Kinematic study of connected rods

[magicfrog]

Homework Statement

ToDo

Relevant Equations

Torque equation

Good morning everyone, I am currently working on a kinematic problem that I am having difficulty solving.

I have been asked to calculate the torque at node F based on the geometry and the force (W) applied at node G in the AG direction.

In particular, node G and node A can translate along the vertical axis and also rotate. Node F cannot translate. There are three rigid bodies, HG, AHB and FB.

I have calculated, correctly I hope, the torque at node A, considering it as a crank-connecting rod case:

T_A = W*AH*sin(alpha+phi)/cos (alpha)

From this, since AHB is a single rigid body, I can say that the rotation of point A is equal to the rotation of point H and, consequently, to the rotation of point B. But how do I link the torque at point A with the torque at point F?

I think I'm missing something, but I don't understand what.
I am attaching the kinematic diagram and my considerations.
Thank you all!

 

[magicfrog]

I would like to add that the kinematics are placed on a horizontal plane, so the applied force (W) is orthogonal to gravity.

I would like to take this opportunity to add another consideration/question. For the purposes of calculating the torque in F (dependent on angles, levers and force), would a simplification as shown in the attached diagram be acceptable (I consider the force applied in G as applied in B for balance considerations)? In this way, I should be able to write the expression of the delta angle as a function of the alpha and phi angles.

I apologise if I have written nonsense!
Thank you!

 

[Lnewqban]

Have you been given any dimensions for the links and geometry?

 

[magicfrog]

Have you been given any dimensions for the links and geometry?

Yes, I have all the necessary data. I would like to be able to write the torque in node F as a function of the parameters in the attached diagram, i.e. force, dimensions and angles.