The following wheelchair mechanism is designed to elevate a person of approximately 787 N, calculate all of the forces experienced in all links and joints and determine the minimal torque required to move the mechanism. Please be thorough if possible and specify the equations used, I need to learn how to do the problem, thank you in advance and have a good day!

GF = 50mm , BH = 145mm , HI = 220mm , GI = 220mm, GH = 230mm , BE = 440mm , AF = 440mm , AB = 285mm , AD = 220mm

R P H 93 3 R B Ro R 2 P4 0 R 0 1 4 6 7 8 Rs A 9