Walking Machines

Leg Mechanisms

Leg Mechanisms

An outcome of Mark Plecnik’s research on the kinematic synthesis of six-bar linkages is a variety of designs for the leg mechanisms of small walking machines.

We hope to build this walker over the summer. It has one drive motor on each side:
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This is my favorite because it couples the legs on one side with a pantograph linkage. The leg joints are living hinges. and it seems this the entire leg system can be cut from a single sheet of plastic:
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This is a design study for a walker with eight legs on one side, 16 total:
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Earth Day 2015

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My son John and his partner Roddy, who together form Change for Balance, filmed this video including the postscript which was filmed on-site in Africa.

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MechGen Suspension

MechGen Suspension

MechGen Suspension


MechGen Suspension is our latest iPad app. It is an ambitious design system for an independent suspension. The designer specifies the vehicle geometry, lower control arm, the wheel movement and camber gain. The system designs the upper control arm. If this is of interest, please contact me.

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UCI’s 2015 Race Team

UCI's 2015 Race Team

UCI’s 2015 Race Team


UCI’s 2015 race team at the Winter Design Review. On the left is Zeta an all-electric Formula SAE racecar that will compete at the UCI Energy Invitational, and on the right is Savage which is a combustion engine driven FSAE racecar that will compete at FSAE Lincoln in Nebraska

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