Initial Concept

An automaton is fundamentally a singular input, multi-output system, whereby we will transfrom a singular motor input into several interconnected complex motions, with the goal of imitating the movements of a flying creature (bird or dragon).

Our project is mainly split up into four major mechanisms, upon which the smaller details will be built upon. Out Prototype will consist of:

1. The Wing Mechanism

2. The Head Mechanism

3. The Feather Ripple Mechanism

Our prototype will not include a Tail Flutter Mechanism, but we have plans to include this in our final design.

An example of a finished mechanism is shown below:

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Figure 1: ‘A Brassy Dragon’ by Keith Newstead

Image Source: [1]

“http://www.contemporaryautomata.com/photos/gallery1/.” Accessed: Apr. 05, 2026. [Online]. Available: http://www.contemporaryautomata.com/photos/gallery1/

Iterations

The most complex part of our proposed project is how we are meant to connect multiple systems in a way for multiple outputs to be generated using only one input. As the most complex mechanism, and the one we were going to attach everything to, the first thing we started designing were the wings.

We came up with three ideas: one was to make a simplified Jansen linkage with the tip being the tip of the wing, and orienting this linkage at an angle close to the horizon would have given us a motion similar to a flapping wing. Another idea was to use a cam follower to push a horizontal bar, which would then act as a ‘shoulder’ joint and drive the wing’s flapping motion using a simple four bar mechanism. The last idea for the wings was to connect a crank shaft to the input rotation, and use several sliders to convert the x-y plane rotational motion to a z-x plane rocker motion, such that the wings would have motions in both planes to better simulate the motion of a bird/dragon wings.

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Figure 2: Whiteboard with Initial Schematic Ideas

Prototyping

We were one of the teams where our parts had yet to arrive and we would be hard pressed to do any final design work without those materials. Thus our prototype is more proof of concept than a representation of how it would look in the end.

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Figure 3: Initial Prototype: Proof of Concept, Back View

As seen above, our inital prototype was made of popcicle sticks and hot glue, however it contains the mechanisms that we were hoping to demo.

Both four bar mechansims, as seen clearly above, are renditions of how the wing mechanism would look and perform in 3D. The left wing mechanism has link lengths:

This left wing mechanism matches the intended motion of our wing the most, thus we are planning on sticking with this configuration in the future.

The right wing mechanism has link lengths:

This mechanism seems to stretch the wing when it’s meant to sweep downwards, thus we are not planning to use this design.

The schematics shown above called for a cam follower mechanism, however the spring-loaded cam-follower adjacent mechanism that was rigged up snapped during operation (picture below). Thus it was substituted with a simple crank and follower in the prototype.

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Figure 4: Snapped Cam-Follower Substitution

This two-wing mechanism is rigged up to a ‘shoulder’ link (as seen in schematic) which in turn is linked to a slider-spring mechanism meant to control the movement of the head. It is also directly linked to the head four bar itself, and the vertical motion of the shoulder joint provides a rocker input.

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Figure 5: Initial Prototype: Side View

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Figure 6: Drawn Head Four Bar + extras Mechanism

The Head Mechanism

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Figure 7: Four Bar (Laser-Printed) w/ 10 mm Bearings

This laser-cut four-bar linkage was used as an early physical iteration to validate the link lengths and joint geometry before committing to final prototype materials. The 10 mm press-fit bearings were incorporated at each pivot to minimize friction and ensure smooth, repeatable rotation at the joints, directly informing the bearing selection and hole sizing for potential usage in the final prototype.

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Figure 8: Hand-Fabricated Popsicle Stick Four-Bar Linkage

The head mechanism was hand-fabricated from popsicle sticks and other wooden craft materials, with hot glue applied at the joints to hold the links in place. Small wooden dowel segments were used as makeshift pivot bearings, allowing each link to rotate relative to its neighbor while keeping the assembly rigid enough to demonstrate the four-bar motion. This low-cost fabrication method allowed the team to physically confirm the individual mechanism's link proportions, test the rocker's range of motion by hand, and identify any geometric issues.

Feather Ripple Mechanism

The Feather Ripple Mechanism has been prototyped using materials from unique 3-D printed and laser cut pieces and a prior build assignment materials. As of now, the only part of the Feather Ripple Mechanism that is built is the slider block itself plus the followers and CAM. Furthermore, the CAM, followers, and slider have not been completely assembled. The 3-D printed pieces are shown below.

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Figure 9: Side view of 3-D printed grounded CAM

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Figure 10: Angled view of 3-D printed grounded CAM

The followers that are slotted in the slider block that move up and down are shown in the image below.

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Figure 11: 3-D print of slider blocks that slot into the slider.

From here, parts from build assignment 1 were used to finish the prototype. These parts are:

• shafts

• shaft collars

• linear bearings

• linear bearing mounts

The prototype assembly including the prior build assignment pieces and the slider (laser cut with 10 square holes).

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Figure 12: Prototype Assembly of prior build assignment pieces and laser cut slider

This prototype assembly has the shafts mounted, via orange shaft collars, onto stilts that provide a mount for further prototyping. On each shaft there is a linear bearing slotted into a linear bearing mount. This linear bearing mount is then screwed into the slider block thus allowing linear motion.

This Feather Fluffing Mechanism prototype is rudimentary and simple, but it is a solid proof-of - concept for the idea and we will continue with this design.

Further work on this mechanism includes:

• Design slider system mounting that allows the CAM block to fit under.

• Acquiring new linear shaft mounts to increase spacing for the slider block, CAM, and followers.

• Designing and 3-D printing a new follower that has proper spacing and that allows for smooth movement over the CAM, plus stays vertical throughout slider motion.

• Finishing assembling the rest of the slider-crank.

Bill of Materials (Prototype)