Let's Make Robots!

Mr.What's blog

Delta 3D printer distortions

I recently wrote a little code to plot the effects of various calibration/build errors on a deltabot.  They may be helpful to people calibrating delta bots...


Optimizing the Jansen Linkage


Still tweaking my optimizer for Jansen (Klann) walking linkages. I started posting some of the more promising optimizations at http://boim.com/Jansen/Favorites

Flat, optimized Jansen Linkage

Looking into Klann linkage

Started looking at Klann linkage.  Reversed some dimensions from the patent.  They seemed overly "symetric", likely suboptimal.  I may want to look at running an optimizer on that basic linkage.  Here is an animation of the Klann cycle, done similar to what I have done for Jansen.Animation of a step period with a proposed Klann-like linkage

Issues with Jansen Linkage

There are two main concerns I have with the Theo Jansen linkages, which have shown up in rough prototypes.

basic drawing and node naming for main linkage

Theo Jansen Walker

I'm starting work on a Theo Jansen linkage walker.  I'm keeping a copy of my project notes here

My prototype has a vulnerability with the knee collapsing toward the fixed center node. Has anybody else experienced this? Any suggestions? I have code for solving linkage geometry, plotting, and .scad models for prototype 3d-printed linkages.

Here is an animation of one side of my proposed 8-leg walker, animation of Jansen trotting motion