Thingiverse
Robotic Linkage Toolkit (70pc)- Jansen, Klann, Ghassaei, Chebyshev's Lambda + more included by eyn2k
by Thingiverse
Last crawled date: 4 years, 1 month ago
HOW THIS WORKS
Linkages provided in cm from extremes of pivot centres for easy calculation.
From 2-0cm to 19.5cm in 0.5 cm increments. (30 pc's)
Pivots are 4mm in .stl file though fit nicely with 3/16 inch bolts or 3mm thread. Printed pivot sat at 3.8mm in diametre for me.
Includes centre pivot points for circular action. To make lever of 1:3, 1:5 etc, extend two of or more of the same length by matching centre holes with extremes.
Also provided is a "wall mount" holding 15 pc's each.
Also provided, ready to go linkages for Jansen, Klann, Ghassaei and Chebyshev's Lambda Leg Mechanisms for easy useThese are used for walking robots and leg mechanisms
How to use Jansen Linkage (13pc):
Jansen Linkages can be found under "SLJ_Final-Jansen..." file names. Actual size is given next from pivots; "...Jansen_14_9163cm...". Next is the part you will need; "...en_149163cm49"
In this case the 49 is the relevant "i" in http://www.mechanicalspider.com/elements/jpegs/TheoJansenLinkage.jpg
To put Jansen linkage together print of all linkages and match relevant number after "...cm..." in .stl file name with supplied link.
How to Klann Linkage(8pc):
Print off relevant "...Klann..." files. Use relevant sizes as above to match up Klann linkages with link; http://robotronics09.blogspot.com.au/2011/01/klann-mechanism.html
e.g 490mm which can be found on link above is the stl file named "...Klann...cm_490"
How to Ghassaei Linkage (7pc, repeat prints required):
Find file named "...Ghaessi..." (spelt porly). Use relevant sizes as above to match up Klann linkages with link; https://upload.wikimedia.org/wikipedia/commons/thumb/1/18/Ghassaei_Linkage.svg/240px-Ghassaei_Linkage.svg.png
for examples see above.
Ghassaei files with ".66" in name need to be printed twice and extended
How to Chebyshev's Lambda (3pc, needs body+vertical leg):
Print off relevant "...Lambda..." files. Use relevant sizes as above to match up Lambda linkages with link; https://en.wikipedia.org/wiki/Chebyshev%27s_Lambda_Mechanism
for examples see above.
Legs are long vertical linkages attached the top of Lambda linkages of relative length 2.5 (longest ones).
For body, I will update, I forgot :). for now extend more of length 1?
Scale stl file vertically for extra structural integrity.
Please rate and comment, I would like to know if I going in the right direction
references:
Mechanisms and Mechanical Devices Sourcebook, Fiftth edition, Neil Sclater, McGraw Hill 2011
http://www.amandaghassaei.com/files/thesis.pdf
https://upload.wikimedia.org/wikipedia/commons/thumb/1/18/Ghassaei_Linkage.svg/240px-Ghassaei_Linkage.svg.pnghttps://commons.wikimedia.org/wiki/File:Ghassaei_Linkage.gifhttp://www.mekanizmalar.com/theo_jansen.html
https://en.wikipedia.org/wiki/Chebyshev%27s_Lambda_Mechanismhttp://demonstrations.wolfram.com/ChebyshevsLambdaMechanism/http://blogs.solidworks.com/solidworksblog/2015/09/conceptual-designer-mechanisms-chebyshevs-plantigrade-machine.html
http://www.mekanizmalar.com/theo_jansen.htmlhttps://en.wikipedia.org/wiki/Jansen%27s_linkagehttp://www.mechanicalspider.com/comparison.html
http://robotronics09.blogspot.com.au/2011/01/klann-mechanism.htmlhttps://en.wikipedia.org/wiki/Klann_linkagehttp://www.mechanicalspider.com/comparison.htmlhttp://www.mekanizmalar.com/mechanicalspider.htmlhttps://en.wikibooks.org/wiki/Klann_linkage
http://www.cimt.plymouth.ac.uk/projects/mepres/step-up/sect4/index.htm
Linkages provided in cm from extremes of pivot centres for easy calculation.
