Six-bar Retrieval Linkage for an ROV

This six-bar linkage was designed to extend from the body of an underwater ROV to retrieve and stow objects positioned by a robotic arm.

Dumping Linkage

Six-bar Trash Dumping Linkage

This compact six-bar linkage is designed to lift and dump a trash can.  Eddie Lee, Peter Lim, Khemara Tep and Kevin Hung worked on the design and construction of the prototype.

This is the SolidWorks animation:

This is a video of the operation of the prototype: