Journal
INTERNATIONAL CONFERENCE ON DESIGN AND MANUFACTURING (ICONDM2013)
Volume 64, Issue -, Pages 1562-1571Publisher
ELSEVIER SCIENCE BV
DOI: 10.1016/j.proeng.2013.09.238
Keywords
Jansen Mechanism; Projection Method; Dynamic Analysis
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Theo Jansen mechanism is gaining wide spread popularity among legged robotics researchers due to its scalable design, energy efficiency, low payload to machine load ratio, bin-inspired locomotion, deterministic foot trajectory among others. In this paper, we present dynamic analysis of a four legged Theo Jansen link mechanism using projection method that results in constraint force and equivalent Lagrange's equation of motion necessary for any meaningful extension and/or optimization of this niche mechanism. Numerical simulations using MaTX is presented in conjunction with the dynamic analysis. This research sets a theoretical basis for future investigation into Theo Jansen mechanism. (C) 2013 The Authors. Published by Elsevier Ltd. Selection and peer-review under responsibility of the organizing and review committee of IConDM 2013
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