Basic example of a multi-bar system for a pedal or foot pedal.
The example shows a pedal system and the corresponding motions of the kinematics. In a diagram, the angle change of the foot over the stroke of the spring is plotted. In further diagrams the joint forces and the necessary actuating forces are determined. An energy store is taken into account, in this case a tension spring. Also, the joint friction present in the joints is taken into account as a force-dependent sliding friction by means of a sliding friction coefficient.
Whenever something is changed, be it the position of the energy storage or the bearing positions, all results are immediately and without delay determined again in real time or rather compressed time.