ME 421 Machine Design

Department of Mechanical Engineering

California State Polytechnic University, Pomona
Instructor Dr. Amir Rezaei

Walking Machine

Project Philosophy
The objective of ME-421 project is to provide a realistic design experience, from concept to
completion, with focus on linkage mechanisms.

During the course of this project, design 2 or 3-member design teams are expected to follow the
various stages of a design process: Developing Engineering Specifications, Concept Generation,
Concept Evaluation, Engineering Design Analysis, Modeling and Simulation (3D Solid Part Models
and Assembly), Prototype Fabrication, Testing, and Competition.
The project will require ingenuity and creativity as well as analytical ability. It will illustrate the
balance between synthesis, analysis, experimentation, creativity, and good judgment. A rigorous
time schedule and realistic constraints will be coupled with the accountability aspect of the
engineering design profession.
Problem Statement
Design a machine to compete in a WALKATHON. The locomotion of the machine must be
accomplished through the use of linkage mechanism using leg or legs as defined as defined by a
common English dictionary and as interpreted by the course instructor. Directly or indirectly
powered wheels are not considered as legs and NOT allowed.

The walking machine will participate in two-way races, and the best machine will be the one that
finishes all its races ahead of its competition in accordance with the goals, constraints and
performance criteria set forth by this document.
Rules and Regulations
The following is a list of constraints under which the walking machines must be designed, built
and operated:
All walking machines must use a leg or legs for locomotion. Directly or indirectly
powered wheels are not allowed to come into contact with the surface. The definition of
legs and wheels is up to the interpretation of the instructor.
All energy for powering the machine must come from any combination of one or more
electric motors operated by an appropriate (number of) batteries or springs.
The walking machine must be able to tackle 2 high (maximum) obstacles of any size by
walking over them. Avoiding these obstacles is impossible.
Walking machines can walk, run, jump, or, hop.
All machines must be able to take part in approximately 20 to 30 feet long races.
All machines must be able to walk on a solid (concrete) surface or on grass.

 The walking machine must be a self-contained unit. No external assistance will be allowed
to start or support motion or stop.
Motion of the walking machine must be initiated by a single trigger mechanism activated
by a single operator in a single attempt.
No remote control.
Maximum size: 2 long, 2 wide, and 2 high.
The walking machine must be placed at the starting location.
The machine may not touch any object other than the surface on which it will operate.
The machine should not damage the surface on which it will operate. Minor damage to the
grass (if the race is on a grassy surface) is ok but damages (or dents) are not allowed on
solid surface.
All walking machines are expected to walk in a straight line. Maximum deviation of 1 is
allowed at the end point. Machines may be penalized for wandering into others territory,
and may be even disqualified if it obstructs other machines.
Microprocessor control is ok.
No parts of the machine may be in motion prior to starting the competition.
All parts of the walking machines must be behind the start line prior to the start of the
race.
The device must transfer power and motion from the sources to output member(s) using a
combination of elements such as friction disks, belt drives, gears, clutches and links.
The walking machine must not leave anything behind and must carry all its parts.
However, relative changes in positions (configuration) of various members are allowed.
Applying friction increasing/reducing agents are allowed but they must not drip onto the
surface.
No limits on the amount of labor.
Each team must prepare an excel spread sheet with bill of materials and cost calculations.
All machines must have a label on them showing:
o the team name
o team members
o cost of the machine
o weight of the machine
All prototypes must be certified before the competition.
Prior to testing, all designs and prototypes will be subject to review by the instructor.
Modifications may be ordered, design declared unsafe, unfit, or disqualified for violation of
the rules of the project.
Instructor reserves the right to resolve any questions regarding the rules interpretation in
accordance with the intended spirit of this project.

Certification
The certification is a mandatory session that when the teams must show that their machine is
functional. This session will take place one week prior to the public demonstration. A machine is
considered functional if it moves forward at least two feet. Failure to pass this inspection based
on professors judgment will cost 10 points from the final grade.

Final Project Report

After the competition, the final report must be submitted. Each team is expected to prepare a
report of professional quality. In preparing the report please pay close attention to the following
requirements.

The objective of your design

Your design specifications
Conceptual designs that you considered along with the sketches and explanations
Selected design and your reasoning
Explanation of the inner working of your device
Linkage design
You must analyze, refine, re-analyze, finalize and fully document the design of your WALKATHIN
machine
You analysis must include power calculations (motor specifications, torque, power output), static
and dynamic (kinematic: how far, how fast) analysis, machine elements analysis, and linkage
analysis. You must include appropriate diagrams (space and FB diagrams) and show all
calculations.
State all your assumptions and the reasons
Solid models and drawings
Your conclusions and expectation from your design based on your analysis (before the
competitions)
Evaluation of actual performance Compare the actual performance of the device to its predicted
performance no matter how successfully (or unsuccessfully) your WALKATHIN machine
performed.
Learning Realizations Please include a short feedback on what you have learned (be specific)
through this project. What would you differently if you have to do the project again.
Note: The final project report is not complete unless you have turned in peer evaluation form.
The confidential peer evaluation (enclosed) must be submitted individually by each team
member directly to the instructor and separately from the final report.
Event Date: 10th Week Monday

Good Luck and Happy Walking

May the Best Design Win!