Comparison of crank based leg mechanism/Jansen linkage Modifications

Wrong Angle / Missing measurement / Tilt Examples: Klann R & D, Joe Klann, Jansen Linkage - Klann Linkage Comparison https://web.archive.org/web/20160304035711/http://www.mechanicalspider.com/comparison.html Adam Savage's One Day Builds: Pedal-Powered Strandbeest! https://www.youtube.com/watch?v=G96YQQ7vW8w?t=740 https://www.youtube.com/watch?v=G96YQQ7vW8w?t=1018 Note that the examples are not to mock the creators for their mistake, but praising them for sharing their experience so that we all can learn from them. This mistake is made more likely by speaking about the elevenhttps://ethanzuckerman.com/2007/03/08/theo-jansens-strandbeests/Linda Leinen Theo Jansen: Walking on the Mild Side https://shoreacres.wordpress.com/2015/09/26/theo-jansen-walking-on-the-mild-side/ 26 September 205 magic numbers instead of the 13 magic number. (There are eleven rods, but the two fixed points are a and l apart from each other) Triangle Traditionally, the leg is formed by just using rods: When manufacturing from flat stock like paper or wood, realizing that that one leg can also be constructed from 2 triangles and 5 rods can simplify the assembly and make the mechanism more robust here some practical examples: Model ready for 3D-Printing A fully-parametric strandbeest implemented in OpenSCAD, with assembly instructions, is available for 3D printing.A. Matulich Building the Strandbeest https://www.nablu.com/2020/05/building-strandbeest.html 23 May 2020 Using Rod of the same length f=39,4 and c=39,3 are so close in length, that using rods of the same length can simplify the assembly without affecting the gait too much. Note that in practice, the whole mechanism has play and flex, undergrounds are not perfectly flat and lengths and holes have manufacturing inducted errors. References