**Author details**

108 MATLAB – A Fundamental Tool for Scientific Computing and Engineering Applications – Volume 1

F23x force of beam 2 acting on link 3 along x direction F23y force of beam 2 acting on link 3 along y direction F32x force of beam 3 acting on link 2 along x direction F32y force of beam 3 acting on link 2 along y direction F43x force of beam 4 acting on link 3 along x direction F43y force of beam 4 acting on link 3 along y direction F34x force of beam 3 acting on link 4 along x direction F34y force of beam 3 acting on link 4 along y direction F52x force of beam 5 acting on link 2 along x direction F52y force of beam 5 acting on link 2 along y direction F25x force of beam 2 acting on link 5 along x direction F25y force of beam 2 acting on link 5 along y direction F65x force of beam 6 acting on link 5 along x direction F65y force of beam 6 acting on link 5 along y direction F56x force of beam 5 acting on link 6 along x direction F56y force of beam 5 acting on link 6 along y direction Fg6x force of ground acting on link 6 along x direction Fg6y force of ground acting on link 6 along y direction Ac2x center of mass acceleration of beam 2 along x direction Ac2y center of mass acceleration of beam 2 along y direction Ac3x center of mass acceleration of beam 3 along x direction Ac3y center of mass acceleration of beam 3 along y direction Ac5x center of mass acceleration of beam 5 along x direction Ac5y center of mass acceleration of beam 5 along y direction Ac6x center of mass acceleration of beam 6 along x direction Ac6y center of mass acceleration of beam 6 along y direction

ߙ2 angular acceleration of beam 2 ߙ3 angular acceleration of beam 3 ߙ5 angular acceleration of beam 5 ߙ6 angular acceleration of beam 6

w2 angular velocity of beam 2 w3 angular velocity of beam 3 w5 angular velocity of beam 5 w6 angular velocity of beam 6

<sup>ଵ</sup> velocity of slider

<sup>ଵ</sup> acceleration of slider Θ2 first stage crank angle

Mz moment acting on a beam along z axis

Θ3 angle of beam 3 from +x axis in counter clockwise direction Θ5 angle of beam 5 from +x axis in counter clockwise direction Θ6 angle of beam 6 from +x axis in counter clockwise direction

Fin input force Fout output force

> ܴሶ ଵǡ ݎሶ

> ܴሷ ଵǡ ݎሷ

Ergin Kosa\* and Levent Trabzon *Mechanical Engineering, Istanbul Technical University, Istanbul, Turkey* 

Umit Sonmez *Mechanical Engineering, Sharjah University, Dubai, United Arab Emirates* 

Huseyin Kizil *Metallurgical and Materials Engineering, Istanbul Technical University, Istanbul, Turkey* 
