Archive | Robotics Information

Actuating Morphing Linkages

Target Profiles for Morphing Linkage

Target Profiles for Morphing Linkage


Lawrence Funke and Prof. James Schmiedeler of the University of Notre Dame Locomotion and Biomechanics Lab show that the movement of a morphing linkage through its target profiles can be improved by coordinating actuation of the sub-chains. This was presented at the Mechanisms and Robotics Conference which was part of the 2015 ASME Design Engineering Technical Conferences, August 2-5, in Boston, MA. The video below shows the improvement obtained by moving from 1 to 3 coordinated actuators.
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Rolling Robot at SUTD

Virgo 2 SUTD

Virgo 2 SUTD


A research team including Profs. GimSong Soh, Kristin Wood and Kevin Otto at Robotics Innovation Lab at the Singapore University of Technology and Design has developed a rolling robot about the size of a baseball. The design and motion planning of this robot, Virgo 2.0, was presented at the Mechanisms and Robotics Conference which was part of the 2015 ASME Design Engineering Technical Conferences, August 2-5, in Boston, MA. A demonstration of the Virgo 2.0 moving through a figure eight path around obstacles is shown in the video below.
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Workshop on 21st Century Kinematics

21st Century Kinematics

21st Century Kinematics

The NSF Workshop on 21st Century Kinematics at the 2012 ASME IDETC Conference in Chicago, IL on August 11-12, 2012 consisted of a series of presentations and a book of supporting material prepared by the workshop contributors.

The book is now available at amazon.com: 21st Century Kinematics–The 2012 NSF Workshop.

And here are the seven primary presentations given at the workshop.

  1. Computer-Aided Invention of Mechanisms and Robots. J. Michael McCarthy, Professor, University of California, Irvine.
  2. Mechanism Synthesis for Modeling Human Movement. Vincenzo Parenti-Castelli, Professor, University of Bologna.
  3. Algebraic Geometry and Kinematic Synthesis. Manfred Husty, Professor, University of Innsbruck.
  4. Kinematic Synthesis of Compliant Mechanisms. Larry Howell, Professor, Brigham Young University.
  5. Kinematics and Numerical Algebraic Geometry. Charles Wampler, Technical Fellow, General Motors Research and Development.
  6. Kinematic Analysis of Cable Robotic Systems. Vijay Kumar, Professor, University of Pennsylvania.
  7. Protein Kinematics. Kazem Kazerounian, Professor, University of Connecticut.

Colleagues joined in with two additional presentations:

Many thanks to the contributors and the attendees for an outstanding workshop.

Update: The presentation links have been fixed.

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Mechanical characters

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Disney Research guides two degree-of-freedom open chains using the coupler curve of a geared five-bar linkage to obtain geared seven-bar and nine-bar linkages, which they use to move the front and rear legs of their Cyber Tiger. By connecting the driving gears of the four legs, they obtain a one degree-of-freedom system that animates the Cyber Tiger.

The computational design system uses an optimization routine to adjust the coupler curve of the five-bar linkage to approximate a given curve in order to guide the system in a desired movement. The results are terrific, and look a lot like the mechanical toys of the past. Select this link for more information.

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Six-bar Linkage Design for Mechanical Computation

Six-bar linkages

Six-bar linkages


Our paper Numerical Synthesis of Six-bar Linkages for Mechanical Computation provides the mathematical theory that underlies the synthesis of a six-bar linkage with an input-output relationship that approximates a specified function. This describes how the Stephenson III six-bar linkage that sets the elevation for a ballistic trajectory was designed.

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Waldron Fest: May 16-17, 2013

Waldron Inspires

Waldron Inspires


This poster was prepared as a gift to Ken Waldron on his 70th birthday and given to him at a conference organized in his honor. Anuj Taneja generated the SolidWorks model in 2006 from the original drawings of the Adaptive Suspension Vehicle. I recently found the electronic files and Kaustubh Sonawale generated the four-view drawing. The ASV is an important feat of engineering and the stories shared by those who worked on it were wonderful.

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