Chapter 2 Animations-Kinematic Synthesis of Mechanisms

Here are the six Movies in Chapter 2 of Kinematic Synthesis of Mechanisms.

Movie 2.1

Movie 2.2

Movie 2.3

Movie 2.4

Movie 2.5

Movie 2.6

Chapter 1 Animations-Kinematic Synthesis of Mechanisms

Here are the three Movies in Chapter 1 of Kinematic Synthesis of Mechanisms.

Movie 1.1

Movie 1.2

Movie 1.3

Kinematic Synthesis of Mechanisms Title Video

This animation was prepared by Yang Liu of a walking machine designed by Mark Plecnik. This is the title video for my new book Kinematic Synthesis of Mechanism: A project based approach.

The book contains 82 color figures and 30 animations. It is available as an iBook and a Kindle Interactive book on April 7, 2019.

The print version is available now on Amazon.com and the animations are available on the Kinematic Synthesis of Mechanisms YouTube Playlist.

Kinematic Synthesis of Mechanisms: A project based approach

This book is an introduction to the geometric theory used to design linkage systems that are critical components of machines ranging from vehicle suspensions to robot arms. The focus throughout is on graphical synthesis of linkages to control the movement of the legs for a walking machine.

Select this link to see the Kindle Interactive version in Amazon

Select to see this book in Apple Books

Select for the print version in Amazon.

Increasingly complicated walking machines obtained from patent drawings, art and technology are used to motivate the theory. Starting with legs formed by rotating cranks, we move to legs constructed from four bar linkages with specially shaped coupler curves. This leads to a search for coupler points that have near straight line trajectories, and motivates constructions for the inflection circle and cubic of stationary curvature. We also consider cognate linkages and those with symmetric coupler curves.

The use of an RR chain controlled by the coupler of a four-bar linkage is our introduction to six-bar linkages. Then skew pantographs that provide scaling and reorientation of a coupler curve for better walking movement yields eight-bar linkages. The legs designed by Theo Jensen and Amanda Gassaei are shown to implement four bar function generators that control the joint movement of an RR chain. This leads to graphical two and three position synthesis of four-bar function generators, which are applied to the design of legs with two and three specified configurations.

We end with a description of the duty factor and support pattern needed for two, four and six legged walking machines. The challenge of steering and suspension is left for the future.

Chop Wood Carry Water by R. A. White

R. A. White is the author of Chop Wood Carry Water and Superluminal.  He often writes under the pseudonym R. W. Frost.  Here is his IMDB page.  He is a lecturer in the theater arts program at UCLA, and the director of the Toni Martini Variety Hour.

Chop-Wood-Carry-Water-RA-White
2013 Energy Invitational

Smitty’s Video Lectures on Racecar Engineering

Here are Smitty’s video lectures on Introduction to Racecar Engineering assembled into one post. I am sure you will find these 20 videos to be of great value.

01 Getting Started

02 Weight and Balance

03 Strength and Stiffness

04 Chassis Design

05 Suspension Design

06 Shock Absorbers

07 More on Suspensions

08 Springs

09 Steering

10 Caster

11 King Pin Inclination

12 Toe and Camber

13 Tires

14 Transmission

15 Electronic Fuel Injection

16 Performance Ideals

17 Team Don’ts

18 Team Do’s

19 Smitty’s Library

20 Thank you

Chop Wood Carry Water on Amazon

Chop Wood Carry Water on Amazon.com

Chop Wood Carry Water is now available on Amazon.com. Please select the link Chop Wood Carry Water.

ITTK on Amazon.com

Introduction to Theoretical Kinematics, paperback on Amazon.com

I am pleased to report that a paperback version my book Introduction to Theoretical Kinematics: the mathematics of movement is on-line with Amazon.com. I have updated it to reflect current terminology in Robotics and to correct all of the errors that I could identify. Please select the link Introduction to Theoretical Kinematics.

Design of Linkages to Draw Curves, GRASPLab Seminar

On May 8, 2018, I was pleased to give a seminar at the University of Pennsylvania GRASPLab:  McCarthy Seminar.

They also videotaped my lecture.  Here it is:

2018 UCI Phantom FSAE Autocross

This video captures the first autocross run by Matt Clark at the 2018 FSAE Lincoln competition. If I remember correctly is was 62.7sec, just behind their earlier 61.9sec run. Matt’s second run, the final of four runs, was anticipated to be even better but there was a problem with the car.

This view of the course, driver, and front wheels is excellent for understanding the challenges of this competition.