Design of a Toolbox for Kinematic Analysis of Jansen's Linkage

Year 2022, , 112 - 119, 10.10.2022

Semir Sünkün , Berke Oğulcan Parlak , Alper Yıldırım , Hüseyin Ayhan Yavaşoğlu

https://doi.org/10.53070/bbd.1173829

Abstract

Utilizing industrial robots is an efficient method for addressing the labor crisis and advancing industrial technologies. As a result, industrial robots are becoming increasingly popular. Additionally, the widespread use of industrial robots will increase the interest in robot propulsion mechanisms. Legged robots should be primarily investigated because of their potential advantages. Among leg mechanisms, Jansen's linkage (JL) has gained popularity due to its organic walking motion, scalable design, and simple drive by rotary input. However, the highly nonlinear nature of JL makes its analysis challenging. The research provides a user-friendly toolbox design that visualizes the toe trajectory and simultaneously calculates the step height by performing a kinematic analysis of the JL using the user-supplied link lengths. In this way, the study contributes significantly to the design phase of legged robots and reduces the amount of time required.

Keywords

Toolbox, Kinematic Analysis, Jansen’s Linkage, Path Simulation, Step Height

Jansen Bağlantısının Kinematik Analizi için Araç Kutusu Tasarımı

Abstract

Endüstriyel robotları kullanmak, işgücü krizini ele almak ve endüstriyel teknolojileri ilerletmek için etkili bir yöntemdir. Sonuç olarak, endüstriyel robotlar giderek daha popüler hale geliyor. Ayrıca endüstriyel robotların yaygınlaşması robot tahrik mekanizmalarına olan ilgiyi artıracaktır. Bacaklı robotlar, potansiyel avantajları nedeniyle öncelikle araştırılmalıdır. Bacak mekanizmaları arasında, Jansen'in bağlantısı (JL), organik yürüme hareketi, ölçeklenebilir tasarımı ve döner girdi ile basit sürüşü nedeniyle popülerlik kazanmıştır. Bununla birlikte, JL'nin oldukça doğrusal olmayan doğası, analizini zorlaştırmaktadır. Araştırma, ayak yörüngesini görselleştiren ve kullanıcı tarafından sağlanan bağlantı uzunluklarını kullanarak JL'nin kinematik analizini gerçekleştirerek adım yüksekliğini aynı anda hesaplayan kullanıcı dostu bir araç kutusu tasarımı sağlar. Bu sayede çalışma, bacaklı robotların tasarım aşamasına önemli ölçüde katkı sağlamakta ve gereken süreyi azaltmaktadır.

Keywords

Araç Kutusu, Kinematik Analiz, Jansen Bağlantısı, Yol Simülasyonu, Adım Yüksekliği

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