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Category: Robotics Information

Workshop on 21st Century Kinematics

28 July, 2014 (09:04) | Robotics Information | By: Prof. McCarthy

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.

Mechanical characters

10 August, 2013 (15:21) | Linkage Animations, Robotics Information | By: Prof. McCarthy

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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.

Six-bar Linkage Design for Mechanical Computation

1 August, 2013 (03:33) | Lecture Notes, Linkage Animations, Robotics Information | By: Prof. McCarthy

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.

Waldron Fest: May 16-17, 2013

18 May, 2013 (22:24) | Engineering Data, Linkage Animations, Robotics Information | By: Prof. McCarthy

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.

Introduction to Theoretical Kinematics

29 March, 2013 (00:16) | Lecture Notes, Robotics Information | By: Prof. McCarthy

Introduction to Theoretical Kinematics


Introduction to Theoretical Kinematics

My 1990 book is now on-line as an iBook. It is available as of March 31, 2013. This 2013 version has corrections to errors and language, and includes a glossary and animations of various linkage systems. I hope you like it.

You can see it at the link: Introduction to Theoretical Kinematics.

Six-bar gripper with fine adjustment

19 August, 2012 (03:16) | Linkage Animations, Robotics Information, Student Projects | By: Prof. McCarthy

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This is a robotic gripper designed by Andrea Carli and Kaustubh Sonawale. It uses a six-bar linkage for the primary movement and a slider adjustment to provide a gripping fine movement.

21st Century Kinematics: Workshop Schedule

2 August, 2012 (15:13) | Lecture Notes, Robotics Information | By: Prof. McCarthy

Here is the schedule for the IDETC/NSF Workshop on 21st Century Kinematics:

Workshop Schedule:  21st Century Kinematics

Workshop Schedule: 21st Century Kinematics

Workshop on 21st Century Kinematics: The Book

2 August, 2012 (15:03) | Lecture Notes, Robotics Information | By: Prof. McCarthy

Cover 21st Century Kinematics

Cover 21st Century Kinematics

The presenters for the 2012 IDETC/NSF Workshop on 21st Century Kinematics, August 11-12, 2012, Chicago, Il, have gathered background information into this book published by Springer. It is a guided compilation of work by the presenters found in their recent papers and books. We are grateful to ASME, IJRR, Robotica and Springer for the permission to reprint these excerpts.

MechGen Poster for NSF

11 July, 2012 (17:13) | Robotics Information, Student Projects | By: Prof. McCarthy

Mech Gen Poster for NSF

This is the poster describing MechGen that Kaustubh and Mark prepared for the NSF CMMI Conference in Boston, MA. It was very well received.

Machines on Wikipedia

8 July, 2011 (04:07) | Lecture Notes, Robotics Information | By: Prof. McCarthy

Recently, I became aware of the overall poor quality of the articles on machines in Wikipedia, and I have spent quite a bit of time revising these articles over the past month. I hope my contributions are an improvement. Please take a look:

As you may know anyone may edit Wikipedia, and it is intended to allow user communities to maintain the quality of particular sets articles. It is important that we take this opportunity because Wikipedia is an important resource to our students.