3.) Kinematic Analysis

MotionGen Analysis: 

Description: Through the use of the MotionGen software, we were able to map out an initial linkage mechanism to try and replicate the desired motion, seen above.

Description: After unsatisfactory results with our first design, we redesigned our mechanism to better simulate the motion of a walking dog, more accurately implementing the motions of the foot and elbow.

Position Analysis: 

To get the position of the point of interest, C as seen in the image above, we first needed to get the positions of points A and B. To do this, we broke down the mechanism into two four-link mechanisms to reduce the complexity of the calculations while maintaining accuracy. Using Python, we got the positions of A and B from each four-link mechanism, and from there found the the position of C. Relevant portions of the code used to find the positions of one point are shown below, and this method was redone for each point. 

The resulting motion profile of point C is in the graph below.