Page Comparison

Oscillating Linkage Kinematic Analysis:

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Mobility Calculation:

L = 4, J = 4, 1/2J = 0

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Therefore linkage is GrashofGround - Adjacent Crank-Rocker

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Klann Linkage Kinematic Analysis:

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Therefore linkage is GrashofFor the analysis for this linkage, the six bar Klann linkage was first simplified into a root four bar linkage.

The initial approach was to analyze the system

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First step was to prepare our linkage designs for production. We decided on using the laser cutter and plywood to produce all our links as it would be the easier, quickest, and most effective method. Our prototype links were purposely left without bearing slots and produced at a smaller scale than we expect our final product to be in order to minimize material usage and time. Rather than connect every link via bearing and dowel we simply drilled small holes in our linkage pivot points and created pin joints using a bit of steel wire. We were able to create working linkages for both systems. And experiment with different length links to alter the path our systems

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