I came across this simple (and FREE!) linkage design tool and simulator. Could be useful for designing (and understanding!) flipper linkages, walking mechanisms and so on.
http://www.robotee.com/index.php/roboti ... ree-81003/
Also, the best diagrams and descriptions I could find of walking mechanisms without advanced maths
http://www.davidbuckley.net/RS/WalkerMe ... anisms.htm
Places to spend cash or learn things!
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