Page Comparison

Figure 1: X and Y Position of Fingertip End-Effector

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Figure 2: Angle of each link for each input angle

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Figure 3: Velocity of input link (VA), relative velocity of output to input (VBA), and velocity of fingertip output (VB) for each input angle

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Figure 4: Mechanical advantage of fingertip output link for each input angle

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Figure 5: Animation of Linkage Motion