I am pleased to provide the presentations from the 2012 National Science Foundation Workshop on 21st Century Kinematics. These presentations provide insight to the challenges and opportunities for research in mechanical systems and robotics. The NSF Workshop on 21st Century Kinematics at the 2012 ASME IDETC Conference in Chicago, IL on August 11-12, 2012 consisted […]
About Prof. McCarthy
This author has yet to write their bio.Meanwhile lets just say that we are proud Prof. McCarthy contributed a whooping 322 entries.
Entries by Prof. McCarthy
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.
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