Arms

The arms of the bear can also be modeled as a slotted link rotating about a pin where the physical slot would be. The hands are attached to link d able to rotate quite freely. For the sake of simplicity we will assume that the link d and b, mentioned in the previous section, are always perpendicular to the arm slots. 

Figure 8: Arm Mechanism.

We can see different values of the bear arm on the figure. b₂ and d₁ are the length of each link within the body. h is the distance between the link b₂ and the arm, k is the distance between the link and the slot, l is the total size of the arm from the attachment point to the outside (this is just the arm, not the forearm or paw), m is the arm extension outside of the body, and n is the distance between the slot at the base and the arm slots. θ₅ is then defined as:

Given the angle of the link l, we can find the extension m:

With these equations, Matlab now outputs the following graphs:

Figures 9 & 10: Length of Section m, Angle θ₅.