These notes for the Stanford University course ME 322 Kinematic Synthesis of Mechanisms introduce the synthesis of a four-bar linkages that guide the coupler link through two and three specified task positions. Update. December 12, 2017. These notes have been revised to introduce Sandor and Erdman’s formulas for linkage synthesis which solve for the input […]
About Prof. McCarthy
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Entries by Prof. McCarthy
These notes have been prepared for the Stanford University graduate course ME 322 Kinematic Synthesis of Mechanisms. This first set details the position and velocity analysis of a four-bar linkage. Update: December 12, 2017. These notes have been revised to represent rotation matrices using boldfaced letters. Remarkably, because 2×2 matrices commute this allows these matrices to be replaced by complex […]
More of R. W. Frost’s story following David Minor’s uneasy relationship with MitsukoTek Corporation as he is drawn into helping their wayward Satellite 9. (Read by scrolling the image or by using the page down and up buttons at the bottom.)
This spatial six-bar linkage provides a compact flapping wing mechanism for a hovering micro air vehicle that controls both swing and pitch movements. It is the result of a collaboration between Benjamin Liu and Peter Wang.
Superluminal, the new book by R. W. Frost, follows David Minor’s experiences with MitsukoTek Corporation’s troublesome Satellite 9. It is the year 2035 and a new technology has swept the globe… (Read by scrolling the image or by using the page down and up buttons at the bottom.)
This is the manufacturing prototype for the flapping wing mechanism designed by Peter Wang and modeled by Benjamin Liu. The wing is 5cm in length to match the dimensions of a hummingbird. Here is a link to the youku.com video for our Chinese colleagues: Flapping Wing Prototype.
This is an animation by Benjamin Liu of a spatial RPR-2SS six-bar linkage designed by Peter Wang for use on tunnel boring machines. This new device controls a valve that cleans and closes the soil conditioning port when the flow of soil lubricant is stopped. Soil conditioning provides lubricant to manage the cutting operation. This […]
This video shows the excellent research in design at universities in Beijing. This is the final of five videos highlighting design research across China taken during a visit in September 2016. For our colleagues in China, here is a link to a YouKu version.
The program for the 2017 ASME Mechanisms and Robotics Conference is now on-line. You can access it at the link: ASME MR Conference The papers from the UCI Robotics and Automation Lab are: Design of Wearable Lower Leg Orthotic Based on Six-Bar Linkage by Shramana Ghosh; The Design and Manufacture of a Gear-Coupled Serial Chain […]
Smitty describes the set-up of the front wheels and its importance to the driver’s control.