The arms of the bear can also be modeled as a slotted link rotating about a pin where the physical slot would be. The hands are attached to link d able to rotate quite freely. For the sake of simplicity we will assume that the link d and b, mentioned in the previous section, is are always perpendicular to the arm slots.
We can see different values of the bear arm on the figure. b2 and d1 are the length of each link within the body. h is the distance between the link b2 and the arm, k is the distance between the link and the slot, l is the total size of the arm from the attachment point to the outside (this is just the arm, not the forearm or paw), m is the arm extension outside of the body, and n is the distance between the slot at the base and the arm slots. theta5 is then defined as:
| Latex formatting |
|---|
\begin{equation}
\theta5 = \arctan(\frac{n-(b_2+h)}{k})
\end{equation} |