PMKS Simulations
The following three videos display animations for the three linkage components of my mechanism in the range they were used.
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Video 1. PMKS simulation of the motion of the arm component used in the prototype (about 75 degrees to -75 degrees).
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Video 2. PMKS simulation of the motion of the top gripper component of the claw.
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Video 3. PMKS simulation of the motion of the bottom gripper component of the claw.
Hand Calculations:
Below are my mobility, position, velocity and acceleration calculations.
