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Fig. 10. Predicted four-bar model behavior based on the average link lengths of
loaded raptorial appendages. For a given input angle, the four-bar linkage
mechanism yields an output that varies nonlinearly along the range of input
angles. The four-bar model is not operational beyond the range of input angles
shown here. Kinematic analyses showed that mantis shrimp typically generate
input angles of the meral-V in the range 64–73°, as indicated here
(yellow line).
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