The design process began with producing an engineering drawing of each part. These drawings included exact dimensions so that they could be sent to the teaching assistant Aldo for the 3D printing of the parts with the same dimensions. The reason why this was done is because I worked on the project remotely, and did not have access to a 3D printer at my convenience. The engineering drawings of the parts are shown in the images below:

In addition to designing sketching these parts by hand, I also designed a model of this mechanism using PMKS. I adjusted of all the coordinate points precisely so that the lengths of the mechanism would be exactly the same as they were in my drawings. To make these precise measurements, I used the figure that was shown in my introduction section as a reference. I measured angles and lengths of that reference figure on a piece of paper, and found the scale factor of the image to be 0.388. This means if a piece was 10 cm long in actuality, it would only be 3.88 cm long on that reference figure. By measuring everything from the reference figure, I was able to plot all of the correct coordinates into PMKS to produce the mechanism in that software. The setup and produced mechanism in PMKS is shown in the image below:

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