You are required to find a real mechanism that can be approximated as a planar four bar linkage.

Please provide/answer the following:

1. A picture of the mechanism you are studying

2. A fully dimensioned drawing of the mechanism (including actual measurements from the mechanism)

3. Fix one of the links and plot the movement of the instantaneous centre throughout the expected range of motion.

a. Explain why you chose which link to fix for this analysis.

b. Provide details as to how you produced the plot of the movement of the instantaneous centre.

c. Explain why the range of motion you chose is sufficient

4. Plot (or provide an animation) of the four bar mechanism in at least 3 positions throughout the motion (on one diagram).

5. Describe how the mechanism is designed in order to maintain planar motion (i.e. how are constraints applied to limit motion).

Please note you may use online apps or other software to check the movement of the instantaneous centre, however you must calculate or draw it yourself. Feel free to use CAD, hand drawings, programming languages, excel etc.

Bonus Question:

Design a four bar mechanism to lift a ping pong ball from one platform to another that is 100mm above the first (Does not have to be directly above). Provide a plot of the ping pong ball movement as it would be affected by this mechanism.