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The goal of the first three protypes was to figure out how to configure our links to achieve out calculated motion profile. The following prototypes test our development of the end effector link in accomplishing our goal to open the tab of the can.
Prototype 0:
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MotionGen
When starting this project, our team had two ideas that could answer the problem of opening a tab of a can. Our first idea was to simplify a Janson walking linkage to am open four-bar linkage mechanism that can replicate a horizontal motion at the bottom of the loop and immediately transitions into a lifting motion.[Insert picture of motion genesis → nothing else but the picture]
Figure 1: Open four-bar mechanism
Our next idea was to develop a crossed four-bar linkage configuration that was found to mimic the curved motion of a human finger. A patent that highlighted this mechanism and the respective motion for a finger is linked here. We based our model off of this patent and developed a curved pattern that is similar to a curved motion of a finger.
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