This is a draft of my editorial on 21st Century Kinematics for the Journal of Mechanisms and Robotics. It is a follow-up to my previous editorial on Kinematics, Polynomials and Computers. I would welcome your feedback.
Select this link to the .pdf of Kinematics, Polynomials, and Computers–A Brief History, which is a summary of the history of the kinematics of mechanisms and robotics with a focus on the challenge of solving the polynomial equations that arise in their study. It is a draft of my February 2011 editorial for the ASME Journal of Mechanisms and Robotics.
***Update*** This version has a correction to references  and .
Ilian Bonev maintains bibliography and patent databases on parallel mechanisms and much more at ParallelMIC. Access it at the link http://www.parallemic.org/
The basic properties of robots can developed by studying planar serial chains. Select this link for my notes on elementary robotics:
A copy of my notes on DC motor torque and power can be downloaded at the link:
The basic principles of DC motors are presented by Joe Wolfe of the University of New South Wales (Sydney, Australia) at the link:
Northwestern University (Chicago, Illinois) presents the basics of a DC motor in the Wiki page:
Joseph Klann provided a useful comparison of the leg designs for the Mondo Spider and Theo Jansen’s Strandbeest at this (archived) link: http://www.mechanicalspider.com/comparison.html.
Here is an excellent web page about the Klann and Jansen leg mechanisms, as well as other leg designs: Dog Feather Designs.
This article compares the leg designs: Mechanical Spider Using Klann Mechanism
This is a youtube video prepared by William Thielicke that illustrates the two leg mechanisms.
This walking machine is known as the Mondo Spider. More information is available at Mondospider.com.
The leg of the mondo spider has the topology known as a Stephenson six-bar and is described in US Patent 6,260,862 awarded to Joseph Klann. Access it through the link:
Wikipedia calls this the Klann linkage which is described here: