"I use Jansen mechanism to reduce the unnecessary motion of car body and improve the motion performance capability in the rugged terrain To reduce the unnecessary motion, the positional variation of a main body of vehicle should be minimized. In order to reduce the change of height and control the speed at every moment when vehicle move, 16 legs or more are installed on a crankshaft and the paths of leg motions need to be considered in the rugged terrain. The vehicle will be optimized so that it produces a sufficient speed and torque for practical use. Finally, I designed proper body with Edison simulation. The simulation is good for beginners of mechanism design."

Based on the Jansen mechanism theory, a walking robot is developed, which is able to overcome the given obstacles. Taking joint positions and leg directions as design parameters, the walking robot is analyzed. In order to analyze and optimize the leg motion, Edison program and Jansen mechanism optimization solver are used, respectively. It is found that Edison program is so effective to determine joint variables and position of leg direction. With the help of these programs, lots of trials or errors could be saved.

This study has designed a walking mechanism that is able to pass by a variety of environments, such as slope, obstructions, special surface in there, the mechanism suggested by Janssen has shown an ideal bridge structure made of 11 joints. V in the study, these programs are use that is m-sketch, m-designer, Janssen mechanism optimization solver for the optimum design of m-sketch, 3D component reflecting the given strip dimension is used because there is a limit in the given. As a result, a stable mechanism for walking could be implemented.

In order to maximize the speed of Theo Jansen Mechanism in an given design space and prototyping material, the trajectory path was maximized according to several literature reviews, and the lower leg was elongated maximally in order to minimize the shift between support phase and transfer phase.

There are various walking devices based on Theo Jansen mechanism. And these systems controlled by complicate equations. So we decided to optimize the design of walking device with two points of view. The device is required to ensure stability while maintaining the high speed. To simplify the control system, we applied trigonometric ratio with ideal Jansen trajectory. As a result, we were able to draw the connection between height of barrier and Ground Length (GL). Also we could change traveling distance and Ground Angle Coefficient (GAC) by shifting the position of the joints. Through controlling these parameter, we can analyze stability and speed of the device. Ultimately, we develop the device that can walk more efficiently by the optimization process.

최적화 프로그램의 메커니즘을 잘 모르기 때문에 mSketch상에서는 구동되던 것이 왜 최적화가 실패하였는지 원인은 알 수 없었다. 하지만 과학상자 등 실제로 만들어 볼 수 있는 기회가 있다면 어떤 문제점이 있는지 확인할 수 있을 것 같다.

In this paper, the multi-leg robot is designed using Teo Jansen mechanism. The purpose of this paper is to develop unique robot, which operates efficiently in any environment. In that case, speed and accuracy are required. The indication which evaluate the value is Ground Score according to the Jansen’s mechanism. To optimize the Ground Score. Genetic Algorithm (GA) in MATLAB Toolbox is used, which is numerical analytic algorithm to quickly convergence into optimum point. The Optimization of value is visualized by M-Sketch. M-Sketch was useful for simulation and evaluation of mechanic’s dynamic motion. The robot’s draft is produced into finished product by Edison Designer.

In this study, a robot is implemented in H/W based on four-bar linkage mechanism and Jansen mechanism. Our goal is to finish the given path using given terms. The various programs was used to understand the mechanism in more detail. DISON m.Sketch, EDISON Designer, Theo Jansen Mechanism Optimization Solver. Using these programs, we can design the robot in more dtails and reduce errors and trials. For the design and implementation of a robot, it is need to get joint variable, a foot point, and their relation. Thus, the proposed kinematic analysis is very important process for the design and implementation of legged robots.

각종 시뮬레이팅 및 분석을 통해 아크릴제 8족 로봇을 만드는 것으로 결론을 내렸다. 발의 경우는 주행 실험을 해 보아 가장 효율적인 것을 사용하는 것으로 하였다. 제작 및 분석 과정에서 발생한 최적화 문제를 Edison을 이용해 해결하였으며, 이를 기타 공학적 지식과 결합해 최종 결과물을 설계하였다.

Walking mechanism, there are many types. Prior to the modeling and design, we thought about a variety of mechanisms based on the Janssen mechanism to design a walking mechanism optimized for walking. The more the legs increases the stability of the structure, while the weight is heavy and if that advantage had the disadvantage, the legs are easier to walk in the utilization and structural aspects of the torque had fewer advantages. The disadvantage is that the instability mechanism, four-legged, but improve it and look forward to the idea of utilization and cost-effectiveness, its future utilization will be endless. To study this, we utilized a variety of software, such as m-sketch, Edison design program, we have seen the actual production through scientific experiments box.

본 논문에서는 경사/장애물/특수표면을 이동할 수 있는 얀센 매커니즘 기반의 보행기구 설계에 대해 다루고 있다. 얀센 매커니즘 자체의 조건과 전체 보행기구의 조건을 알아보며, 기구의 완전한 회전운동 조건과 장애물이 있는 거친 표면을 이동할 수 있는 조건을 알아보고자 한다.

Jansen mechanism is basic principal of walking robot. Because that mechanism have many link, walking robot can walk like animals. One of the feature is that space is existed between leg of walking robot and ground surface. So, it can walk through the non-uniform ground surface that have obstacle. In this paper, I will suggest design of walking robot that can walk on non-uniform ground surface effectively based on Jansen mechanism.

