We divided our kinematic analysis into two parts, the gripper movement and the movement of the entire arm. The gripper mechanism consists of two parallel 4 bar mechanisms that are driven together by two spur gears. The arm uses the same 4-bar mechanism but on a larger scale. We used the method we learned in class to analyze 4-bar mechanisms:
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Using the calculations in Matlab, we plotted the kinematic position, velocity, acceleration, and overall motion of the mechanism.
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