The following project builds on the linkage analysis code mentioned below. The notable differences are the method of solving and what is being solved for. Instead of directly writing vector loop equations and solving them and their derivatives for position and velocity, I used Newton-Rasphson and constraint equations. This allows for an object-oriented approach to solving the linkage to be used. The constraint equations can then be used to solve for forces with the virtual work approach. The video below shows the animation generated by the MATLAB code of the PEX crimper, followed by the mechanical advantage of the PEX crimper. The model assumes an applied force of 20 lbs normal to each handle at the ends.
