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All the original lengths from the MATLAB code previously shown were saved in the equation and divided by a gain. The gain was to make the input link 10cm, then it would scale all other links to their respective proportions. It also allowed the team to change the overall shape of the links without affecting the integrity of the geometry. As can be seen in Manufacturing and assembly when the teams withced from high surface are to a bone structure.
The team was provided a high speed 12V pololu motor. The input link is directly connected to the motor. The spacing between the grounded links is also crucial fro the correct movement of the output. For such design, the motor had to be elevated to exactly 1 in, and the correct distance was positions with the holes on the base of the mechanism.
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