I used Solidworks to CAD my linkage assembly, and I validated the movement of the linkages by using the motion analysis tool built in to Solidworks.

Figure 1: Animation of Linkages in Solidworks Assembly

Figure 2: Solidworks Assembly with tracing of joint 4 throughout full range of motion

Figure 3: Plots of Linear Displacement (Blue), Linear Velocity (Red), and Linear Acceleration (Green) vs. magnitude of angular displacement

Manual calculations for Mobility calculation:

Below are the manual calculations for a single point in time when the input angle on link 1 is 48.23 degrees:

Since the output link is constrained to a single x value, there is no Coriolis acceleration for this mechanism.

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