3 accepted papers
We consider the design of under-actuated articulated mechanism that are able to maintain stable static balance. Our method augments an user-provided design with counter-weights whose mass and attachment locations are automatically computed. The optimized counterweights adjust the center of gravity s…
Statically balanced spring mechanisms are used in many applications that support our daily lives. However, creating new designs is a challenging problem since the designer has to simultaneously determine the right number of springs, their connectivity, attachment points, and other parameters. We pro
This paper presents the design and implementation of a preliminary version of a programmable drawing automaton (PDA-0) that draws a user-specified 3D trajectory. PDA-0 is strongly inspired by Jaquet Droz's a programmable drawing automaton built in the 1770s using 6,000 moving parts, which was hand-c…