Brandon Tsuge describes how to assemble the controller for two motors to drive the right and left sides of a walking machine using an RC transmitter and controller. See The Bored Robot: Using a DC Brushed Motor with a Rotary Encoder.
About Prof. McCarthy
This author has yet to write their bio.Meanwhile lets just say that we are proud Prof. McCarthy contributed a whooping 321 entries.
Entries by Prof. McCarthy
Kevin Chen, J. Michael McCarthy, Shaun Bentley The design and assembly of our four-legged mechanical walkers can yield single degree-of-freedom systems with so many redundant mates that it stalls SolidWorks’ Motion Analysis. For example, the walker shown in Figure 1 had 782 redundant mates. The procedure outlined below reduced the number of redundant mates […]
The leg mechanisms of these six-legged walkers use two coordinated function generators to drive the hip and knee joints to achieve the desired foot trajectory. This differs from Jansen’s leg mechanism in the following ways: (i) separate cranks can be used to drive the hip and knee joints, rather than the same crank driving both joints; […]
Kevin Chen and Arwa Tizani designed this four-legged mechanical walker using Curvature theory to identify a flat-sided coupler curve of a four-bar linkage. This curve was positioned to be the foot trajectory of the leg mechanism using a skew-pantograph. Kevin collected the parts and assembled the walker. Here are his photos and video of its […]
The design of these four-legged walkers relies on Curvature theory to find a flat-sided coupler curve of a four-bar linkage to be used for the foot trajectory. This coupler curve is repositioned using a skew pantograph. The result is a six-bar leg mechanism. Stable gait for these walkers can be achieved by adding side-to-side foot […]
While isolated to slow infections of the Coronavirus, over 60 UCI students learned how to apply the principles of Curvature Theory and Finite-Position Synthesis to the design leg mechanisms for mechanical walkers. Their first team project was a four-legged walker that used the coupler curve of a four-bar linkage positioned using a skew-pantograph as the […]
I was pleased to have an enthusiastic group of graduate students work with me on the design of four-legged walkers as the final project for MAE 245 Kinematic Synthesis. Each of the teams designed a four-bar linkage using Curvature Theory to obtain a coupler curve with a flat portion that could be used as the […]
Here are videos of the designs for the four legged mechanical walkers obtained by Teams 2, 4 an 5. This is the final project in my Fall 2019 Kinematic Synthesis course. Team 2 Team 4 Team 5
Here are videos of the designs for the four legged mechanical walkers obtained by Teams 1, 3 an 6. This is the final project in my Fall 2019 Kinematic Synthesis course. Team 1 Team 3 Team 6
This video shows how the linkage systems moving spooky decorations designed by my six student teams were combined into a Halloween display.