Automata: animated mechanical devices

Sisyphus by D. Johnson

User Input

Mechanism Design

Finishing

Database Retrieval

Collision Resolution

CharacterMotion Curves

Database Retrieval

Database Retrieval

Database Retrieval

Parameter Optimization

Database Retrieval

Timing Control

Database Retrieval

Support Structure

Database Retrieval

Gear Connections

Database RetrievalFabrication

Overview

Simulation Model

component j

Simulation Model

component i

Pin Connections

component j

Simulation Model

component i

Pin Connections Point-on-Line Connections Gear-to-Gear Connections

Simulation Model

Mechanism Design

Library of Mechanisms

14

Parameterized Mechanisms

Parameterized Mechanisms

Parameterized Mechanisms

Parameterized Mechanisms

Mechanism Design

Sparse Database of Representative Motions

Sparse Sampling of Parameter Space

Parameter SpaceParameter Space

Sparse Sampling of Parameter Space

Parameter SpaceParameter Space

Continuous Optimization

Continuous Optimization

25

Continuous Optimization

Continuous Optimization

Gearing Up

1. Gear Layout

2. Gear Optimization

- Equality constraints model connections

- Inequality constraints prevent intersections

Results

Leveraging existing animations

Goal: a design tool for complex linkage structures subject to aesthetic and functional requirements.

Input Design Tool Output

1. Discrete-continuous problem

2. Prone to singularities

Input Design Tool Output

TopologyDesign

ParameterOptimization

Goal: a design tool for complex linkage structures subject to aesthetic and functional requirements.

Topology Design: Motor Replacement

Topology Design: Motor Replacement

d=const.

ത𝐱𝑏

ത𝐱𝑎

𝑐𝑏

𝑐𝑎

Topology Design: Motor Replacement

Topology Design: Motor Replacement

Topology Design: Generalization

ഥ𝒙𝑎

ഥ𝒙𝑏

Find ത𝐱𝑎 and ത𝐱𝑏 to minimize:

𝐸DV = σ𝑖 𝐱𝑎 𝑡𝑖 − 𝐱𝑏 𝑡𝑖2 − 𝑙𝑎𝑏

𝟐

ത𝐱𝑎

ത𝐱𝑏

xm

Topology Design: Browsing Options

ഥ𝒙𝑎

ഥ𝒙𝑏

Topology Design: Browsing Options

ഥ𝒙𝑎

ഥ𝒙𝑏

Input Mechanism Design

Topology Optimization

Global Optimization

Global Optimization

Global Optimization

Global Optimization

Global Optimization

?

Detecting Singular Configurationsti

Detecting Singular Configurationsti

Detecting Singular Configurationsti

Detecting Singular Configurations

Detecting Singular Configurationsti

Detecting Singular Configurationsti

Detecting Singular Configurationsti

Detecting Singular Configurations

Global Optimization

?

Input Mechanism Design

Topology Optimization

Character Finishing

Output

Charging Bull

Charging Bull

Charging Bull

Dragon