As described in Section 2, dipping an Oreo cookie is a difficult position and velocity problem. Accordingly, our primary objective was to find the position and velocity profiles we are mainly interested in the motion of the end effector and joint 6. The position and velocity profiles of the entire mechanism were also animated to understand the mechanism's bounding box and velocities to aid in design and manufacturing.
Mobility Calculation
According to Grubler's equation for planar mechanisms, our mechanism has 1 degree of freedom.
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