Introduction and Background
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The PMKS application was used for early design of the mechanism. An early draft of the mechanism is shown below. The later kinematic analysis and visualizations were completed using Matlab. The files used are attached below.
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Final Prototype
The final prototype can be seen in motion below. Notice that for approximately half of the rotation of the input, the rightmost link does not significantly move, while for the rest of the rotation, it rocks back and forth.
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