Tianze Xu


Presentation: 1:15 p.m.-2:30 p.m., Kennedy Union Ballroom



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The primary objective of this research work is to reformulate and solve a basic machine design problem called approximate motion synthesis. The need for this reformulation is that prior techniques rely on numerical methods and the need for significant user input. The pole method being proposed herein is a more straightforward approach that is simpler to implement and requires fewer inputs to find a solution. Our research focuses on approximate motion synthesis for the simplest of linkages, a planar four-bar. The reason for this is that a four-bar can produce an approximation solution to a manufacturing or assembly problem, and then modest variation in its components can be added to create an exact solution to the problem. The variation in its components is essentially the mingling of the four-bar with robotic components, which generates a new class of low DOF machines called metamachines. Hence, the four-bar is the approximate solution, and the metamachine is the mixture of the four-bar with the robotic components having the capacity to produce an exact solution.

Publication Date


Project Designation

Independent Research

Primary Advisor

Andrew P. Murray, Dave Harry Myszka

Primary Advisor's Department

Mechanical and Aerospace Engineering


Stander Symposium project, School of Engineering

United Nations Sustainable Development Goals

Industry, Innovation, and Infrastructure

Approximate Motion Synthesis by Using the Poles of Planar Displacements