ASME SMRDC Quadruped Project

This is the SolidWorks motion simulation of the mechanism that my team and I submitted to the ASME undergraduate Student Mechanism and Robot Design Competition (SMRDC). The project uses a four bar Hoecken linkage combined with three other links to achieve a crawl gait. It draws inspiration from the Chebyshev Mechanism, but it has the advantage of only one rotating link. This was perhaps my first proper attempt during my undergraduate years at undertaking a full project through various stages of design and manufacturing. We presented the mechanism at the ASME IDETC 2019 conference in Anaheim, California and placed first. Check out some of the iterations and our mechanism in action below!