Kinematic Synthesis of Mechanisms
Six-Legged Mechanical Walkers: Spring 2020 Highlights
Prototype Four-Legged Mechanical Walker
Four-Legged Mechanical Walkers: Spring 2020 Highlights
The Design of Mechanical Walkers: Spring 2020 Student Projects
Fall 2019 Mechanical Walker Prototypes
Four-legged Mechanical Walkers: Teams 2, 4 and 5
Four Legged Mechanical Walker: Teams 1, 3 and 6
Halloween Display 2019
More Halloween Linkage Designs
Halloween Design Project
Mechanical Walker Project Animations: Spring 2019
Leg Mechanism for a Mechanical Walker
Construction for Three-Position Synthesis of a Four-Bar Linkage
Five Position Synthesis of Four-bar Function Generators
Construction for Two-Position Synthesis of a Four-Bar Linkage
Instruments for Natural Philosophy
Linkage Synthesis Demonstration
Technical information for mechanical components
Parallel Mechanisms information center
Mechanical Properties of Steel
Unified Numbering System for Materials
Material Properties Charts
NIST Periodic Table
Materials Selection in Mechanical Design
21st Century Kinematics
Kinematics, Polynomials and Computers–A Brief History
Mathematica Notebook for Four-Bar Linkage Synthesis
Cam-driven artist mechanical toy
Linkage models at TU-Delft
CMU’s Introduction to Mechanisms
Four-bar linkage analysis: Slider-crank
Four-bar linkage analysis: 4R quadrilateral
DC motor torque and power
DC motor basics
Geometric Dimensioning and Tolerancing
C. J. Sangwin’s linkage movies
Brock Engineering’s mechanism home page
Kinematic models for design
Have a linkage design challenge? We can help.
Contact us on this feedback form. We look forward to providing our MechGen synthesis software to simplify your linkage design process in SolidWorks.
Linkage Synthesis Theory
The mathematical synthesis of linkage movement provides a powerful tool for invention. However, the specified task may not have useful solutions, and the search for successful tasks can be discouraging.
To address this, we automate the search and evaluation process within tolerance zones specified by the designer. These Mathematica notebooks implement our approach to finding defect-free four-bar linkage designs.
RR Constraint Synthesis for Function Generation
Synthesis of an RR Constraint
An important technique in kinematic synthesis is the design of an RR constraint that controls the movement of two joints of an existing serial chain. For a given RR serial chain, like OA shown above, we can specify its movement through five required task positions. This provides the information needed to design an RR constraint, GW above, that ensures the system moves through the required task positions.
This technique is called function generation in the kinematics synthesis literature, because the synthesized RR constraint maintains a specified relationship between the joint angles alpha and beta at joints O and A.
Select this link to download our Mathematica notebook: RR-Constraint Synthesis. It uses a given RR chain and the associated task to determine tolerance zones, where it searches for defect-free designs. As above, this file may download as text file so remove the .txt extension, then it should be readable by Mathematica. If you have any questions, please contact me.
Five-Position Synthesis of a Four-bar Linkage
Here we show a four-bar linkage designed to guide the coupler through five required task positions.
Please download and try our updated Mathematica notebook: Five-Position Synthesis. It searches in the vicinity of the required task for sets of positions that yield defect-free four-bar linkages. It may download as textfile so remove the .txt extension, then it should be readable by Mathematica.
The video below shows the operation of this notebook.
If you have any problems or advice, please contact me.