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The original Castle of Eyrie has multiple levels. We decided to build a three level castle. The main idea to propel the unfolding of the castle is based on the working of a lead screw mechanism. The mechanism in action is shown in the attached video.
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To replicate the erecting towers of the castle, we decided to use a 4-bar mechanism. Upward motion of the outermost levels of castle was timed to to trigger the input link of the mechanism, which then synchronize with the upward motion of the castle to fully erect the towers (or Minarets). We used MATLAB code to figure out the respective link lengths required for the synchronized motions. Input values to code were the initial and final angles of the input link and output links. [Matlab Code]
