Final Project

Mechanism of a quadruped
Samira Belen Espejo Porco
Mechatronics Engineering
June 16th, 2022
La Paz, Bolivia

Resumen—This report presents a work on developing a mecha- Where:

nism that simulates the walk of an elephant and the movement N:number of teeth.
of its head through pulleys and cams together with Theo jansen, MOD:module.
as well as the degrees of freedom, speed and position as well as
their respective simulation. of the mechanism in SolidWorks. DP: diameter.
Index Terms—Mechanism,speed, position,Theo Jansen
III. D EGREES OF F REEDOM
I. OBJECTIVES
As the prototype is based on the union of 4 Theo Jansen
Make the prototype of a quadruped.
type mechanisms, 4-bar mechanisms, it is possible to analyze
Study the characteristics of movement and speed of the
it as follows. On the basis of Gluebert’s formula.
mechanism.
Apply the knowledge acquired during the course of the M = 3(N − 1) − 2F 1 − 2F 2 (3)
semester.
Where:
II. THEORETICAL FOUNDATION N: number of links.
To begin with the analysis, the following concepts must be N: number of links.
reinforced. F1: number of complete joints.
F2: number of half-joints.
II-A. THEO JANSEN
The Theo Jansen mechanism consists of a group of rods
strategically linked in such a way that the movement is similar IV. MATERIALS
to the legs of some animals. Solidworks Simulator
Geogebra
II-B. SHEAVES
A mechanism used to transmit power from one component V. PROCEDURE
to another is called a gear or sprocket. Pulleys are used to V-A. SHEAVES AND GEARS
transmit motion when space is tight and only transmitting First, for the pulley analysis, an input speed of 10RPM is
motion is required. In the mechanism it was used to recreate being taken into account and an output speed of 5RPM is to
the movement of the animal’s head. be obtained. Therefore, the calculation of the diameter of the
ns de pulleys is carried out as follows:
i= = (1)
ne ds 5
i= = 0.5 (4)
Where: 10
i:gear ratio ns:number of output teeth. Then knowing the total relationship, through the same formula
ne:number of input teeth. you can find the diameters of the pulleys, as follows, choosing
de:input diameter. the diameter of the driving pulley of 15mm :
ds:output diameter.
15
0.5 = (5)
ds
II-C. GEARS Therefore the values of the diameters of the pulleys are: -
Pulleys and gears are elements that serve to transmit power, de=15mm
in this project they will be used in a reductive way for the -ds=30mm
movement of the animal’s head. For the gear part, an output speed of 7RPM is required, so
through the total ratio, a value of 1.4 is obtained, from this
DP = M OD ∗ N (2) value the number of teeth and the pitch diameter of the gears
can be obtained.A simple 2-stage gear setup will be made As shown in Figure , the speed analysis was performed at
starting with a 10-tooth gear , the following procedure is an angle of 20°.
shown below:
1.4 ∗ 10 = 14 V-D. SPEED ANALYSIS
(6)
1.4 ∗ 14 = 20 The speed analyzes were carried out through the geogebra
A module of 1.5 was chosen and to know the pitch diameter application, by the graphic method, the results found from the
it was done as follows: simulator are shown below.
DP 1 = 1.5 ∗ 10 = 15mm
DP 2 = 1.5 ∗ 14 = 21mm (7)
DP 3 = 1.5 ∗ 20 = 30mm
And it had a distance of centers:
DC = DP 1/2 + DP 2 + DP 3/2
DC = 7.5 + 21 + 15 (8)
DC = 43.5mm
V-B. PARTS DATA
A=38mm
B=41.5mm
C=39.3mm
D=40.1mm
E=54.7mm Figura 2. Resulting Vectors by intersection between straight lines parallel to
the point Vm
F=39.4mm
G=40.6mm
H=71mm
I=54mm
J=51.1mm
K=62mm
L=7.6mm
m=12mm
To perform the analysis of the mechanism of Theo Jansen
the graphical method was used for which the Geogebra,In
addition, certain changes were made to the characteristic
values of some links to modify the resulting curve as follows:
V-C. COUPLER CURVE
Below you can see the curve of the mechanism coupler.
Figura 3. The following figure shows the coupler curve of the mechanism

Figura 1. The following figure shows the coupler curve of the mechanism

Figura 4. values of the velocities obtained.

 Figura 5. values of the velocities obtained.

Figura 6. values of the velocities obtained.

VI. DEGREES OF FREDOM

A total of n=8 links and j=10 were identified, so using
equation the result is as follows:

M = 3(8 − 1) − 2(10) (9)

VII. MECHANISM ELEPHANT

Figura 7. The following figure shows the coupler curve of the mechanism

VIII. C ONCLUSION
In conclusion, the prototype of the quadruped (elephant) was
made optimally, as well as the analysis of movement and speed
of the mechanism, in addition to the respective simulation in
solidworks. In addition, knowledge of gears and pulleys was
applied, 4 bars covered during the semester.