Computational Design + Fabrication: 4D...
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Computational Design + Fabrication: 4D Design Jonathan Bachrach EECS UC Berkeley September 30, 2015
Transcript of Computational Design + Fabrication: 4D...
Computational Design + Fabrication: 4D Design
Jonathan Bachrach
EECS UC Berkeley
September 30, 2015
Today 1
News4D Basics4D Examples4D KinematicsPaper Review ***
News 2
lab 3 due thursdaysection tomorrow 2-3p in soda 373jacobs 3d printer traininghttps://bcourses.berkeley.edu/courses/1353091
4D 3
articulated shapeslinkages
source HumongoNationphotogallery
Motivation 4
change motionamplify force
Links and Nodes 5
link: solid shapenode: attachment pointnumber of nodesexamples – binary, ternary, quaternary
binary ternary quaternary
Joints 6
constrained motion around pointsingle degree of freedom
theta
s
revolute prismatic
Revolute Implementations 7
cantelever clevis
Multiple DOF Joins 8
universal planar
Higher Pair DOF Joins 9
multiple revolute jointsprismatic + revolute joints
second-order-pin-joint pin-in-slot RP
Two Revolute Universal 10
Linkages 11
mechanical computershow do you program them?start with predicting outcomeslook at some examplestalk about the programming problem next week
4D Examples 12
rudimentsmachineryautomotiveartisticrobotics
Cams 13
rotary cam linear cam
square cam irregular cam
Pulley 14
Direction Changing Pulley 15
Quick Return 16
Crank and Slider 17
Line Drawing 18
roberts chebyshev watts
Vice Grips 20
Pantograph 21
Scissor Mechanism 22
Angutec 23
by Manfred Frank
Lamp 24
Small Back Hoe 26
Back Hoe 27
Specialty Back Hoe 28
Front Loader 29
Stewart Platform 30
Delta Mechanism 31
by Firepick
Klann Linkage 32
by Paul Klann
Strandbeest by Theo Jansen 33
Strandbeest by Theo Jansen on Beach 34
Strandbeest by Theo Jansen Videos 35
https://www.youtube.com/watch?v=MYGJ9jrbpvgstandbeestevolutiontheonjansen
https://www.youtube.com/watch?v=HLkd1xXrie0theojansenmechanisminsolidworks
Kinematics 36
forward kinematics go from joint parameters to positionsinverse kinematics go from positions to joint parameters
Next Time 37
4D Work and Torque4D Closed Chains3D Critique
References 38
Design FUNdaMENTALS: Linkages by Alexander Slocum507 Mechanical Movements: Mechanisms and Devices by Henry T.Brown
