Design a fourbar linkage to carry the bolt in Figure P5-7 from positions 1 to 2 to 3 without regard to the fixed pivots shown. The bolt is fed into the gripper in the z direction (into the paper). The gripper grabs the bolt, and your linkage moves it to position 3 to be inserted into the hole. A second degree of freedom within the gripper assembly (not shown) pushes the bolt into the hole. The moving pivots should be on, or close to, the gripper assembly, and the fixed pivots should be on the base.
