Entries by Prof. McCarthy

MechGen Software Privacy Policy

McCarthy Design Associates has developed a variety of linkage design tools that it makes available to engineers around the world. In particular, the MechGen FG and MechGen SP applications are marketed through the Apple App Store. None of our software applications collects information about the individuals who purchase or use this software. In particular, MechGen […]

Design of Mechanical Walking Robots

Now Available on Amazon In this book, we present the detailed design of mechanical walking robots that are driven by a single motor.  These walkers rely on specially designed leg mechanisms coordinated by gear trains in order to walk, rather than multiple computer controlled motors per leg.  The result is a simplified walking robot that […]

2021 UCI Baja Race Team

Final Report: I have seen intercollegiate engineering competitions like the Baja Validation Event organized by SAE International become important educational experiences. Working together to accomplish a complex task, forces students to become engineers. They see first-hand the benefits of integrated design, simulation, fabrication and testing. And perhaps, more importantly, they learn to work as a team, communicating […]

Wing Mechanisms

Repurposing Jansen’s Leg Mechanism: Innovative mechanical flyers were designed by student teams in my Kinematic Synthesis class based on a repurposed version of Jansen’s leg mechanism. The artist Theo Jansen has inspired many of my students with his dramatic assemblies of leg mechanisms to form his Strandbeest wandering on a beach under the power of a sea […]

21st Century Kinematics: NSF Workshop

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 […]

How to Fix SW Motion Analysis Error: Too Many Redundant Constraints

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 […]