Kinetic toys
The nature of this report revolves around the investigation and implementation of a simple kinetic planar structure based on articulated Bricard linkages. We explore how existing spatial overconstrained linkages with revolute joints can be fabricated and used as a kinetic planar toy. The Bricard...
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| Other Authors: | |
| Format: | Final Year Project (FYP) |
| Language: | English |
| Published: |
2009
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| Online Access: | http://hdl.handle.net/10356/16873 |
| _version_ | 1811693176184897536 |
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| author | Lee, Brian Zong Han. |
| author2 | Chen Yan |
| author_facet | Chen Yan Lee, Brian Zong Han. |
| author_sort | Lee, Brian Zong Han. |
| collection | NTU |
| description | The nature of this report revolves around the investigation and implementation of a simple
kinetic planar structure based on articulated Bricard linkages. We explore how existing spatial
overconstrained linkages with revolute joints can be fabricated and used as a kinetic planar toy.
The Bricard linkages can transform between a fully closed configuration and a maximum
expanded one.
The kinetic structure is used as architecture for a robotic assembly. A six bar element of the
basic threefold Bricard linkage is fabricated as the base structure and the links are joint
together by revolute joints. The articulated structure is geometrically overconstrained, with a
single degree of mobility. The links of the structures are connected to flanges so the angles of
twist between the linkages can be varied to achieve the desired configuration. Therefore, the
structure can be actuated to “walk” with a triangular profile.
A kinetic structure is fabricated; it consists of six carbon fibre tubes that act as linkages and
six joints with three contacting the ground. When actuated, two joints will slide in a planar
fashion on the ground and one “locked” to the ground by means of a rubber contact pad. The
successful movement of the novel structure resembles that of an inching robot and is a
interactive structure; demonstrating one of the many applications for kinetic linkages.
A microcontroller controls the servos which will move the robot in the desire path. It moves
by timing the sequence of the friction pads contacting the ground and fine adjusting the pad
positions. The structure requires a reasonable level of precision in fabrication as there is a high
level of friction involved when moving. The joints experiences twist when articulating the
structure and are fabricated from tough material so that it can resist wear and tear from
repeated use. |
| first_indexed | 2024-10-01T06:47:31Z |
| format | Final Year Project (FYP) |
| id | ntu-10356/16873 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T06:47:31Z |
| publishDate | 2009 |
| record_format | dspace |
| spelling | ntu-10356/168732023-03-04T18:52:36Z Kinetic toys Lee, Brian Zong Han. Chen Yan School of Mechanical and Aerospace Engineering DRNTU::Engineering::Mechanical engineering::Mechatronics The nature of this report revolves around the investigation and implementation of a simple kinetic planar structure based on articulated Bricard linkages. We explore how existing spatial overconstrained linkages with revolute joints can be fabricated and used as a kinetic planar toy. The Bricard linkages can transform between a fully closed configuration and a maximum expanded one. The kinetic structure is used as architecture for a robotic assembly. A six bar element of the basic threefold Bricard linkage is fabricated as the base structure and the links are joint together by revolute joints. The articulated structure is geometrically overconstrained, with a single degree of mobility. The links of the structures are connected to flanges so the angles of twist between the linkages can be varied to achieve the desired configuration. Therefore, the structure can be actuated to “walk” with a triangular profile. A kinetic structure is fabricated; it consists of six carbon fibre tubes that act as linkages and six joints with three contacting the ground. When actuated, two joints will slide in a planar fashion on the ground and one “locked” to the ground by means of a rubber contact pad. The successful movement of the novel structure resembles that of an inching robot and is a interactive structure; demonstrating one of the many applications for kinetic linkages. A microcontroller controls the servos which will move the robot in the desire path. It moves by timing the sequence of the friction pads contacting the ground and fine adjusting the pad positions. The structure requires a reasonable level of precision in fabrication as there is a high level of friction involved when moving. The joints experiences twist when articulating the structure and are fabricated from tough material so that it can resist wear and tear from repeated use. Bachelor of Engineering (Mechanical Engineering) 2009-05-28T08:26:19Z 2009-05-28T08:26:19Z 2009 2009 Final Year Project (FYP) http://hdl.handle.net/10356/16873 en Nanyang Technological University 120 p. application/pdf |
| spellingShingle | DRNTU::Engineering::Mechanical engineering::Mechatronics Lee, Brian Zong Han. Kinetic toys |
| title | Kinetic toys |
| title_full | Kinetic toys |
| title_fullStr | Kinetic toys |
| title_full_unstemmed | Kinetic toys |
| title_short | Kinetic toys |
| title_sort | kinetic toys |
| topic | DRNTU::Engineering::Mechanical engineering::Mechatronics |
| url | http://hdl.handle.net/10356/16873 |
| work_keys_str_mv | AT leebrianzonghan kinetictoys |