Figure 1: X and Y Position of Fingertip End-Effector
Figure 2: Angle of each link for each input angle
Figure 3: Velocity of input link (VA), relative velocity of output to input (VBA), and velocity of fingertip output (VB) for each input angle
Figure 4: Mechanical advantage of fingertip output link for each input angle
Figure
Figure 5: Animation of Linkage Motion