Parametric Study of the Jansen Mechanism with CAD Model Validation

A Jansen mechanism is a linkage system that is used in the simulation of walking movements inspired by humans and animals. It mimics the movement of animals or human legs allowing them to move over paths both even and uneven terrain. The Jansen mechanism rotates by forming a rotational input to make a walking motion. The design allows the mechanism to move in a stable energy efficient manner. However, there is a certain issue with its analysis based on position and motion, sometimes causing the performance of the Jansen mechanism to be more complex. To overcome these issues, a detailed analysis is conducted. This paper presents the parametric analysis of the Jansen mechanism using the design variables with constraints using loop-closure equation. The proposed method is to estimate the position and trajectory of the Jansen mechanism, and it is validated by CAD model.