16.2: Kinematic Analysis

Figure 1: X and Y Position of Fingertip End-Effector

Figure 2: Angle of each link for each input angle

Figure 3: Velocity of input link (VA), relative velocity of output to input (VBA), and velocity of fingertip output (VB) for each input angle

Figure 4: Mechanical advantage of fingertip output link for each input angle

Figure 

Figure 5: Animation of Linkage Motion