...
As seen in the video provided in Figure #3.4, the mechanism travels between four different parts over the course of one single cycle. Part A being the beginning of the counter-clockwise rotation with the motor pin starting at a 0° angle until the slider above the motor gear reaches its leftmost position in order to have the "claw" part of the arm clamp down on the bag. From here, Part B begins, consisting of the slider arm pulling backwards until the motor pin reaches an 180° angle. Part C and Part D are close to being inverses of Part A and Part B respectively, with Part C involving the motor gear slider moving back to its rightmost position in order to release the "claw" part of the arm from its clamping position and Part D moving the slider arm back forward. After Part D, Part A begins once again, repeating the entire process. These four parts are annotated within all eight graphs in Figure #3.3. More in depth motion analysis calculations can be seen below.
Analysis - In Detail
The following section details our motion analysis of the system. The dimensions used in this analysis is shown below in Figure #3.5
...