DESIGN OF MACHINERY SOLUTION MANUAL 6-13-1! PROBLEM 6-13Statement:Find all of the instant centers of the linkages shown in Figure P6-6.Solution:See Figure P6-6 and Mathcad file P0613.a. This is a fourbar inverted slider-crank with n 4.1. Determine the number of instant centers for this mechanism using equation 6.8a.Cnn 1().2C 6=2. Draw the linkage to scale and identify those ICs that can be found by inspection.11,41,2 2,313423,4 at infinity3. Use Kennedy's Rule and a linear graph to find the remaining 2 ICs, I1,3 and I2,4I1,3: I1,2-I2,3 and I1,4-I3,4I2,4: I1,2-I1,4 and I2,3-I3,411,41,31,22,4 2,31342 3,4 at infinity3,4 at infinity3412b. This is a sixbar with slider, n 6.1. Determine the number of instant centers for this mechanism using equation 6.8a.Cnn 1().2C 15=2. Draw the linkage to scale and identify those ICs that can be found by inspection.2nd Edition, 1999DESIGN OF MACHINERY SOLUTION MANUAL 6-13-211231,22,31,6 at infinity4513,4; 3,5; 4,51,465,6 3. Use Kennedy's Rule and a linear graph to find the remaining 7 ICs.I1,3: I1,2-I2,3 and I1,4-I3,4I2,4: I1,2-I1,4 and I2,3-I3,4I1,5: I1,6-I5,6 and I1,4-I4,5I4,6: I1,6-I1,4 and I4,5-I5,6I2,5: I1,2-I1,5 and I2,4-I4,5I2,6: I1,2-I1,6 and I2,5-I5,6I3,6: I1,6-I1,3 and I3,4-I4,61 1,6 at infinity4,6 2,61,6 at infinityto 2,4to 2,41,52,5121,232,31,31,6 at infinity4511,43,4; 3,5; and 4,565,6 1,6 at infinity3,6623451c. This is a sixbar with slider and roller with n 6.1. Determine the number of instant centers for this mechanism using equation 6.8a.Cnn 1().2C 15=2. Draw the linkage to scale and identify those ICs that can be found by inspection.341 1,4 at infinity1,63,4125615,62,51,22,32nd Edition, 1999DESIGN OF MACHINERY SOLUTION MANUAL 6-13-33. Use Kennedy's Rule and a linear graph to find the remaining 8 ICs.I2,6: I1,2-I1,6 and I2,5-I5,6I1,3: I1,2-I2,3 and I1,4-I3,4I1,5: I1,6-I5,6 and I1,2-I2,5I2,4: I1,2-I1,4 and I2,5-I2,4I4,5: I1,4-I1,5 and I2,4-I2,5I3,5: I3,4-I4,5 and I2,5-I2,3I3,6: I3,6-I5,6 and I2,3-I2,6I4,6: I4,5-I5,6 and I3,4-I3,6341 1,4 at infinity1,63,441,34,63,6 3,55,62,61,4 at infinity11252,51,564,51,22,32,4 1,4 at infinity62351d. This is a sixbar with slider and roller with n 6.1. Determine the number of instant centers for this mechanism using equation 6.8a.Cnn 1().2C 15=2. Draw the linkage to scale and identify those ICs that can be found by inspection. 1,6 at infinit1,21,412352,3; 2,5; and 3,5143,4615,63. Use Kennedy's Rule and a linear graph to find the remaining 7 ICs.I1,3: I1,2-I2,3 and I1,4-I3,4I3,6: I1,6-I1,3 and I3,5-I5,6I2,6: I1,2-I1,6 and I2,5-I5,6I1,5: I1,6-I5,6 and I1,2-I2,5I4,5: I1,4-I1,5 and I3,5-I3,4I2,4: I1,2-I1,4 and I2,3-I3,4I4,6: I1,6-I1,4 and I4,5-I5,6(See next page)2nd Edition, 1999DESIGN OF MACHINERY SOLUTION MANUAL 6-13-4 1,6 at infinity1,3 1,6 at infinity1,21,41,6 at infinity2,612352,3; 2,5; and 3,5 143,44,52,44,6615,61,5623543,612nd Edition,