Kinematic Analysis
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In our prototype, we were able to accomplish 3D motion with the mechanism. To do this we created a piece called the Connector Rectangle, shown below, that was attached to the positional adjustment mechanism ground link and the casting mechanism link 3. The casting mechanism link 3 had a rectangular slot at a 45° to be able to attached to the positional adjustment mechanism ground link perpendicularly.
Animation showing linkage operation in the full range
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