Overview
The goal of this mechanism is to create a crank-mechanism that primarily rocks in xy-plane, but has the ability to jump in the z direction.
Mobility Calculations:
M = 3(L-1) - 2J1 - J2 (Gruebler's Equation)
M = 3(4-1) - (2*4) - 0
M = 9 - 8
M = 1
This is the target output path for the crank rocker in the z direction. This will be achieved using a cam.
Kinematic Analysis and Plots
The end of link 4 (the desired output link) makes a full arc in a negative parabolic shape. The cat wand toy will be attached to the end of link 4, making it also follow a parabolic motion.
