import 

numpy as np
import math
from math import *
print("SAVITRIBAI PHULE PUNE UNIVERSITY")
print("\n SUBJECT: KINEMATICS OF MACHINERY")
print("\n SYNTHESIS OF 4 BAR MECHANISM")
print("\n ---------------------------------------------- STUDENT DETAILS----------------------------------------------")
n1=(input("ENTER YOUR NAME::"))
r1=int(input("ENTER YOUR ROLL NUMBER::"))
print("\n ---------------------------------------------INPUT PARAMETERS-----------------------------------")
i1 = float(input("FIRST POSITION OF INPUT LINK::"))
i2 = float(input("SECOND POSITION OF INPUT LINK::"))
i3 = float(input("THIRD POSITION OF INPUT LINK::"))
o1 = float(input("FIRST POSITION OF OUTPUT LINK::"))
o2 = float(input("SECOND POSITION OF OUTPUT LINK::"))
o3 = float(input("THIRD POSITION OF OUTPUT LINK::"))
d = float(input("ENTER LENGTH OF FIXED LINK::"))
i1 = math.radians(i1)
i2 = math.radians(i2)
i3 = math.radians(i3)
o1 = math.radians(o1)
o2 = math.radians(o2)
o3 = math.radians(o3)
A = np.array([[math.cos(o1), -math.cos(i1), 1], [math.cos(o2), - math.cos(i2), 1],
[math.cos(o3), -math.cos(i3), 1]])
print(A)
B = np.array([math.cos(i1 - o1), math.cos(i2 - o2), math.cos(i3 - o3)])
print(B)
m1 = np.linalg.inv(A)
m2 = np.dot(m1, B)
print("\n ---------------------------------------------Values of k1 k2 k3-----------------------------------")
print(f'Values of k1 k2 k3 {m2}')
a = d / m2[0] # first link length A
c = d / m2[1] # second link length B
k3 = m2[2]
b = (((a ** 2) + (c** 2) + (d ** 2)) - (2 * a * c * k3))** 0.5
a = round(abs(a), 2)
c = round(abs(c), 2)
b = round(abs(b), 2)
print("\n ---------------------------------------------RESULT---------- -------------------------")
print(f'Length Of The Links...\n1) link a={a} mm\n2)link b={b} mm\n3)li nk c={c} mm\n4)linkd={d} mm')

SAVITRIBAI PHULE PUNE UNIVERSITY

SUBJECT: KINEMATICS OF MACHINERY

SYNTHESIS OF 4 BAR MECHANISM

---------------------------------------------- STUDENT DETAILS----------------------------------------------

---------------------------------------------INPUT PARAMETERS-----------------------------------
FIRST POSITION OF INPUT LINK::40
SECOND POSITION OF INPUT LINK::55
THIRD POSITION OF INPUT LINK::70
FIRST POSITION OF OUTPUT LINK::50
SECOND POSITION OF OUTPUT LINK::60
THIRD POSITION OF OUTPUT LINK::75
ENTER LENGTH OF FIXED LINK::30
[[ 0.64278761 -0.76604444 1. ]
[ 0.5 -0.57357644 1. ]
[ 0.25881905 -0.34202014 1. ]]
[0.98480775 0.9961947 0.9961947 ]

---------------------------------------------Values of k1 k2 k3-----------------------------------
Values of k1 k2 k3 [0.19741463 0.20562019 1.01542628]

---------------------------------------------RESULT---------- -------------------------
Length Of The Links...
1) link a=151.96 mm
2)link b=15.9 mm
3)li nk c=145.9 mm
4)linkd=30.0 mm
check 1m 3s completed at 11:30 PM