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.
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.
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.
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.
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.
Here is the schedule for the IDETC/NSF Workshop on 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.
I have spent quite a bit of time revising articles on machines in Wikipedia. I hope my contributions are an improvement.
When I started there was a lot of controversy over the definition of Machine, which forced me to introduce Machine (mechanical) and Mechanical system. This has changed and there is movement to move the definitions under a revised version of Machine.
Please take a look:
- Machine, Machine (mechanical), and Mechanical system
- Linkage (mechanical)
- Four-bar linkage
- Six-bar linkage
- Kinematic pair
- Screw axis
- Mechanism (engineering)
- Mechanical advantage
- Overconstrained mechanism
- Burmester’s theory
- Instantaneous center of rotation
- Screw theory
- Dual quaternion
- Virtual work
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