designing and fabricating mechanical automata from mocap … · 2015. 2. 23. · automata from...

Designing and Fabricating Mechanical Automata from Mocap Sequences

Duygu Ceylan Wilmot Li Niloy J. Mitra

Maneesh Agrawala Mark Pauly

Mechanical Automata

Mechanical Automata

Time Piece - Switzerland

Mechanical Automata


The Writer (designed by Jaquet-Droz)

Mechanical Automata


The Writer (designed by Jaquet-Droz)

windup toys

Challenges

Conceptual Design

Challenges

Conceptual Design Configuration

Challenges

Conceptual Design Spatial LayoutConfiguration

Challenges

Conceptual Design Spatial LayoutConfiguration

How can we automate this process?

Related Work

Related WorkCommercial Solutions

Autodesk Inventor

Solidworks


Autodesk Inventor

Solidworks

Zu et al. 2008

Conceptual Design


Autodesk Inventor

Solidworks

Zu et al. 2008

Conceptual Design

Haller et al. 2009

Configuration


Autodesk Inventor

Solidworks

Zu et al. 2008

Conceptual Design

Zhu et al. Sig. Asia 2012

Automated Mechanism Design

Haller et al. 2009

Configuration

Related Work

Coros et al. Siggraph 2013

Commercial Solutions

Autodesk Inventor

Solidworks

Zu et al. 2008

Conceptual Design

Zhu et al. Sig. Asia 2012

Automated Mechanism Design

Haller et al. 2009

Configuration

Design Pipeline

Input Motion Generated Automaton

Design Pipeline


Motion Approximation

Design Pipeline


Motion Approximation Kinematic chains & layout

Design Pipeline


Motion Approximation Kinematic chains & layout Fabrication

Automaton Design

Automaton Design

kinematicchains

Automaton Design

✓ single input crank

kinematicchains

Automaton Design


pulleys gears

kinematicchains

Automaton Design


pulleys gears four-bar linkage

✓ oscillation module: combination of simple mechanisms

kinematicchains

Automaton Design


✓ hierarchy of oscillations with varying phase/frequency



kinematicchains

Automaton Design


✓ hierarchy of oscillations with varying phase/frequency



kinematicchains

✓ free-standing

Design Pipeline


Motion Approximation Kinematic chains & Layout Fabrication

Planar Approximation


bevel gearsoscillation modulepulleysfour-bar linkage


four-bar linkage

pulleys




four-bar linkage

pulleys

bevel gearsoscillation modulepulleysfour-bar linkage bevel-gears


input motion planar motion



four-bar linkage

pulleys

bevel gearsoscillation modulepulleysfour-bar linkage bevel-gears

Oscillation Module

oscillation module

the four-bar linkage converts uni-directional rotation to oscillation

Di Ai

Fi

Oscillation Module

oscillation module

li�1


Di Ai

Fi

Oscillation Module

oscillation module

li�1


Di Ai

Fi

li

the output crank of the linkage drives the link attached to it

Oscillation Module

oscillation module

li�1


Di Ai

Fi

li

the output crank of the linkage drives the link attached to it the pulleys propagate the

input rotation to the next link

Pi Qi li

Di+1

Oscillation Module

oscillation module


t

�


t

�

��i


t

�

E�i =#linksX

i

#framesX

t

✓sin

��i(t)��i(t)

2

◆2

��i

linkage parametersangular speed


t

�

E�i =#linksX

i

#framesX

t

✓sin

��i(t)��i(t)

2

◆2

��i



t

�

E�i =#linksX

i

#framesX

t

✓sin

��i(t)��i(t)

2

◆2

��i

��i�1

�↵��↵ +��i�1

↵̇i depends on input speed & pulley ratios



t

�

SQP method in the MATLAB Optimization Toolbox

E�i =#linksX

i

#framesX

t

✓sin

��i(t)��i(t)

2

◆2

��i

��i�1

�↵��↵ +��i�1

↵̇i depends on input speed & pulley ratios

Design Pipeline



Layout: Kinematic chains

Fi

gi


Fiscale

gi


Fiscale

gi

tooth count


Fiscale

gi

tooth count

pulley sizes & belt length


Fiscale

gi

tooth count

pulley sizes & belt length(limited options)


Fiscale

link lengths

gi

tooth count



Fiscale

link lengths

gi

Ej =X

i

wa ⇤ Eang + wp ⇤ Epul + ws ⇤ Elength

tooth count



Fiscale

link lengths

gi

match the desired angular speed of each oscillation module

Ej =X

i


tooth count



Fiscale

link lengths

gi


Ej =X

i


find the functioning pulley parameters:belt length & wheel radii

tooth count



Fiscale

link lengths

gi


Ej =X

i



preserve the relative bone lengthstooth count



Fiscale

link lengths

gi


Ej =X

i



preserve the relative bone lengths

E =X

j

Ej + Esym

tooth count



Fiscale

link lengths

gi


Ej =X

i




E =X

j

Ej + Esym

assign similar lengths to symmetric link pairs

tooth count



Fiscale

link lengths

gi


Ej =X

i




E =X

j

Ej + Esym

assign similar lengths to symmetric link pairs

Gurobi, mixed-integer solver

tooth count


continuous

discrete

Layout: Unified design

Layout: Unified design

bevel gearsoscillation modulepulleysfour-bar linkage bevel gearsoscillation modulepulleysfour-bar linkage

Design Pipeline



Fabrication

generated automata laser-cut & purchased pieces

Fabrication

generated automata laser-cut & purchased pieces physical prototype

Results: Walking

Input Motion Generated Automaton Physical Prototype

Results: Dancing

Input Motion Generated Automaton Physical Prototype

Input Motion Motion Approximation Generated Automaton

Results: Ballerina

Design Pipeline



Design Pipeline



oscillationmodule

Design Pipeline



oscillationmodule

fabricationconstraints

Limitations

‣ planar approximation

Limitations


‣ simple planar mechanisms

‣ single input crank

Limitations


‣ simple planar mechanisms

‣ single input crank

non-circular gears 6-bar linkages

Motion Capturewith Microsoft Kinect(tracking by ipi Soft)


What is next?

What is next?

self-standing automata other mechanisms

Acknowledgements

Zohreh Sasanian

Minh Dang

Nobuyuki Umetani

Tina J. Simith

EPFL ENAC Output Center

ERC Starting Grant 257453 COSYM

Marie Curie Career Integration Grant

Adobe Research Grant

UCL Impact Award

Thank you...

http://www.duygu-ceylan.com/duygu-ceylan/mechAuto.html

designing and fabricating mechanical automata from mocap … · 2015. 2. 23. · automata from...

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