Virtual Parallel Four Bar Mechanism for FTC

[@WadeRoach]

Nice demo and explanation

[@anhoangduc4626]

In your calculation example, 22/40~0.55, can you explain more?

[@jemnguyen5841]

If I want to rotate the arm and keep the end effector at the same starting angle (i.e., change in end effector angle = 0), the formula in the video would suggest a gear ratio of 2:1. That doesn't seem correct. Am I using the formula incorrectly?

[@notsaltysugar]

if you want the end effector at the same angle, then it should be a 1:1 ratio, which is a parallel 4 bar linkage. at the same time i'm having slight trouble understanding the question so my answer might not be that helpful

[@jemnguyen5841]

​@@notsaltysugar I am aware we could use a 1:1 gear ratio to keep the angle the same. At the 4:00 timestamp in the video, there is a formula to calculate the gear ratio based on the desired angles. I am validating the formula with a 1:1 gear ratio scenario and got a different answer using the formula provided. I am wondering if I am using the formula incorrectly.

[@rexbrodie4024]

Greetings, In your Fusion model, you show the arm and the end effector both rotating counterclockwise. If you are using a chain and the large gear is fixed, doesn't the small gear and the end effector rotate in the opposite direction, clockwise?