CalculateMechanicalAdvantage[linkage, inp, out]Calculate the mechanical advantage between input force (or torque) inp and output force ( or torque) out. The result is the ratio between inp/out forces that balances the mechanism.
• inp and out are either force or torque names defined in the linkage[["\$Forces"]] or the linkage[["\$Torques"]] records.
• The mechanical advantages is calculated by calculating the power of input and output forces ( or toques). The powInput+x*powOutput = 0 equation is solved for x. The mechanical advantage is the resulted x.
• The mechanical advantages might result in a symbolic expression. The numerical result of the mechanical advantages can be calculated if the substitution rules of the linkage is substitute.
• The input and output forces are normalized to unit vectors. The result of the CalculateMechanicalAdvantage function (x) can be interpreted as such that given a unit input force or torque vector inp, the linkage is balanced if the output force or torque vector acting in the same direction as out having the magnitude of x.
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Define a force on the slider link (link3) at point {0,0,0}. The force vector is defined w.r.t. LLRF of link3 and the vector is {-1,0,0}
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Define a torque on link1 that act along the joint's axis
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Display the linkage and the forces
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