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4-bar folding mechanism formula

4-bar folding mechanism formula

4-bar folding mechanism formula

(OP)
Greetings
I am trying to build a folding leg mechanism using 4 links, I need maximum clearance when folded on the other hand the main leg should be 90deg when open. I tried looking for the formula and reference to calculate the exact length of the link but couldn't find it. Using Hit&try takes too much time(changing size and seeing in cad).
please look at the video to understand the issues completely.

https://files.engineering.com/getfile.aspx?folder=...

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