 Proverb = tu 28- Rehm = Be-O.= 28 iy he Tine Ration = 34 = 28 Nee ; IRSigler Keak wechnten =e fan p_citallas ) 25 X= &@O2 +h Cos a = b_ a Sw sing Sah = A sing ‘ete b Ke& Gib, 4 bf ime Sin @y - en 6 Waa oak Be, aK a 484 7oe Kd K cs ¥— Csr Bt= xX ae 5 © oat nh = KstaY ae VO Ar = CSM +K CoS % - Cc cos Anh = Kin C - PA Je YI f {— ae Stroke = Ye x ~ Sticke = esin&oop oer Tt yy ye dA “ee sttoisit i e _ aay line Mechanisms 3 — Approximate Straight Lise, Frid = prem a aaa totes 7 —_ hy ff jue ba Leben . ye ep - = 7 re ‘ ta peo —_ be “iil 7 Ga Vee! 1 strat Lire nimate oe X Xa FIT? | a> aqueue 7 f Yipes A on Se ae . = Bina :ebay ond acccladion faelysiss _—|L s mie — Relative motion analy ss: Y=, at Yw=eWe Ves, = al _ Vy 5 Ww, x % — Gaplex nomber analysis _+ JOr jo, SOY JON _ —de ae ~be xe +d ea - Ue . JO D ©, AO we . 4&6, $+) nla) 9. A bl\a, 11" 2A (Or, 2A) gnc Coil cr A B= AC O82») - ‘a ema aew 0 = [or b as6s at cosy . / | b sin. -€ wolf _G - (6. a 10456) el wan maeaeeeeeeeeaeene- C veleerly # ectth shen = Velaily acebathy at =F pth ees “medhade Falygan: *) =F. Ly Veloity = = Hise PAE, On 50. e 2 +V, np pitts x 7 4 peat vinegar 2 Bh 2 v soy te Y= Vy Alo =h- Ve Vy = eo hy V, = Wty Vo C= Yy © Yop ‘en s Wy ly W3= ald "On Vv; Ve = 28.» 6. iy ae «Meare ‘aN Ht iz Cod x celle4 Je see _ Scale \eoanls = Ee) Aad : - = - = = ass - - - 7? - - Gc £60 Ay - Ww ac yaad Ce 5 0 e - - 8 i 60 an - falow, - a penn - - = Des: Ve ia " - ; —— 2 : Woe Hep 7 - , © = US pilD Bep=30 L = ap Bes 3e. » Ov : = ~ - ys Ss : = ee je - 5 ae : ee ee oe a ee ey =] Ve = Ja Vefp- oe < ss = 3 ~ e 2B gay, - 3 y 480 mos — = 7 a S — Vey = Br mms - ; a Bo x * — Wee a Ven Stk he al Negri ; 2 fg a . = sil 7 - i: ‘iam z= bes ug = Lie vat fs - ; Wp Go mals — : agEB Ve Wy 2 Ve = Ven : Tre V—= Yue = Wy BUY Vo = Ms Fe eda GAG heF:2.2 6 — - Chan agin == Mgoam Ww = Qo radfs Cov ~Comect'y pda lém si - - chteraid fhe point Eon the cepnec hy od thet has the Leaves Myo Bot tee Yoo wnfe — _ 42eonals FeeAt the contact povat 8 et D) without Shipp = the velocity 1 epaad eb bith a on et ee | Vp, Wy = \, aad abe ; te accclaahin 14 The Contgnon lyjeat clireetin => a =G) 5 with sping f- Von tt the Gorman fegeet lives Vile = We “Sot +—— 7 ce fopent pete wh, ti Y NePion shiler Qoion AR — pa Geomm We = 2lorpa yy ee Y- Vg =p Yap W, = Zlo rpm _ = Alor 42 mn &a _ = 22 raolfs = Ve =\p + Vere = Up = W, # Leos 22 Ldoe = UYoomm|s §Scale___loeo mm/s —=> 2. a Van =Vayp- = # fas = ae Te RA es Fbo0 wnly se fhieTastet Grater + Tin fECs 4 OD) Mrpernat_Tnsdeat crt o At fre Pins @ At contact w/Thout slipping N= n(n) ny # of i bocljes ine lacy the Fiteol 0€ Ni de ot tostrat center Frampfht> FM bee —enslewine N= naa = 4Cu-) 6 - L“oem 5 wen ie z ji a aa ae *o a aco? fela)oor. ap pele sye i) 3 pects ia the plane have 3g Nhat conken hot Ue on astrapht Line J 7 f = 7 == pe BA dais ALT ge a2 I, ate ciiee Tere Bea) j pees See - a eee was BE s4,]Co4) “ Se ; suet! Te Pr oy PON ee oa Tes/ : - © Qeoithont Shepiag Sih Thowt —— | elt - 7 otius ellen lee - + - ; ; : cv) Contact without _ ralling csvith slickisg = track 2 é conn _gaill fegert Qow ta cWeees a8 g ; : Le con Bupa line — aperpenclrcalar to fhe amen tepent (EW) at. fhe center of curvature of the Path. —C2eya) \f - - :# 7" x - i - has) Hee genter lie on — | te a - _ Aj Wg po get HO leia gg?) — 7 q o stragy4_Line C sae ge Hove peg) a > = 22 a pss on Nr cae - - _ = . ~ 7 : 4 : 7 3 — 0 3 23h 5 7 2 ; x 2 = Lf ( 3 (a lag, IC o Fs AESp ae a nv 2998 __£Cy Tes brs ite Se ay : Ces) sleeper oes 7 ——_ _ +& Sleler Crane thee Kanrsen to YC aa) > Lins herg : reg 1 Tw, Poa Pat Gh \ were KOs )et \ ob gt ph pro %? 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