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.