You are on a design team working on a robotic mechanism and have been assigned the analysis of part of the mechanism. The part for you to analyze is shown in the image. This linkage has an actuator at point A that needs to apply a couple at point B of up to 2.5 Nm. The angle range at point B is from 20 to 120 degrees. You need to determine the maximum torque (couple) required of the actuator at point A and the minimum length of rod AC. 

For the project, you will plot the results for the length of AD, the force of the collar on AC at D, and the required moment at A to keep the mechanism in equilibrium as functions of the angle at B. 

The lead designer would like to move the actuator at A 100 mm to the left. You need to analyze the new mechanism with the distance from A to B now modified to 250 mm.

 

D 200 mm 150 mm - 2.5 N-m