Position analysis of a mechanism Stephenson type I using natural coordinates

In this article the use of natural coordinates is proposed to determine the position of each element of a mechanism Stephenson type I, analytically. Where natural coordinates are mostly cartesian defined in the kinematic pairs and points of interest of the mechanism, achieving with these alternate equations to the derive from the method of vector loop in which angular coordinates are used. The use of natural coordinates in the kinematic modeling of mechanisms is advantageous because dispenses of the use of trigonometric functions, which facilitates modeling and interpretation of the mechanism, and the resulting equations are simpler than those obtained with the vector loop method. These equations were implemented in MATLAB®, to simulate the different configurations of a Stephenson mechanisms type I, with the dimensions given.