Animated Linkages

Development: Matlab


This assignment was a further study into links and motion for computational fabrication. I was provided with fully functional Matlab code for simulating the kinematic behavior of the linkages, which I modified to include oscillating motion as well as rotational and designed 2D planar structures with revolute joints demonstrating different linkages.

Four-Bar Linkages

These first four linkages are different four-bar linkage designs

Drag-Link


Crank-Rocker


Double-Rocker


Parallelogram-Linkage


Hoekens Linkage

This is a crank-rocker mechanism that produces a nearly straight line.


Peaucellier-Lipkin Linkage

The Peaucellier-Lipkin Linkage "was the first planar linkage capable of transforming rotary motion into perfect straight-line motion, and vice versa.”-Wikipedia


Klann Linkage

The Klann linkage models the motion of walking animal, providing The Klann linkage provides many of the benefits of more advanced walking vehicles without some of their limitations.


Perserverance Linkage

The final linkage project was to model the behavior of a man pushing a load based on this paper.. Here is a demostration of the desired behavior. I 3D-printed and assembled my own model (not shown) This 3D-printed model from the paper can be found on thingiverse.

Then I recreated the behavior using links.

Here is the result from the code: