JANSEN’s LINKAGE
By PAVAN SRINIVAS
The Jansen linkage is an eleven-bar mechanism
designed by Dutch artist Theo Jansen in his collection
“Strandbeest.”It consists of 11 links connected in tandem to
each other to simulate a walking mechanism which is quite
similar to that seen in crabs. It is a result of evolutionary
computed models which Theo Jansen started to work upon
in 1990.The mechanism is crank driven and mimics the
motion of a leg. Its scalable design, energy efficiency, and
deterministic foot trajectory show promise of applicability in
legged robotics.
The Experiment
● 56 icecream sticks
● Toothpick,Bamboo sticks
Materials ● DC gear motor X 2
Found around the house! ● Batteries
Procedure
1. Construct the given model as per the
measurements shown in the template.
2. Drill holes of diameter of 3 mm and
1.5 mm on each side of the stick.
3. Join them using bamboo sticks and
toothpicks according to the model.
4. Repeat the above steps for 4 legs
5. Connect the Motor to the shaft.(20,4)
MOTION OF ONE LEG (ANIMATED)
MOTION OF FOUR LEG
APPLICATIONS
1. Load-carrying tipper and trucks for mining integrated with Jansen Linkage.
explores and analyses the Jansen linkage as a permanent replacement for the wheels of load carrying
tippers and trucks used in mining. The main aim of his research is to remove the problems associated
with the smooth movement of vehicles at mining sites, which is commonly dealt with by making roads
separately for it, a time consuming and costly process. Patnaik has chosen Jansen linkage over other
mechanisms since it has the ability to bear huge loads while keeping its body steady.
2. Crab-type robot
The most useful feature of this robot is that it can easily navigate on sandy or marshy surfaces where
most wheeled vehicles fail. The developers have also worked on enabling the robot to be controlled over
large distances by the operator with the help of a Bluetooth module integrated into its hardware. The robot
is capable of carrying out all activities assigned to it while keeping its body stable. Many applications have
been suggested by the developers which the robot will be capable of doing, such as providing intelligence,
searching abilities, doing surveillance and also helping in special material scattering
4.8 Lion-type robot
A medium-sized quadruped robot, similar to the Theo Jansen mechanism, has been developed . In order to
make its gait biomimetic, it has been developed by using only one electric motor as an actuator for walking
and running. The usage of a single actuator drastically reduces the size in comparison to robots with
multiple actuators which are very big in size . For the purpose of successfully developing this mechanism, a
modified gallop gait has been used which is primarily derived from the bounce and gallop gait. The robot
can also perform dynamic running, achieved by making the fore and the hind legs touch the ground
alternatively. The robot employs a battery operated system with a capacity of 1800 mAh and has a velocity
of 0.89 m/s.
So there are ‘N’ number
of applications.
Hypothesis
The central 'crank' link moves in circles as it is actuated
by a rotary actuator such as an electric motor. All other
links and pin joints are unactuated and move because
of the motion imparted by the crank. Their positions and
orientations are uniquely defined by specifying the
crank angle and hence the mechanism has only one
degree of freedom (1-DoF).The kinematics and
dynamics of the Jansen mechanism have been
exhaustively modeled using circle intersection method
and bond graphs .These models can be used to rate
the actuator torque and in design of the hardware and
controller for such a system.
Conclusion
This study analyzes Strandbeest’s operating theory, examines how it works, and
digitizes how it works. Construction of Jansen’s linkage simulated with GH and how
to generate it. And planning unit modules, so that users can easily connect the
components can be structured out of shape. Can be adjusted linkage, the user can
add different length and different modes of operation. Design a variety of drive
components, so that changes in the rod is automatically adjusted by the results of
the deformation. Including dynamic range size. The further design of the change
mechanism, which is based on the result estimation, can make the design structure
form the movement path and can be operated reversely, so that the movement path
can be designed. By the rod to match the trajectory of the generation.
THANK YOU
