Design Process:
Kinematic Analysis:
For Kinematic Analysis, we will split it into two parts. The first is the palm of the claw, which contains the slider crank mechanism that transfers motion from the motor to the finger. The second analysis will be from the prototype and explain the motion of the finger.
Analysis of the slider crank mechanism:
After we have analyzed the slider crank mechanism, we can look at the analysis of the double chebyshev slider system. This was already calculated in the prototype, but the work will be put here for ease of reference.
Kinematic Analysis of Finger Mechanism:
Implementation:
Final Demonstration:
Conclusion and Future Works: