http://thebeasts.squarespace.com/images daily 0.75 2014-05-09 https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/535c1bc1e4b0a4907f94b73a/1398545358109/2014-04-17+14.15.42-1.jpg Manufacturing https://static1.squarespace.com/static/53387a8de4b088ba35553891/t/536cf06ae4b0610483557301/1398545358109/2014-04-17+14.15.42-1.jpg Manufacturing https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/534c5452e4b051304f9a84eb/1397511259212/IMG_0017.jpg Manufacturing https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/534c53f6e4b051304f9a8459/1397511191249/IMG_0003.jpg Manufacturing https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/534c5386e4b057f41a7ff5a3/1397511056384/IMG_0013.jpg Manufacturing https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/534c52b0e4b00d9288832b94/1397510897108/IMG_0001.jpg Manufacturing https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/534203b4e4b0cf4885e810f2/1423841217402/P1150266.jpg Manufacturing - Charlie at the CNC https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/534203aae4b0cf4885e810e0/1396836816310/2014-04-04+16.08.19.jpg Manufacturing - Regina and Ben at the Lathe https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/534203b4e4b0cf4885e810f4/1423841223575/P1150258.jpg Manufacturing - Hal and Eric Inspecting a Part https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/534b4fffe4b057a498deb0b0/1397444624976/ Manufacturing - Custom Clevis Manufacturing https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/534203aae4b025688de99d6e/1396836827418/2014-04-04+15.57.00.jpg Manufacturing https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/534203b4e4b025688de99d7a/1423841218713/P1150260.jpg Manufacturing https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/534203b4e4b025688de99d7c/1423841218557/P1150254.jpg Manufacturing https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/534203d6e4b0c7c09a3caa3a/1423841222686/P1150245.jpg Manufacturing Eric Laukkanen and Charli https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/5342083de4b0b65c53549d66/1397435597813/IMG_0142.jpg Manufacturing - Fiberglass sizing Ben Aguilar cuts out fiberglass for the main leg plates https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/534b2ad3e4b0e779a13dc638/1423841218063/2014-04-13+18.09.16.jpg Manufacturing - Leg profiles The various leg profiles were cut out from 3/16" marine grade plywood using the laser cutter. https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/5342084ae4b0b65c53549d77/1396836426959/IMG_0134.jpg Manufacturing https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/534203dfe4b0c7c09a3caa47/1423841206025/P1150244.jpg Manufacturing https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/534b79dae4b08ff8ebd35c30/1397455355730/ Manufacturing - Lasercutting fiberglass Using the laser cutter to cut the profile of the legs https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/53420833e4b0b65c53549d56/1397455520611/IMG_0145.jpg Manufacturing - Eric, Regina, and Charlie fiberglassing https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/534b3ccbe4b0fffc0dce3e5b/1423841209606/2014-04-09+18.39.06.jpg Manufacturing https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/53420843e4b0b65c53549d6d/1396836419910/IMG_0135.jpg Manufacturing https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/534b3c6de4b01ccabb397632/1423841205999/2014-04-13+18.09.jpg Manufacturing https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/534b3ca5e4b01ccabb397674/1423841223682/2014-04-09+21.35.25.jpg Manufacturing https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/534b3cb1e4b01ccabb39767a/1423841222893/2014-04-09+21.21.08.jpg Manufacturing https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/534b3cc5e4b029dc12c0a1be/1423841213594/2014-04-09+18.40.02.jpg