# Robotics nerd

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1. ## 4 Bar Linkage Problem

Anyone trying to solve a 4 bar linkage, can look at the file I have uploaded. It contains enough information and an external link to a PDF file that helped me in solving my 4 bar linkage. Solving 4 bar Linkage.pdf
2. ## 4 Bar Linkage Problem

Dear Drd, Thank you so much. I solved the problem by the following steps step-1 ) do vector loop analysis and get two equations(x and y) step-2) derive freudstein equation and simplify into 2 variables ( squaring and adding equations and removing 1 variable using trignometric identities) step-3) use half angle identities to get the desired joint angle as a quadratic equation whose coefficients depend on independent variable and link lenghts Your derivation is better! i will use both and see the results. Thank you again : ) Best Regards, Nerd
3. ## 4 Bar Linkage Problem

Dear DrD, Thank you for the response. I have gone through the posts in your blog. I can do the displacement analysis based on your methods by using vector loop equations and using the x and y parts separately to get two equations. The displacement methods assume that the given or known angle is the input crank angle. In my case, the motor is mounted at the joint joining the rocker and coupler. I can not measure the crank angle because it is a passive joint. What do you suggest for such a situation? Thank you.