Kinematic Analysis and Comparison of Mechanical Walkers Using Theo Jansen’s Mechanism

Abstract

A comprehensive kinematic analysis and modeling of four, six, as well as eight-legged mechanical models based on the Theo Jansen mechanism has been conducted in this paper. This locomotion assisted structures are ideal for replacing wheeled robots, which in most cases have a challenge on rough surfaces. Three models were designed and analyzed for motion using Solid Works with specific parameters such as angular velocity and motor torque analyzed. This study shows that walking with an eight-legged configuration is much smoother than that of the four and six-legged configurations. Nonetheless, this benefit is counteracted by the large amounts of materials needed as well as a larger body weight. It provides an effective understanding of the performance of walking, its associated mechanical system, and the material required for the system. The results indicated that more walking legged robots would be more adaptable to the environment and would be a better option than wheeled robots, since the ingenious machines in legs provided more movement in difficult terrain. Such research helps to foster interest in bio-inspired robotics and helps develop better walking mechanisms for non-flat surfaces.