Manufacturing https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/534b3cd5e4b0fffc0dce3e65/1423841226550/2014-04-13+17.01.18.jpg Manufacturing - Profiling Hal showing some newly manufactured profiled leg plates https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/534b7a44e4b03c03e07a4d0d/1397455472223/ Manufacturing - Crank Test Assembled one of the sides upper leg plates, to test the newly manufactured and assembled crank. https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/534b3cdce4b0fffc0dce3e74/1397439756311/2014-04-10+18.12.10.jpg Manufacturing https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/534b3cebe4b0fffc0dce3e8a/1423841213103/2014-04-07+17.37.50.jpg Manufacturing - Clevises on crank Assembled crank https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/534b426ce4b02c0c8e9f7e4e/1423841205944/2014-03-06+14.06.59.jpg Manufacturing Preparing test samples https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/534b42bee4b02c0c8e9f7e9e/1397442778719/2014-04-04+15.38.51.jpg Manufacturing - Machining The beasts working hard, using both CNC mills in the shop. https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/534b43bee4b05abb16c17176/1397441577784/2014-03-31+17.41.31.jpg Manufacturing - Custom clevises 8 newly machined clevises. https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/534b4437e4b0173b07bb4562/1397455595991/2014-03-29+13.15.03.jpg Manufacturing - Custom clevis Side view of the custom clevis https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/534b44c9e4b0dd67a163f3b2/1397441783779/2014-04-05+16.12.27.jpg Manufacturing https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/534b47e9e4b0dd67a163f69d/1397442656642/2014-03-06+15.12.54.jpg Manufacturing - Frame collar First manufacturing step for one of the 36 collars used to hold the frame and leg plates in place https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/534b4face4b057a498deb050/1397444537836/ Manufacturing - Frame Collar Manufacturing https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/535c1b73e4b07fe21eb18ae1/1398545278989/2014-04-24+20.59.33.jpg Manufacturing https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/535c1b7de4b07fe21eb18afa/1398545291705/2014-04-24+15.37.17.jpg Manufacturing https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/535c1b82e4b07fe21eb18b07/1423841225925/2014-04-24+14.57.40.jpg Manufacturing https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/535c1b8ae4b07fe21eb18b18/1398545311525/2014-04-24+12.58.59.jpg Manufacturing https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/535c1b92e4b07fe21eb18b22/1398545311163/2014-04-22+17.30.12.jpg Manufacturing https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/535c1bbae4b0a4907f94b732/1423841213352/2014-04-17+14.14.08.jpg Manufacturing https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/535c217fe4b055c269bec412/1398546822420/2014-04-25+11.50.39.jpg Manufacturing https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/535c217fe4b05d1feab51447/1398546823719/2014-04-25+11.50.28.jpg Manufacturing https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/535c218ee4b055c269bec431/1398546839624/2014-04-17+14.11.38.jpg Manufacturing https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/535c218ee4b05d1feab5145d/1398546839851/2014-04-17+14.10.37.jpg Manufacturing https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/535c2180e4b05d1feab51455/1398546830285/2014-04-24+18.53.00.jpg Manufacturing https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/53694932e4b05cf4f360d5a9/1399408962872/2014-05-04+14.14.59.jpg Manufacturing https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/535c2180e4b05d1feab5144d/1398546825503/2014-04-25+00.05.36.jpg Manufacturing https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/535c2180e4b05d1feab51457/1398546849549/2014-04-24+18.51.41.jpg