Question 15: Domain Ability A four-bar linkage mechanism consists of four rigid bodies...
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Domain Ability**
A four-bar linkage mechanism consists of four rigid bodies connected by three revolute joints and one prismatic joint. The fixed link is the frame of the mechanism. The lengths of the links are as follows:
- Link 1: 100 mm
- Link 2: 150 mm
- Link 3: 120 mm
- Link 4: 80 mm
The prismatic joint allows for linear displacement along its axis, and a hydraulic cylinder controls its position. The mechanism is initially configured in a certain position, with the prismatic joint fully extended such that the distance between the fixed link and the end effector (Link 4) is 200 mm.
If the hydraulic cylinder retracts by 60 mm, calculate the resulting displacement of the end effector (Link 4) from its initial position.
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