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The two slider-crank mechanisms in the panda model are analyzed individually as two separate fourbar non-offset inversion #1 slider-crank linkage mechanisms in the XY Plane (2-Dimensional). The two mechanisms are analyzed separately, since it makes it easier to perform the vector loop position, velocity, and acceleration approach analysis on mechanisms that each have one input, one output, and one degree-of-freedom. Thus, we will first perform position, velocity, and acceleration analysis on the fourbar horizontal non-offset inversion #1 slider-crank mechanism that is comprised of four-bar linkages and has one degree of freedom. Then, we will perform position, velocity, and acceleration analysis on the fourbar vertical non-offset inversion #1 slider-crank mechanism. Kinematic still drawings of both slider-crank mechanisms are illustrated below.

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                                                                       Kinematic drawing of horizontal slider-crank mechanism (for bamboo stick)                              

Kinematic drawing of vertical slider-crank mechanism (for lower jaw)                                                                

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