Motiongen Analysis:
Description: Through the use of the motion gen software the team was able to map out our linkage mechanism to see the desired motion.
Description: After unsatisfactory results with our first design, we redesigned our mechanism to better assimilate the motion of a walking dog to better implement both motions of the foot and elbow.
Position Analysis:
To get the position of C, we first divided the mechanism into two four-link mechanisms and got the position of A and B using python
From there we just used another four-link mechanism between these and got the position of C
Above was the position analysis done 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.