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Through this process we were able to visualize how increasing the length of the top two grounded links changes the amount that the end effector would rotate in the serving position. Additionally, we were able to see how changing the bottom right grounded link affected the vertical motion that we desired. Through MotionGen we were able to scale and obtain link lengths and relative angles to accurately CAD our mechanism in SolidWorks.
Figure 3: . Linkage Design in Solidworks: Serving Position (Left) and Dipping Position (Right)
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Our final step in this process was to assess the real-world feasibility of our mechanism by creating a prototype. We constructed a low-resolution prototype using leftover acrylic from a previous project, optimizing the design by reducing the size of the links to minimize material wastage and using screws as placeholders for joints, as shown in Figure 8. This initial prototype highlighted the importance of spacing between links to prevent overlapping motion. Subsequently, we refined our design, leading to the second iteration of the prototype, which is made up of 3mm thick plywood, ¼ inch wooden dowels, and 6mm ball bearings. This iteration has smooth motion and a desirable position profile, which enables us to feel confident in our linkage design. For our final iteration, we intend to increase its scale and incorporate a grabbing and a timing mechanism. 
Figure 4: . First Iteration of Prototype
Figure 5: Second Iteration of PrototypePrototype Figure 5. Second Iteration of Prototype
Figure 6. Prototype in motion