Fall 2019 Mechanical Walker Prototypes

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 foot trajectories for the legs of the walker.

Then, they placed the coupler curve in position to form the feet of a walker by using a skew pantograph for the front legs and rectilinear six-bar linkages for the rear legs. I required this particular choice of the type of legs, simply because I was not sure which would work better.

This video shows the operation of their design prototypes. They all work as designed, though we have more work to do on their fabrication in order to improve performance.

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:

Beijing Walking Robot

Design Research in China: Beijing

This video shows the excellent research in design at universities in Beijing.  This is the final of five videos highlighting design research across China taken during a visit in September 2016.

 

For our colleagues in China, here is a link to a YouKu version.

Beijing Design Research

Beijing Design Research

2017 MR Conference

2017 ASME Mechanisms and Robotics Conference

The program for the 2017 ASME Mechanisms and Robotics Conference is now on-line. You can access it at the link: ASME MR Conference

The papers from the UCI Robotics and Automation Lab are:

2017 MR Conf Program

2017 MR Conf Program

Design Research Changzhou

Design Research in China: Changzhou

Our trip through China concluded at a conference and workshop at Changzhou University. This video highlights the Changzhou conference on innovation in Robotics and Intelligent Manufacturing, the beauty of the city of Changzhou, and a rainy night in Shanghai.

Our colleagues in China can see this video on YouKu at: Design Research in China: Changzhou

Changzhou YouKu

Changzhou YouKu

Design Research Dalian

Design Research in China: Dalian

Design Research Dalian

Design Research Dalian

This is the third of five videos highlighting design research across China.  This captures the beauty of Dalian, a city on the Yellow sea, and the excellent research in precision machine design by colleagues and their students at Dalian University of Technology.

Here is a link to this video on Youku for our colleagues in China:
http://v.youku.com/v_show/id_XMTg5MDg4MzI0NA==.html

Youku Dalian

Youku Dalian

Design Research Xian

Design Research in China: Xi’an

Design Research Xian

Design Research Xian

This video of our visit to Xi’an captures the beauty of the city and its surroundings, as well as the personality of the excellent professors and students at Xidian University.

For our colleagues in China, here is a link to a Youku version of this video: http://v.youku.com/v_show/id_XMTg2MzQ5NDI4MA==.html

Youku Xian Video

Youku Xian Video

Trifolium prototype

Prototype of the Trifolium Mechanism

Trifolium prototype

Trifolium prototype

Yang Liu and Peter Yang designed and built this physical prototype of our Trifolium mechanism.  It is fabricated from ABS using the Stratasys Fortus system in UCI’s Institute for Design and Manufacturing Innovation.

Our Chinese colleagues can view this video on Youku at the link: http://v.youku.com/v_show/id_XMTg2MzQ2MjE5Mg==.html

Youku Trifolium Prototype

Youku Trifolium Prototype

Design Research Tianjin

Design Research in China: Tianjin

Design Research Tianjin

Design Research Tianjin

Chris McCarthy filmed and edited this video of our visit to Tianjin, which showcases the design research in mechanisms and robotics at Tianjin University and captures the energy and beauty of the city and its people.

For our colleagues in China this video is available on youku.com: http://v.youku.com/v_show/id_XMTgzMTIyMTg1Ng==.html

Youku Design Tianjin

Youku Design Tianjin

Prototype Butterfly Linkage

Manufacturing Prototype for the Butterfly Linkage

Prototype Butterfly Linkage

Prototype Butterfly Linkage

This animation is taken from Yang Liu’s detailed design drawings for the manufacturing prototype of the Butterfly Linkage. The component parts are to be constructed by additive manufacturing.

This animation includes the music of Explosions in the Sky:

For our colleagues in China this animation is available through youku.com: http://v.youku.com/v_show/id_XMTgzMzA5ODQyOA==.html

Youku Prototype Butterfly

Youku Prototype Butterfly