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Our second prototype was a more robust version of the first. See the Solidworks images, pictures, animation video, and explanation video below. This prototype also consisted of laser-cut wood links, like the first prototype, but was upgraded to include metal shafts and collars, 3D printed spacers (in green), and a motor input. This prototype also had a place-holding, non-functional claw to help visualize the final mechanism. The purpose of this prototype was to create a working prototype model with the same movement as the final mechanism. From this, we confirmed that our design is viable and that the links all connected smoothly based on our design. However, we did notice the hitch in the arm as it moved from each side. We believed believe that this was due to the rusted-over bearings, and so we planned to use new bearings and linkages for our final design. We also believed that Additionally, this was due to the weight of the claw being shifted from one side of the origin (see Solidworks images below) to the other, as touched on in the explanation video. However, we hoped that the new bearings would fix most of it.
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