3. Kinematic Analysis.

In order to accurately predict the motion of the mechanism before building it I built an iterative solver for the kinematics of the system in MATLAB which can be found in the appendix. I began by solving vector loop equations on paper as shown in the photos below. I then used those equations in a solver that loops through a full input link rotation. An animation of the simulation is attached.

I am able to output any variable from the simulation to a graph over full input link rotation, several variables of interest are shown below.