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Figure 2.3a: One prototype linkage on a makeshift LEGO and foam duck prototype; b: the same linkage being tested in the water; c: linkage with foot attached to rocker arm
Matlab analysis of four-bar linkage coupler curve, of duck's RECOVERY stroke while paddling
Matlab analysis of four-bar linkage coupler curve, of duck's POWER stroke while paddling
Final four-bar linkage design, fused to decoy body
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Third iteration of duck, adopting a trimaran, triple keel design for stability during paddling
Top view of Tamiya motor, transmission, switch, and power source
Matlab created estimate of Tamiya motor's power output and efficiency, given our operating requirements. Adequately mimics the power (metabolic) consumption of an actual duck.
Back view, displaying trim rudder
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Animatronic Duck
A team-based, mechanical systems project for Stanford's ME 112 class, that required the construction of an biomimetic, swimming duck that modeled the paddling motion, speed, and metabolic cost of an actual duck. All materials were sourced, requiring modification and assembly processes such as laser cutting, general machine shop tools (band saw, drill press, etc.), manual milling, and difficult tolerances in our assembly of a complicated electro-mechanical system.
My most major contributions on the team were with the hull design iteration, motor/transmission selection, machining of sourced materials, and assembly of our device.
