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.
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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 […]
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 […]
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
Here are the solid models of some of the walkers designed by UC Irvine students in my Spring 2019 course MAE 183 Kinematic Synthesis of Mechanisms. Walker Group 1 Walker Group 2 Walker Group 4 Walker Group 6 Walker Group 8 Walker Group 9 Walker Group 10
This is a series of four videos that show how to: Specify three positions for the foot of a leg consisting of a hip and knee joint; Use three position synthesis to design a four-bar function generator to guide the hip joint; Then use three position synthesis to design a second four-bar function generator to […]
Prof Haijun Su at Ohio State University had his students design walking machines for their final project in ME 5751. Here are videos of four project teams from that event. Team A: Team B: Team C: Team D:
The linkage design software developed by Art Erdman and his students at the University of Minnesota, called LINCAGES: Linkage INteractive Computer Analysis and Graphically Enhanced Synthesis Package, was developed in 1977 through 2000. This is a link to his information site. His guide map that evaluates all of the linkages formed from points on the […]
Just after I published my book Kinematic Synthesis of Mechanisms with its emphasis on leg mechanisms, I found two more interesting eight-bar legs from the designers at DIYWalkers.com This is a Geogebra animation of the leg mechanism for the Strider walker. It is a symmetrical design that allows the formation of a second foot assembly […]