UC Irvine

Linkage systems are a fundamental part of mechanical design, which enable precision movement and force amplification for complex tasks. There is a wide range of linkage systems that are adaptable to different scales and configurations, however their implementation in robotic systems has been limited. While the mathematical design of planar and spatial linkages is well-developed, techniques for realizing physical versions present an on-going challenge. Thus, finding the effective combination of linkage design, material selection, and fabrication strategies is an important step toward enhancing overall performance and achieving reliable and efficient implementation into robotic systems. This dissertation presents the design, fabrication, and application of increasingly complex linkage systems for use in robotic devices. To achieve the research goal, different studies have been explored, including linkage synthesis, fabrication methods and material choices, tolerance consideration, electronic and control systems, and the use of standard parts like screws and bearings. This work resulted in three unique robotic applications: 1) a shoulder exoskeleton for measurement of shoulder range of motion, 2) robotic walking machine that achieves efficient locomotion, and 3) robotic unmanned surface vehicle which uses oars for propulsion. Each application brings a complex linkage system into a practical application as a robotic system. These prototypes demonstrate benefits such as reliable constrained movement, lower power consumption, unique maneuverability on water. This research advances applications of complex linkage systems to robotics.