Theo Jansen Mechanism Kinematic Analysis

The Theo Jansen Mechanism is simply a genius combination of a Four-bar mechanism (Crank-Rocker) with a another four-bar mechanism (use a four-bar with equivalent length here) that create a motion similar to gait motion at the end-effector. In this video I provide the kinematic analysis (position, velocity, and acceleration) of the end effector when the input link rotate at a constant velocity of 5 deg/sec (No acceleration).

Search 'Theo Jansen Mechanism' and you can find a lot more movie about this mechanism.

This is the second simulation regarding Theo Jansen Mechanism, the first one:
"MATLAB Simulation of Theo Jansen Mechanism"
http://www.youtube.com/watch?v=pP20WZV-MvM

Note: Please rate my video and send me an email if you have any questions. Thanks! =)

For more information, visit:
http://www.eng.buffalo.edu/~llee3/
http://mechatronics.eng.buffalo.edu/

Category:

Education

Tags:

• MATLAB
• matlab
• theo
• jansen
• mechanism
• simulation
• fourbar
• kinematics
• analysis
• bio-inspired
• locomotion
• legged
• robot
• animation
• avi

[cjdechow]

the point where the input link rotates should be slightly higher than it is. theo jansen's drawing says its 15 units above. this makes the path of the end effector have a much straighter section when it would be touching the ground.