Let's Make Robots!

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...

http://wp.boim.com/?p=67

Price: $10 USD
Instructions on how to build a Theo Jansen inspired walking linkage from 3D printed parts. Includes .scad files, and compiled .stl's which are ready for printing. … Read more

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

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

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