Sl. No.

Parameter

Description

Original Value

Optimized Value

1

r₁(mm)

Length of fixed link

600

540

2

r₂(mm)

Length of crank

100

90

3

r₃(mm)

Length of coupler

400

450

4

r₄(mm)

Length of follower

320

270

5

r₇(mm)

Length of fixed link

500

450

6

r₅(mm)

Length of coupler

500

450

7

r₆(mm)

Length of follower

330

330

8

r₁₀(mm)

Length of fixed link

600

540

9

r₈(mm)

Length of coupler

550

500

10

r₉(mm)

Length of follower

400

360

11

m₂ (kg)

Mass of crank

0.36

0.36

12

m₃(kg)

Mass of coupler

1.296

0.75

13

m₄ (kg)

Mass of follower

1.046

0.75

14

m₅ (kg)

Mass of coupler

0.36

0.36

15

m₆ (kg)

Mass of follower

1.046

0.75

16

m₈ (kg)

Mass of coupler

0.36

0.36

17

m₉ (kg)

Mass of follower

1.046

1.046

18

δ₂ (degree)

Structural angle of crank

0

0

19

δ₃ (degree)

Structural angle of coupler

0

329

20

δ₄ (degree)

Structural angle of follower

0

0.016

21

δ₅ (degree)

Structural angle of coupler

0

0

22

δ₆ (degree)

Structural angle of follower

0

355

23

δ₈ (degree)

Structural angle of coupler

0

0

24

δ₉ (degree)

Structural angle of follower

0

0355

25

Ig₂ (kg m2)

Inertia moment of crank

4.13 x 10-4

2.0 x10-4

26

Ig₃?(kg m2)

Inertia moment of coupler

1.87 x 10-2

0.008

27

Ig₄?(kg m2)

Inertia moment of follower

9.87 x 10-3

0.02

28

Ig₅ (kg m2)

Inertia moment of coupler

1.87 x 10-2

0.0187

29

Ig₆(kg m2)

Inertia moment of follower

9.87 x 10-3

9.85 x 10-3

30

Ig₈ (kg m2)

Inertia moment of coupler

1.87 x 10-2

0.018

31

Ig₉ (kg m2)

Inertia moment of follower

9.87 x 10-3

0.00985

32

rg₂(mm)

Position vector of crank

50

50

33

rg₃(mm)

Position vector of coupler

200

200

34

rg₄(mm)

Position vector of follower

160

160

35

rg₅(mm)

Position vector of coupler

200

200

36

rg₆(mm)

Position vector of follower

160

145

37

rg₈(mm)

Position vector of coupler

200

180

38

rg₉(mm)

Position vector of follower

160

162