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MotionGen proved to be a helpful tool as we were able to visualize how increasing the length of the top two grounded links would change 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.
Figure 3: Linkage Design in MotionGen - Dipping Position
Figure 4: Linkage Design in MotionGen - (From left to right: Dipping Position, Serving Position
Figure 5: Linkage Design in Solidworks - Dipping Position
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Figure 6: Linkage Design in Solidworks - Serving Position
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Figure 7: Pick and Place Mechanism in Motion
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