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The end goal of this project was to create an art-motion - profile of a canine showcasing that showcased both walking and running motions.
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Initially, our goal was to achieve these motion profiles on four mechanisms and they must with four different mechanisms (one per leg). All mechanisms would have to be in sync to mimic the walking and running motions. If , because if one of the four legs is out of sync not, the motion profiles would be out of phase. To achieve do this, the our proposal was to use only one actuator and offset each leg to match that of the canine's. Adding patterns we observed when studying canine walking. Additionally, we planned to include a bobbing head and wagging tail was also part of our initial goalsto present a full visual. However, a lot of these proposals had to be scrapped were cut due to time constraints and schedule conflicts between the team members.
Preliminary design:
The team focused In the beginning, we developed several designs based on the profile of one leg at the beginning and several designs were developed. To do so, a video was chosen . After examining some different examples, we chose a video to base our project on, traced its the dog's motion, and ran a motion analysis on it.
Running After running the motion analysis and speaking to our TAs, the team we knew that an eight-link mechanism inspired by the Theo Jansen mechanism was the solution to our project.
Several We ran analysis on several different iterations of the our eight-link mechanism were drawn up and analysis done on themdesign, some of which can be seen below.
The We chose a final design was then chosen and prototyping then was , seen below, and were able to begin prototyping.
