1. General kinematics

1.1 Description and modeling

The 4-bar mechanism is an articulated system whose general appearance is shown in figure 1 . We say four-bar because we include the S ₀ frame; but we talk about Watt's 3-bar. It consists of :

• of the S ₀ frame;

• of the crank S ₁ which will correspond to the mechanism input ;

• of the crank S ₂ which will correspond to the mechanism output ;

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