Butterbot Arm Kinematic Analysis

Our design focused on using parallel four-bar mechanisms to derive motion, in both the arms and the gripping mechanism. The mobility and kinematic relations derived (Fig. 1) were used to populate graphical representations of the intended motion of our design (Fig. 2-4). Through our process, the lengths of the arms and the distances between the “ground” links (that is, the linkages connected to either the main body or the grip mechanism) were revised for optimization in the movement of the linkages.

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Fig. 1 Hand Written sketches for arm mechanism

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Fig 2. Example Code of Kinematic Analysis

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Fig 3. Animation of Vertical Velocity vs input angle of arm

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Fig 4. Graph of box position vs. input angle. In this, the box is the grip mechanism in the final design