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A kinematic analysis of the mechanism was run to compile data concerning the position, velocity and acceleration of each point into the following figures. The code for obtaining these figures from the PMKS software can be found in Appendix I.

Robot Mechanism Design > III. Kinematic Analysis and Synthesis > image2021-5-7_18-4-10.png

Figure 1. Mechanism with Labels

Robot Mechanism Design > III. Kinematic Analysis and Synthesis > image2021-5-7_18-4-23.png

Figures 2-4. Position of Points A, B, and C in Coordinate Plane

Robot Mechanism Design > III. Kinematic Analysis and Synthesis > image2021-5-7_18-4-47.png

Figures 5-7. X & Y Position of Points A, B, and C in One Cycle

Robot Mechanism Design > III. Kinematic Analysis and Synthesis > image2021-5-7_18-5-24.png

Figures 8-10. X & Y Velocity of Points A, B, and C in One Cycle

Robot Mechanism Design > III. Kinematic Analysis and Synthesis > image2021-5-7_18-5-44.png

Figures 11-12. X & Y Velocity of Points A, B, and C in One Cycle

Robot Mechanism Design > III. Kinematic Analysis and Synthesis > image2021-5-7_18-6-23.png

Figures 13-15. Angular Velocity of Points Input, Coupler, and Slider in One Cycle

Robot Mechanism Design > III. Kinematic Analysis and Synthesis > image2021-5-7_18-6-49.png

Figures 16-18. Angular Velocity of Points Input, Coupler, and Slider in One Cycle