... using the approach of equations 5.27 and 5. 18, bychanging W to U and Z to S and using the definitions of the constants given in equation5.30 in equation 5.27.It should be apparent that there ... respectively) on the coupler (link 3). We wish to solve for the coordinates of vectors W,Z,D, and S, which define not only the lengths of those links but also the locations of the fixed pivots Oz and 04in ... made to constrain the problem to a particular solution out of the infinities of solutions available. In this case the values of link angles ~z,~3'Yz, and Y3have been chosen to be the same...