An outdoor pull-up exercise machine is shown in the pictures. A schematic and
vector model with labels for this mechanism is given. Also note key link parameters
shown in the table. NOTE that all angles are given in RADIANS. Answers for angles
should be entered in RADIANS.
Solve for the parameter rky that shows up in solving the loop equations. Use the
method covered in class.
Assume that the input, link 2, angle is given (theta2a). Assume that theta3 is
considered as unknown angle 1. Write your loop equation in a clock-wise direction.
Given data is here and on figure and table. r1 = 142; theta_1 = 1.5009; r2a = 35;
theta_2a = 0.9425; r3 = 108; r4 = 66;