computational design + fab: 4d designjrb/cs194-028/sp18/lectures/4d-design.pdf · 4d kinematics....
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Computational Design + Fab: 4D Design
Jonathan Bachrach
EECS UC Berkeley
February 20, 2018
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Today 1
Paper ReviewNews4D Basics4D Examples4D Kinematics
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News 2
lab 5 due thursdayhave until march 8th plus late days to complete all labshow many projects?team mate for shaansign up for lightning project presentations starting next week
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4D 3
articulated shapeslinkages
source HumongoNationphotogallery
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Motivation 4
change motionamplify force
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Links and Nodes 5
link: solid shapenode: attachment pointnumber of nodesexamples – binary, ternary, quaternary
binary ternary quaternary
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Joints 6
constrained motion around pointsingle degree of freedom
theta
s
revolute prismatic
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Revolute Implementations 7
cantelever clevis
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Multiple DOF Joins 8
universal planar
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Higher Pair DOF Joins 9
multiple revolute jointsprismatic + revolute joints
second-order-pin-joint pin-in-slot RP
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Two Revolute Universal 10
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Linkages 11
mechanical computershow do you program them?start with predicting outcomeslook at some examples
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4D Examples 12
rudimentsmachineryautomotiveartisticrobotics
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Cams 13
rotary cam linear cam
square cam irregular cam
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Pulley 14
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Direction Changing Pulley 15
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Quick Return 16
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Crank and Slider 17
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Line Drawing 18
roberts chebyshev watts
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Vice Grips 20
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Pantograph 21
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Scissor Mechanism 22
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Angutec 23
by Manfred Frank
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Lamp 24
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Small Back Hoe 26
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Back Hoe 27
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Specialty Back Hoe 28
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Front Loader 29
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Stewart Platform 30
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Delta Mechanism 31
by Firepick
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Klann Linkage 32
by Paul Klann
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Strandbeest by Theo Jansen 33
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Strandbeest by Theo Jansen on Beach 34
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Strandbeest by Theo Jansen Videos 35
https://www.youtube.com/watch?v=MYGJ9jrbpvgstandbeestevolutiontheonjansen
https://www.youtube.com/watch?v=HLkd1xXrie0theojansenmechanisminsolidworks
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Kinematics 36
forward kinematics go from joint parameters to positionsinverse kinematics go from positions to joint parameters
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Next Time 37
4D Work and Torque4D Closed Chains
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References 38
Design FUNdaMENTALS: Linkages by Alexander Slocum507 Mechanical Movements: Mechanisms and Devices by Henry T.Brown