1. Given the data for the 4-bar mechanism shown in the following figure Link a- 2 in b-7 in d- 6 in rank angle 0, 30 Figure not to scale. 1.1 Draw the linkages to scale and graphically determine the solutions for both the open and crossed positions for angles 9, and . What is the Grashof condition? 1.2 Using the program LINKAGES provided with your text determine the solutions for the open position for angles , and .. Assume a constant velocity of o, 100 rad/sec ccw Print the angle incremental values for both the open and closed positions and Hand in your screen shots. 2. For the 4-bar linkage above solve for angles , and 4 using the loop closure equations. Provide a table with headings , , and ' , for a range of ' from 20' to 360 at 10 degree increments, Compare your calculated values to those in problem 1 You are required to submit a program in Matlab (or Matlab like software), Python, Excel etc. Provide your code and the printed table. No hand calculations will be accepted. 20 30 04