Robotic Linkage Toolkit (70pc)- Jansen, Klann, Ghassaei, Chebyshev's Lambda + more included

thingiverse

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 Print Settings Printer: Various Rafts: No Supports: No Resolution: Standard Infill: Up to you, 10% minimum recommended Notes: Files are kept in relevant positions as they were created. Load a small set of similar sizes and they should be able to moved together as a group. Sets are 15 pc's a set of whole com's and half cm's. ie. 2.0, 3.0 4.0.... 2.5, 3.5, 4.5... or via linkage name How I Designed This Blender 3D You can create a linkage quiet quickly by creating a circle, extruding and scaling up. Move off the centre of the grid along the x axis. Grab relevant vertices close to the y-axis or origin and scale to this point (the centre). Then mirror and extrude vertically. delete unwanted face along mirrored face. for centre pivot, move current pivot centre to centre of world origin. Delete all vertices to relevant side of origin, then mirror again.