In this study, important design factors in Jansen leg mechanism by which two legs can be driven by only one input like a motor are considered through method of transmitting motion in three-bar linkage and Grashof law in four-bar linkage. In preliminary design, by using EDISON m-sketch and its simulation which can observe trace of feet, two identical four-bar linkages are initially designed and two three-bar linkages are added to four-bar linkages sequentially. By analyzing GL(Ground Length) and GAC(Ground Angle Coefficient), the adequacy of the preliminary design was estimated. Final design of walking apparatus is implemented using CAD software, Assembly2 of EDISON Designer. Finally, proposals to improve software used in this study are suggested.

Jansen Mechanism has been a constant popularity by researchers studying legged robots because of many benefits. This paper proposed the design process of optimized legged robots using Jansen Mechanism and m.Sketch(Jansen Mechanism simulation software). First, driving part of legged robots is designed in compliance with the design regulations of a competitive exhibition. Second, setting the length of link and position of joint is conducted in keeping with the constraints. Third, Ground Length (GL) and Ground Angle Coefficient(GAC) values are extracted by m.Sketch simulation. Finally, by repeating the previous procedures, comparing the GL and GAC values, find the optimum input values.

The importance of the recent manufacturing industry have been made to invest in a lot of assistance and human resource development at the national dimension in which to rise again. However Learned in actual school education kinetic, and the use to how product design structural knowledge, Often it feels vague unlikely whether it is possible to derive an optimal product. In this study, by using the simulation-based Jansen Mechanism designed a walking robot, after optimization of the numerical consideration when designing for optimum walking motion, through simulation through the actual production resulting numerical information is examined whether valid. In addition, through the actual production was walking robot, to verify the validity of the simulation-based design.

"Recently, followed by rapid growth of robotics field, multi-linkage mechanism which can even pass by rough road is getting lots of attention. In this paper, I focused on Jansen mechanism. It’s a kinematics object which is named after Dutch artist Theo jansen. Jansen mechanism embraces structure and mechanism which creates locomotion with the combination of the power and simple structure. Theo jansen suggests a ‘Holy number’. It’s an ideal ratio of leg components length. However, if there’s desired gait locomotion, you have to adjust the ratio and the length. But even slight change of the length could cause a big change at the end-point. To solve this problem, I suggest a reverse engineering method to get a ratio of each links by nonlinear optimization with pre-set desired trajectory. First, we converted a movement of the joint of Jansen mechanism to vectors by kinematics analysis of multi-linkage structure. And we showed the trajectory at the end-point. After that, we set desired trajectory which we found most ideal. Then we got the length of the leg components which draws a trajectory as same as trajectory we set, using Multi-objective genetic algorithm toolbox in MATLAB. Result is verified by Edison designer and mSketch. And we analyzed if it could pass through the obstruction which is set dynamically."

This study focus to make 8 legs robot based on Jansen’s mechanism. In the process of making, we found GL(Ground length),GAC(Ground Angle Coefficient) and the height difference of tract and compare Several models with M.Sketch to find link’s Length ratio Optimised simple walking and crossing of obstacles. In the process, our team Analyzed the difference ideal tract (Jansen holy number model’s track) contrived by Jansen and our final model tract. As a result, we found optimal link’s length ratio to over the obstacles and some features that our model differ from Jansen holy number model. It means that optimal link’s length ratio depends on certain circumstances, perfect length ratio is nonexistent.

Jansen mechanism is composed of mechanical walking linkages that are designed and optimized by Theo Jansen in 1990. Although he has made optimum values for linkage dimensions for Jansen Mechanism, there are still various applications for this mechanism and also various optimum values for each application. In this paper, Jansen Mechanism optimization has been processed for the Science Box. The Science Box has its own linkage dimensions and related components and makes space for optimization process. For the optimization 3 to 4 linkage were selected which had no similar ratios of linkages between other applied Jansen mechanisms and to reduce experiment numbers. Response Surface Method was used with Minitab 17 for optimization and m.sketch was used for experimentation. Intuitive method had to be used to find optimum values as with RSM optimum value could not be found. EDISON Designer was used to make final CAD model with optimum values and laser cutter was used to get appropriate acryl panels for legs.

Moving robot is divided 2 kinds; one is the robot using wheels and the other has leg structure. On plat terrain, the former is better than the latter because it has fast speed and simple method to control. But on non-plat terrain, the situation is reversed. The robot using legs has slow speed but it has advantage to adjust various environments. This robot is expected to contribute to human in many fields such as rescue and exploration and so on. So walking robot is worth enough to research. In this paper, we present the design of 4-legged walking robot based on Jansen mechanism using m-Sketch and Edison Designer.

This paper presents the kinematics of a walking robot leg based on Jansen mechanism. By using simple mathematics, all trajectories of walking robot leg links can be calculated. A foot point trajectory is used to evaluate the performance of a walking robot leg. Trial and Error method is used to find a best combination of link lengths under certain restrictions. All simulations are performed by Matlab. Ground score, drag score, step size, foot lift, instant speed, and average speed of foot point trajectories are used for selecting the best one.