Figure 3

Measurement and analysis of the mechanical kinematics of the linkage. (a) Scatterplot showing a direct comparison of the motion of the translating and rotating links, isolating the kinematics of the linkage. The black line in section 2 is a fit to Equation (2), determining the value of $D_{\mathrm{play}}^0$. The black line in section 4 is a plot of Equation (4). The uncertainties are smaller than the data markers. (b) Schematic showing the linkage kinematics for sections 1 and 2, and Equation (2). (c) Schematic showing the linkage kinematics for section 4 and Equation (4). (d) Schematic showing the maximum angular play in the rotation of the rotating link while the links are decoupled. (e) Scatterplot showing the predicted values of D_play(D) based on the determined value of $D_{\mathrm{play}}^0$. (f) Scatterplot showing the predicted values of θ_play(D) based on the determined value of $D_{\mathrm{play}}^0$. The vertical bars in (e and f) are 1 s.d.