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The Design and Optimization of a Crank-Based Leg …
The Design and Optimization of a Crank-Based Leg Mechanism Amanda Ghassaei Professors Phil Choi and Dwight Whitaker Pomona College Department of Physics and Astronomy April 20, 2011ii Table of Contents iii iv Chapter 1: Introduction .. 1 Summary of 1 Advantages of 1 3 Chapter 2: 5 5 Crank based Walking 5 Gait Selection for 2n-Walking 12 Chapter 3: Survey of Walking Mechanisms and Analysis in 23 23 Hrones-Nelson 24 Theo Jansen 25 Chapter 4: Design and Analysis of Walking 45 45 Design 46 Chapter 5: Optimization of Walking 55 55 Symmetry of 56 Four Bar Linkage #1 57 Full Linkage 59 Chapter 6: Analysis and Comparison with Theo 63 63 Position 63 Locus 67 Center of Analysis of Linkage 72 Comparison with Theo Jansen 76 Chapter 7: Construction and 79 79 79 Comparison with Theoretical 96 Possible Improvements/ Future 97 Appendix A: Mathematica 98 Appendix B: Theo Jansen Appendix C: Optimization of Four Bar Linkage # 151 Appendix D.
The Design and Optimization of a Crank-Based Leg Mechanism Amanda Ghassaei Professors Phil Choi and Dwight Whitaker Pomona College Department of Physics and Astronomy
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