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Our initial prototype, shown in Figure 1 below, is a four-bar linkage with about 60 degrees between our two ground links. The end effector has a spoon attached to the fourth link to replicate the hand/cradle the basketball will be placed into for the final prototype. Using link 2 as the driven link we were able to create a good launch arch and escape velocity, proving to us that we'd be able to refine the linkages to have less play and be able to create a consistent shot into a basketball hoop with the use of a motor.
Figure 1: Initial Prototype
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