Robotic Rowboat
Two independently controlled spherical four-bar linkages drive the oar movement
The motion of an oar blade around the oarlock of a rowboat traces point trajectories on a sphere that has the oarlock as its center.
Jiaji Li has designed and built a spherical linkage that guides an oar blade in a rowing movement. Two independently controlled motor-driven spherical linkages yields a prototype robotic rowboat.
Select this link to the YouTube video Robotic Rowboat to see these linkages in action.