3.

Position Analysis

3.1 Vector Loop Representation of linkages

An alternate approach to linkage position analysis creates a vector loop (or loops) around the
linkage. The links are drawn as position vectors which form a vector loop. This loop closes on
itself making the sum of the vectors around the loop zero. The lengths of the vectors are the link
lengths which are known.

Fig 4.6 Position vector loop for a fourbar linkage

The above linkage position is defined by the input angle W3 and W4. To find the unknown
parameters we must derive an equation.

Vectors can be represented by polar coordinates, by their magnitude and angle, or by Cartesian
coordinates as x and y components.

In the complex number notation i component is called the real portion and the j component is
called the imaginary component because j is √ .