-Edits to box: smaller clearances, adjusted locations of grounds as they weren't matching up with the kinematic analysis (had a few problems with the laser cutter software at the beginning)
-Added sides to the box, this drastically improved the quality of movement as the joints no longer had any ability to move in the z-direction which was causing the links to twist and jamming the mechanism.
-Random edits: filing down the one bolt to be the correct length
VIDEO HERE OF FINAL MOTIONDuring the manufacturing process, several adjustments were made to the design to ensure that the mechanism would move smoother than in the manufacturing steps. All of the hole sizes in the box were made smaller (4.2mm instead of 4.5), this ensured that the bolts holding links to the ground had less play in them and less ability to twist. This tendency created many problems early in the assembly process. The slot in the box for the vertical sliding link was also shrunk so prevent a similar problem that would cause the mechanism to jam. It was also noticed that in the first prototype cut by the laser cutter, the holes did not line up quite where they should have been in the virtual design, so the box was re-cut to follow the design more accurately.
Sides were added to the box, this allowed for more rigidity in the links which also helped with the consistency of motion and reduced the tendency of the mechanism to jam early on from link twisting and stray motion in the z-direction not accounted for by the kinematic analysis or even the design of the mechanism.
Final motion of the design is shown below, along with verification that the design follows the criteria for a successful prototype.
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