Grashof Condition
For my end goal, I needed a mechanism that could by continuously rotated at a constant angular velocity. To satisfy this requirement, I used the Grashof equation for my mechanism by thinking of my mechanism as two four bar linkages.
...
Figure 1: First four bar linkage Figure 2: Second four bar linkage
Prototyping
Initial prototypes of the mechanism were made of LEGOs, until desired design was achieved.
Figure 3: Joint Assembly
Laser Cutting and Materials
After optimal design was reached, measurements were taken and further prototypes were made with wood, washers, and screws. Links and frames were made by laser cutting 1/4" wood. 5/16" wooden rod and washers were used to create joints between links allowing free rotational movement between joints. Screws were used to place frame on plywood base. After prototyping with wood, conclusion was reached to reduce size of slider to reduce weight so coupler link would not break. Below is a figure containing all laser cut pieces.
Figure 4: Pieces cut by laser cutter