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The results of the kinematic analysis demonstrate that using a constant radius input link without a linear component to the path results in poor synchronization between the end effector and the rotating linkage system. It can be easily seen from the animation that the relative distance between the critical points changes throughout the entire rotation path, indicating that the end effector will open and close while the linkage system is not in its optimal 90 degree and 0 degree position (pick up and drop off position). Moving forward, we would like to explore the effects of a multi-radius slot path that is both manufacturable and isolates change in distance between critical points to optimal points in the rotation.
Mechanical Advantage Force Analysis
The analysis below will focus on the end effector. We chose to focus on the mechanical advantage of the end effector because the main goal of the end effector is to maintain adequate package contact through force applied from the end effector links.
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