How to specify parameters via calculations in 4 bar linkage

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The discussion focuses on designing a 4-bar compound linkage and seeks assistance with calculations related to output torque, power, angular velocity, and force. The user requires equations to analyze the motion and restrict the first and second bars to 90 degrees relative to each other. There is also a need for guidance on estimating dimensions for the linkage components. The request emphasizes the importance of analyzing various input angles and their corresponding outputs. The user is looking for prompt help with these calculations and design specifications.
Robot94
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Hi I'm looking to design a 4 bar compound linkage.
I know how torque, force, power and angular velocity are transferred on four bar mechanisms.
Could someone help me with compound four bar calculations?

[PLAIN]http://i66.tinypic.com/2jg6z9t.jpg[/PLAIN]

The lower arrow shoes the input torque.
I need to design this linkage mechanism.
Could somebody help me with the calculations for output torque, power, angular velocity and force.

I just need help with the equations.
Also. I need to restrict the motion of the first 4 bar to 90 degree and the second to be 90 degree with respect to the first.

Since it turns on a range of angles, I need some way of analysing all of those input angles and their outputs.Also. I need help with estimating dimensions for each of these bars/links. How do I do that?HELP ASAP please.
 
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