Here are the three Movies in Chapter 1 of Kinematic Synthesis of Mechanisms.
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.
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.
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.
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
11 King Pin Inclination
12 Toe and Camber
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 is now available on Amazon.com. Please select the link Chop Wood Carry Water.
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.
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:
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.
R. W. Frost’s story Chop Wood Carry Water is now available on iTunes. Select the image to link to the iTunes Preview website.