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Kinematic Analysis of Finger Mechanism:

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In conclusion: these two systems can be related to each other by understanding that lever D in the slider crank is link A in the finger mechanism. Thus angle 4 in the slider crank is angle 2 in the finger mechanism and omega 4 in the slider crank is omega 2 in the finger mechanism. The Mechanical Advantage is graphed below:

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Implementation:


Final Demonstration:

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