Table 3.

8-bar mechanism joint distance constraints

Joint-to-joint distance(s), calculated at each of the 15 goal configurations	Bounds (mm)	Purpose
$\overline{\mathbf{W}{\mathbf{G}}_1}$, $\overline{{\mathbf{W}}_1\mathbf{G}}$, $\overline{{\mathbf{W}}_2\mathbf{G}}$, $\overline{{\mathbf{W}}_2\mathbf{W}}$, $\overline{{\mathbf{W}}_2\mathbf{H}}$, $\overline{\mathbf{HG}}$, $\overline{\mathbf{H}{\mathbf{G}}_1}$, $\overline{{\mathbf{H}}_2\mathbf{G}}$, $\overline{{\mathbf{H}}_2{\mathbf{G}}_1}$, $\overline{{\mathbf{H}}_2\mathbf{W}}$, $\overline{{\mathbf{H}}_2{\mathbf{W}}_1}$, $\overline{\mathbf{YG}}$, $\overline{\mathbf{Y}{\mathbf{G}}_1}$, $\overline{\mathbf{YW}}$, $\overline{\mathbf{Y}{\mathbf{W}}_1}$, $\overline{\mathbf{Y}{\mathbf{W}}_2}$, $\overline{{\mathbf{Y}}_1\mathbf{G}}$, $\overline{{\mathbf{Y}}_1{\mathbf{G}}_1}$, $\overline{{\mathbf{Y}}_1\mathbf{W}}$, $\overline{{\mathbf{Y}}_1{\mathbf{W}}_1}$, $\overline{{\mathbf{Y}}_1{\mathbf{W}}_2}$, $\overline{{\mathbf{Y}}_1\mathbf{H}}$, $\overline{{\mathbf{Y}}_1{\mathbf{H}}_2}$, $\overline{{\mathbf{Y}}_2\mathbf{G}}$, $\overline{{\mathbf{Y}}_2{\mathbf{G}}_1}$, $\overline{{\mathbf{Y}}_2\mathbf{W}}$, $\overline{{\mathbf{Y}}_2{\mathbf{W}}_1}$, $\overline{{\mathbf{Y}}_2\mathbf{H}}$, $$\overline{{\mathbf{Y}}_2\mathbf{Y}}$$	{19.1, 254}	Keep joints from colliding during motion, and make joints manufacturable.