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Therefore linkage is Grashof
Our main goals for this linkage is to provide a smooth oscillating motion. Although our prototype was designed with no specific angle in mind, we do intend to modify and experiment with our prototype to achieve an oscillation centered with the pivot link (lower left joint) and that moves about 10 degrees from this center axis to either side. This, when having the Klann linkage mounted on it with a distance of about 8 cm from the pivot axis to the tip of the "leg", should produce a leg reach of around 3 cm.
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