<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>In this paper, a kinematic analysis of Theo Jansen’s stepping mechanism has been carried out and an algorithm for finding the output link trajectory from the given dimensions of the stepping mechanism elements, implemented by Mathcad program, has been developed. It is possible to output characterising parameters of all intermediate links with any number of intermediate links of a step cycle of the mechanism. The dimensions of the mechanism elements have been selected so that they provide the optimal smooth trajectory of the stepping point, minimising the mechanism oscillations in the vertical plane. A comparison of the trajectories of the foot in this study with the classical trajectory of Theo Jansen and the trajectory from article [7] has been provided. A minimum swing of the oscillation of the centre of mechanism masses in the vertical plane has been selected as an optimality criterion, combined with the maximum smoothness of the trajectory, provided that maximization of the step height is not required.</p>
</abstract>

In this paper, a kinematic analysis of Theo Jansen’s stepping mechanism has been carried out and an algorithm for finding the output link trajectory from the given dimensions of the stepping mechanism elements, implemented by Mathcad program, has been developed. It is possible to output characterising parameters of all intermediate links with any number of intermediate links of a step cycle of the mechanism. The dimensions of the mechanism elements have been selected so that they provide the optimal smooth trajectory of the stepping point, minimising the mechanism oscillations in the vertical plane. A comparison of the trajectories of the foot in this study with the classical trajectory of Theo Jansen and the trajectory from article [7] has been provided. A minimum swing of the oscillation of the centre of mechanism masses in the vertical plane has been selected as an optimality criterion, combined with the maximum smoothness of the trajectory, provided that maximization of the step height is not required.

Research of Kinematic Stepping Mechanism

Latvian Journal of Physics and Technical Sciences

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

{"article-title":"Research of Kinematic Stepping Mechanism"}

In this paper, a kinematic analysis of Theo Jansen’s stepping mechanism has been carried out and an algorithm for finding the output link trajectory from the...

Research of Kinematic Stepping Mechanism

Published Online: Oct 08, 2021

Page range: 63 - 72

DOI: https://doi.org/10.2478/lpts-2021-0040

Keywords
Kinematic analysis, step trajectory, Theo Jansen mechanism

© 2021 I. Grinevich et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Research of Kinematic Stepping Mechanism

Published Online: Oct 08, 2021

Page range: 63 - 72

DOI: https://doi.org/10.2478/lpts-2021-0040

KeywordsKinematic analysis, step trajectory, Theo Jansen mechanism

© 2021 I. Grinevich et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Keywords
Kinematic analysis, step trajectory, Theo Jansen mechanism