These notes introduce students to research on classifying linkage systems which involves a variety of ideas such as Assur groups, Baranov trusses, and Rigidity theory. Organizing the increasing complexity of machine systems to guide inventors has attracted researchers for literally generations and has generally been called “Type synthesis.” The goal is to provide a systematic way to explore the types of linkage systems that are available to address a design need.Type Synthesis
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 self-cleaning valve stops clogging of the port which is a common problem.
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:
Smitty describes the set-up of the front wheels and its importance to the driver’s control.
Smitty explains steering design.
Smitty explains the choice of springs for a suspension.
Smitty describes more about suspension design.
Smitty describes the importance of shock absorbers in suspension design.