## Rectilinear Six-Bar (Candy Coating Linkage)

Jeff Glabe designed this six-bar linkage to move through six task positions while maintaining a parallel orientation.  This required the calculation of 55,000 linkages to find 26 that work.  This one has the additional feature that it is operated by a rotating crank (the red link).  The video is a collaboration of Jeff Glabe and […]

This introduction to the graduate course ME 322 Kinematic Synthesis of Mechanisms shows the potential for design innovation using a mathematical formulation to compute the dimensions of a device from its required task, literally the calculation of its form from the desired function. Update: This is the final version of the  lecture scheduled for January 9, 2018

## Curvature Theory for Planar Point Trajectories

These notes for the Stanford University graduate course ME 322 Kinematic Synthesis of Mechanisms present the curvature properties of point trajectories in a planar moving body such as the coupler link of a four-bar linkage. Update:  December 13, 2017. These notes have been revised to use the notation for the components of the pole acceleration and […]

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 […]

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 […]

## Superluminal Chapter 3

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 Chapters 1-2

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.)

## Flapping Wing Prototype

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.

## RPR-2SS Soil Conditioning Valve

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 […]