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MotionGen Analysis:
Description: Through the use of the motion gen software the team was MotionGen software, we were able to map out our an initial linkage mechanism to see try and replicate the desired motion, seen above.
Description: After unsatisfactory results with our first design, we redesigned our mechanism to better assimilate simulate the motion of a walking dog to better implement both , more accurately implementing the motions of the foot and elbow.
Position Analysis:
To get the position of the point of interest, C as seen in the image above, we first divided needed to get the positions of points A and B. To do this, we broke down the mechanism into two four-link mechanisms and to reduce the complexity of the calculations while maintaining accuracy. Using Python, we got the position positions of A and B using python
From there we just used another from each four-link mechanism between these and got , and from there found the the position of C
Above was the position analysis done . Relevant portions of the linkage via Python code, this however was slightly modified through the use of fudge factors to account for some discrepancies that were found on our end of the code. code used to find the positions of one point are shown below, and this method was redone for each point.
The resulting motion profile of point C is in the graph below.