Manufacturing https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/53694932e4b0acfaa69e7216/1399409100415/2014-05-04+12.29.07.jpg Manufacturing https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/535c2180e4b055c269bec41a/1398546835265/2014-04-24+23.58.20.jpg Manufacturing https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/53694932e4b0acfaa69e7214/1399408960260/2014-05-04+15.29.10.jpg Manufacturing https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/53694932e4b05cf4f360d5a7/1399408967554/2014-05-04+16.10.20-2.jpg Manufacturing https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/536cf046e4b043cc0876b1e9/1423841209528/Beasts+-+the+team.jpg Manufacturing - At the Senior Expo. https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/536b0fefe4b03a731bd96ac3/1399525359375/ Manufacturing https://static1.squarespace.com/static/53387a8de4b088ba35553891/533d7f34e4b0fb7f79fe6da6/536c247ee4b017ad67857edf/1399596158879/ Manufacturing http://thebeasts.squarespace.com/renderings daily 0.75 2014-05-09 https://static1.squarespace.com/static/53387a8de4b088ba35553891/t/536cdd01e4b0b68ea1c365e7/1397444242349/Main_assembly.png CAD - Main Assembly Drawing https://static1.squarespace.com/static/53387a8de4b088ba35553891/534b3236e4b036f444b5017b/534b4e1fe4b029dc12c0b202/1423841217961/Main_assembly.png CAD - Main Assembly Drawing https://static1.squarespace.com/static/53387a8de4b088ba35553891/534b3236e4b036f444b5017b/534b4edae4b0b2883888ef73/1423841208703/Frame_assembly.png CAD https://static1.squarespace.com/static/53387a8de4b088ba35553891/534b3236e4b036f444b5017b/534b4e48e4b029dc12c0b226/1423841225069/4_leg_assembly.png CAD - Leg Set Assembly https://static1.squarespace.com/static/53387a8de4b088ba35553891/534b3236e4b036f444b5017b/534b4e2fe4b029dc12c0b213/1423841228772/single_leg_assembly.png CAD - Single Leg Assembly https://static1.squarespace.com/static/53387a8de4b088ba35553891/534b3236e4b036f444b5017b/534b4e5de4b029dc12c0b247/1423841213442/LEG_assembly.png CAD - Leg Plates Assembly https://static1.squarespace.com/static/53387a8de4b088ba35553891/534b3236e4b036f444b5017b/534b4e76e4b029dc12c0b272/1423841208951/crank_assembly.png CAD - Crank Assembly https://static1.squarespace.com/static/53387a8de4b088ba35553891/534b3236e4b036f444b5017b/533d7f43e4b0f77e1bd11907/1396836865237/Beast.png CAD - Full Assembly Rendering Front View https://static1.squarespace.com/static/53387a8de4b088ba35553891/534b3236e4b036f444b5017b/534b7bcde4b0dd40982fcb89/1397456022972/main-assembly.jpg CAD https://static1.squarespace.com/static/53387a8de4b088ba35553891/534b3236e4b036f444b5017b/533d7f44e4b0fb7f79fe6db2/1396836727673/Beast-2.png CAD - Full Assembly Rendering https://static1.squarespace.com/static/53387a8de4b088ba35553891/534b3236e4b036f444b5017b/5342068de4b056226a589e4e/1396836790787/transmission_with_case.jpg CAD - Transmission Rendering https://static1.squarespace.com/static/53387a8de4b088ba35553891/534b3236e4b036f444b5017b/5342068de4b056226a589e50/1396836803306/plate_connection2.jpg CAD - Side View Detail https://static1.squarespace.com/static/53387a8de4b088ba35553891/534b3236e4b036f444b5017b/534206a7e4b0258f115b712d/1396836834908/custom_clevis.jpg CAD - Custom Clevis Rendering https://static1.squarespace.com/static/53387a8de4b088ba35553891/534b3236e4b036f444b5017b/534206a7e4b0cc3fc1bbeb0e/1396836853843/crank.jpg CAD - Crank Detail https://static1.squarespace.com/static/53387a8de4b088ba35553891/534b3236e4b036f444b5017b/534b8895e4b05abb16c1a2ba/1397459131700/ CAD - Moving Legs https://static1.squarespace.com/static/53387a8de4b088ba35553891/534b3236e4b036f444b5017b/536cdd01e4b0b68ea1c365e6/1399643393415/ CAD http://thebeasts.squarespace.com/the-team daily 0.75 2014-05-16 