By Sanjeev Sharma

The publication offers idea all in favour of lots of numerical difficulties. Questions on the topic of the subject on the finish of every bankruptcy also are given. Solved query papers of earlier years and significant formulation are appended on the finish of the publication. Salient good points greater than 500 solved numerical difficulties. difficulties of GATE and different aggressive tests. strategies and dialogue at the UPSC difficulties and strategies. common tips to clear up the tough difficulties that would aid the scholars not just within the college assessments but in addition within the aggressive checks.

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If it is desired to obtain the crossed 4-bar solution, then a procedure similar to the one above is used as shown below. 12), the angle ϕcd will typically be between 0 and 180 or π radians. Completing the analysis leads to the following with the calculation for L3 being a check for your work. 12 Crossed 4-bar Moving back to MATLAB, and noting that the code is only slightly different, produces the following where L3_check must come out to be the same as the original L3 value. If not, there is an error in your solution.

If the two roots are complex (has imaginary terms), then the 4-bar link has no solution for these links and this θ2. θ4 = 2tan −1 − 2C3 ± 4C32 −4 C1 −C2 C1 + C2 2 C1 − C2 or 21 θ4 = 2tan −1 − C3 ± C32 − C12 + C22 C1 −C2 Where C1 = L21 + L22 + L24 −L23 L1 L2 cos θ1 −θ2 − 2L4 L4 C2 = L1 cosθ1 −L2 cosθ2 22 C3 = L1 sinθ 1 − L2 sinθ2 Now going back to the original equations, we can solve for θ3 by dividing the first equation by the second equation. sin θ3 L1 sinθ1 + L4 sin θ4 −L2 sinθ2 Δy = tanθ 3 = = cosθ3 L1 cosθ1 + L4 cosθ4 − L2 cos θ2 Δx 23 If we use the ATAN2 function, then it is assured that the angle is located in the correct quadrant; otherwise we need to pay attention to the signs of the numerator and the denominator to correctly determine the angle measured from the +x-axis.

0 mm, θ1 = 0 , and θ2 = 60 . 33 is drawn roughly to scale. , θ1 = 0 , and θ2 = 60 . 34 is drawn roughly to scale. , θ1 = 0 , and θ2 = 60 . 34 is drawn roughly to scale. 0 mm, L3 = 124 mm, L4 = 115 mm, θ1 = 0 , and θ2 = 60 . 34 is drawn roughly to scale. , θ1 = 0 , and θ2 = 142 . 35 is drawn roughly to scale. , θ1 = 0 , and θ 2 = 142 . What are the two lower limit extremes for the transmission angle, μ and μ , between links 3 and 4 if link 2 is allowed to rotate through a full 360 ? 0 mm, L3 = 160 mm, L4 = 120 mm, θ1 = 0 , and θ2 = 140 .