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Since all four propeller motors have the same configuration and are driven by the main motor, their configurations can be easily controlled by analyzing just one motor from the arm in this code.
Figure 3. Plots of Calculations
(The original code that generated this result graph has been attached to the Appendix.)
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With these design specifications, the motion of the final model is as follows.
Figure 4. Animated GIF of Propeller Arm Motion