https://static1.squarespace.com/static/53387a8de4b088ba35553891/t/53631d68e4b0b389057358ba/1399004521282/ The Team https://static1.squarespace.com/static/53387a8de4b088ba35553891/t/5363234be4b09f4cfb347789/1399006028663/ The Team https://static1.squarespace.com/static/53387a8de4b088ba35553891/t/53631d41e4b0bbc27dcae07b/1399004482094/ The Team https://static1.squarespace.com/static/53387a8de4b088ba35553891/t/53631d1ce4b0f03caf31de00/1399004444916/ The Team https://static1.squarespace.com/static/53387a8de4b088ba35553891/t/53631bdce4b0cd0a2a883fae/1399004125620/Ben.jpg The Team https://static1.squarespace.com/static/53387a8de4b088ba35553891/t/53631d87e4b0b389057358e4/1399004552405/ The Team http://thebeasts.squarespace.com/about daily 1.0 2014-09-30 https://static1.squarespace.com/static/53387a8de4b088ba35553891/t/53633414e4b0e20ef9494b6e/1399010325607/ About https://static1.squarespace.com/static/53387a8de4b088ba35553891/t/542b1302e4b0490889d4eaec/1412109060670/ About https://static1.squarespace.com/static/53387a8de4b088ba35553891/t/53633441e4b0c6561be3b746/1399010371274/ About http://thebeasts.squarespace.com/analysis daily 0.75 2014-09-30 https://static1.squarespace.com/static/53387a8de4b088ba35553891/t/542b197be4b071bec0b28b9d/1412110732086/ Analysis https://static1.squarespace.com/static/53387a8de4b088ba35553891/t/534b3437e4b0bccee309169f/1397437513525/ Analysis Vertical position of front and back foot as a function of the input crank angle   https://static1.squarespace.com/static/53387a8de4b088ba35553891/t/542b193de4b071bec0b28aca/1412110653391/ Analysis Generated geometry (colored) with design interpretation -- the final part design (outlined). https://static1.squarespace.com/static/53387a8de4b088ba35553891/t/534b33d2e4b036f444b502ed/1397437455915/ Analysis Predicted foot path of front and back leg https://static1.squarespace.com/static/53387a8de4b088ba35553891/t/542b082ee4b015c819081a3b/1412106287155/ Analysis Static analysis of chromoly frame. https://static1.squarespace.com/static/53387a8de4b088ba35553891/t/534b2e20e4b09ac51177648b/1397436008421/2014-03-07+15.31.29.jpg Analysis A sample of 3/16" plywood with fiberglass in the MTS. The pin went through a sleeve bearing with 5/16" outer diameter. https://static1.squarespace.com/static/53387a8de4b088ba35553891/t/542b071ce4b0ecfba8e84959/1412106014492/ Analysis Vertical position of foot with addition of a foot to serve as a gait-smoothening cam. The blue lines represent the original gait, the red and green represent points on the cam. Look for the the lowest point of any of the lines as you look along the x-axis -- there is almost no fluctuation in Y-direction after the addition of the red and green lines (the cam). Thus the gait has been smoothened. https://static1.squarespace.com/static/53387a8de4b088ba35553891/t/542b18f9e4b0490889d4fbc5/1412110608446/ Analysis https://static1.squarespace.com/static/53387a8de4b088ba35553891/t/542b19b8e4b0682851cb4136/1412110788464/ Analysis The main body profile was not used in the end due to time constraints, but it would have been a really interesting geometry. https://static1.squarespace.com/static/53387a8de4b088ba35553891/t/542b0ddde4b0f9c2c01e6d9e/1412107743666/ Analysis Static analysis on crank arm. https://static1.squarespace.com/static/53387a8de4b088ba35553891/t/534b3961e4b02ba40e3231c1/1397438831532/LegJointForces.png Analysis Forces on each joint in one leg. Note that the maximum force experienced is 180 lbf. This is with loading scenario with a factor of safety of 2.5 https://static1.squarespace.com/static/53387a8de4b088ba35553891/t/534b345be4b0bccee30916bb/1397437549434/ Analysis Front leg movement envelope http://thebeasts.squarespace.com/literature-search daily 0.75 2014-04-14 https://static1.squarespace.com/static/53387a8de4b088ba35553891/t/534b2ad2e4b01ccabb39656a/1397435215037/TheoJansenLinkage.jpg Literature