From 2-0cm to 19.5cm in 0.5 cm increments. (30 pc's)
Pivots are 4mm in .stl file though fit nicely with 3/16 inch bolts or 3mm thread. Printed pivot sat at 3.8mm in diametre for me.
Includes centre pivot points for circular action. To make lever of 1:3, 1:5 etc, extend two of or more of the same length by matching centre holes with extremes.
Also provided is a "wall mount" holding 15 pc's each.
Also provided, ready to go linkages for Jansen, Klann, Ghassaei and Chebyshev's Lambda Leg Mechanisms for easy useThese are used for walking robots and leg mechanisms
How to use Jansen Linkage (13pc):
Jansen Linkages can be found under "SLJ_Final-Jansen..." file names. Actual size is given next from pivots; "...Jansen_14_9163cm...". Next is the part you will need; "...en_149163cm49"
In this case the 49 is the relevant "i" in http://www.mechanicalspider.com/elements/jpegs/TheoJansenLinkage.jpg
To put Jansen linkage together print of all linkages and match relevant number after "...cm..." in .stl file name with supplied link.
How to Klann Linkage(8pc):
Print off relevant "...Klann..." files. Use relevant sizes as above to match up Klann linkages with link; http://robotronics09.blogspot.com.au/2011/01/klann-mechanism.html
e.g 490mm which can be found on link above is the stl file named "...Klann...cm_490"
How to Ghassaei Linkage (7pc, repeat prints required):
Find file named "...Ghaessi..." (spelt porly). Use relevant sizes as above to match up Klann linkages with link; https://upload.wikimedia.org/wikipedia/commons/thumb/1/18/Ghassaei_Linkage.svg/240px-Ghassaei_Linkage.svg.png
for examples see above.
Ghassaei files with ".66" in name need to be printed twice and extended
How to Chebyshev's Lambda (3pc, needs body+vertical leg):
Print off relevant "...Lambda..." files. Use relevant sizes as above to match up Lambda linkages with link; https://en.wikipedia.org/wiki/Chebyshev%27s_Lambda_Mechanism
for examples see above.
Legs are long vertical linkages attached the top of Lambda linkages of relative length 2.5 (longest ones).
For body, I will update, I forgot :). for now extend more of length 1?
Scale stl file vertically for extra structural integrity.
Please rate and comment, I would like to know if I going in the right direction
references:
Mechanisms and Mechanical Devices Sourcebook, Fiftth edition, Neil Sclater, McGraw Hill 2011
http://www.amandaghassaei.com/files/thesis.pdf
https://upload.wikimedia.org/wikipedia/commons/thumb/1/18/Ghassaei_Linkage.svg/240px-Ghassaei_Linkage.svg.pnghttps://commons.wikimedia.org/wiki/File:Ghassaei_Linkage.gifhttp://www.mekanizmalar.com/theo_jansen.html
https://en.wikipedia.org/wiki/Chebyshev%27s_Lambda_Mechanismhttp://demonstrations.wolfram.com/ChebyshevsLambdaMechanism/http://blogs.solidworks.com/solidworksblog/2015/09/conceptual-designer-mechanisms-chebyshevs-plantigrade-machine.html
http://www.mekanizmalar.com/theo_jansen.htmlhttps://en.wikipedia.org/wiki/Jansen%27s_linkagehttp://www.mechanicalspider.com/comparison.html
http://robotronics09.blogspot.com.au/2011/01/klann-mechanism.htmlhttps://en.wikipedia.org/wiki/Klann_linkagehttp://www.mechanicalspider.com/comparison.htmlhttp://www.mekanizmalar.com/mechanicalspider.htmlhttps://en.wikibooks.org/wiki/Klann_linkage
http://www.cimt.plymouth.ac.uk/projects/mepres/step-up/sect4/index.htm