The Bennett linkage 107
Similarly,
.
(5.81b)
From Figure 5.16(a),
and
.
(5.82a, b)
From Figure 5.17(a),
,
.
(5.83a, b)
From Eqs (5.81) to (5.83), it can be obtained that
,
(5.84a)
and
.
(5.84b)
When the linkage is folded up, EFGH becomes a bundle along ST, so do
the rods with the square cross. Bar EF is shown in Figure 5.19 in with light
grey colour.
Similarly to Eq. (5.81), in folded configuration, we have
,
(5.85a)
.
(5.85b)
From Figure 5.19,
and
.
(5.86a, b)
From Figure 5.17(a),
,
(5.87a)