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The mobility of this system can be represented using Gruebler's Equation: M = 3(6-1) - 2*7 = 1 DOF.
Design Process and CAD
Since I had easy access to a 3D printer, these linkages are made of PLA. The assembly is shown below
The most challenging part of this assembly is assembling the slider mechanism. To constrain the aluminum extrusion block, I used a 3D printed part that has 3 bearing wheels with wheel profiles that matched the cross section face of the aluminum extrusion. This provides a low-friction assembly that constrained the aluminum block to only allow for movement vertically.
Kinematic Analysis and Synthesis
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