Geometric Design of Linkages book

Geometric Design of Linkages, second edition

Geometric Design of Linkages, second edition

Geometric Design of Linkages, second edition

I am pleased to say that the second edition of my book, Geometric Design of Linkages, is now available, and I have to express my sincere gratitude to my co-author GimSong Soh, who helped make it happen.

You can find more information at the Springer Verlag web-page, GDL on Springer.com.

It is also already on Google Books, you can see it at the link GDL on books.google.com.

21st Century Kinematics

21st Century Kinematics

This is a draft of my editorial on 21st Century Kinematics for the Journal of Mechanisms and Robotics. It is a follow-up to my previous editorial on Kinematics, Polynomials and Computers. I would welcome your feedback.

Kinematics and Computers

Kinematics, Polynomials and Computers–A Brief History

Select this link to the .pdf of Kinematics, Polynomials, and Computers–A Brief History, which is a summary of the history of the kinematics of mechanisms and robotics with a focus on the challenge of solving the polynomial equations that arise in their study.  It is a draft of my February 2011 editorial for the ASME Journal of Mechanisms and Robotics.
***Update*** This version has a correction to references [29] and [30].

Parallel Mechanisms information center

Parallel Mechanisms information center

Ilian Bonev maintains bibliography and patent databases on parallel mechanisms and much more at ParallelMIC. Access it at the link http://www.parallemic.org/

Parallel Mechanisms information center

Parallel Mechanisms information center

Elementary Robotics

Elementary Robotics

The basic properties of robots can developed by studying planar serial chains. Select this link for my notes on elementary robotics:
http://synthetica.eng.uci.edu/mechanicaldesign101/McCarthyNotes-5.pdf

Elementary Robotics

Elementary Robotics

Motor Torque and Power

DC motor torque and power

A copy of my notes on DC motor torque and power can be downloaded at the link:
http://synthetica.eng.uci.edu/mechanicaldesign101/McCarthyNotes-1.pdf

Motor Torque and Power

Motor Torque and Power

Phyclips from UNSW

DC motor basics

The basic principles of DC motors are presented by Joe Wolfe of the University of New South Wales (Sydney, Australia) at the link:
http://www.animations.physics.unsw.edu.au/jw/electricmotors.html

Phyclips from UNSW

Phyclips from UNSW

Northwestern University (Chicago, Illinois) presents the basics of a DC motor in the Wiki page:
http://hades.mech.northwestern.edu/index.php/Brushed_DC_Motor_Theory

Northwestern University Wiki page

Northwestern University Wiki page

Jansen and Klann Legs

Comparison of Klann and Jansen leg linkages

Joseph Klann provides a useful comparison of the leg designs for his Mondo Spider and Theo Jansen’s Strandbeest at the link:
http://www.mechanicalspider.com/comparison.html

Mondo Spider

Mondo Spider walking machine

This walking machine known as the Mondo Spider.

 The leg of the mondo spider has the topology known as a Stephenson six-bar and is described in US Patent 6,260,862 awarded to Joseph Klann. Access it through the link:
http://www.google.com/patents/about?id=70YHAAAAEBAJ&dq=6,260,862

Wikipedia calls this the Klann linkage described here:
http://en.wikipedia.org/wiki/Klann_Linkage