Model 1:4 body system Determine the parameters 1=2 Br Revolute joint H:B~B 个 0o4”-K2☑ P=0j=1s9=(9y 玉4 H B B i kind j SPT C 1 (r) 1 -10 4 00 T 1, Qj Qj Qj P=O j  s  x y • Determine the parameters B1 B3 B4C1 1 x 1 yO x y C4 4 x 4 y Revolute joint H1：B4  B1 l1  2 Hi Bj Bi i kind j i c 1 (r) 1 -1 0 4 0 0 QT j s PT i s Tj v Ti v  T 4, Pi Pi Pi Q=O i  s  x y Model 1: 4 body system