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Figure 6. Mechanical Advantage of end effector

After verifying the mechanism through simulation programs such as MotionGen and SolidWorks, we performed a Newton-Raphson method analysis on MATLAB for numerical data and predicted the following. The algorithm currently does not fully accommodate whether a loop is closed or open at certain points during the cycle and therefore has an error, resulting in inaccurate analysis. We aim to adopt restrictions in the calculations to resolve this issue and be able to accurately analyze the mechanism and produce a gif of the full mechanism performing a full input cycle in the future. However, even with our current data and our functioning prototype, we can determine that the mechanical advantage is the lowest immediately after the 'dip' phase of the end effector and the final design will therefore have to be fit to perform the given load at the lowest mechanical advantage point.

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