Kinematic Model Implementation Using Educational Robotics

Schilling’s famous collection of kinematic models from the early 1900s contains models of trochoidal curves, which were helpful for teachers of the time when teaching plane curves. In this paper, we present a robot model inspired by Schilling’s models, which can be used as an illustrative tool for teaching mathematics in universities according to today’s requirements. Using LEGO SPIKE Prime educational robot kits, we designed a complex, custom-drawing robot capable of representing epi- and hypotrochoid curves. Our goal was to create a construct that provides insight into the process of generating trochoidal curves and is easily reconfigurable and adjustable in multiple ways to produce as much variety of curves as possible.