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https://colab.research.google.com/drive/1coDzB8L6NwIw3rEnqCVQiPSXJW28SUmu?usp=sharing
For this linkage specificallySimilar to the oscillating linkage, we did not focus on force analysis since we are primarily interested in the position profile of the end of the linkage. The goal of this linkage is to have a more vertical motion profile with still some lateral movement to account for the change in angle while moving the whole body forward.
The videos below show the animations for both the original Klann linkage (approximately the one used for the prototype) and our modified version with a more vertical profile.
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