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