Trajectory Analysis for Modified Jansen Leg Mechanism Configuration

Starting from a previous research regarding Jansen type leg mechanism that was implemented in the structure of a walking robot, few problems were identified. One of these problems was related to the reduced number of DOFs that it possesses and the step height described by the end point of the leg during walking. After conducting a series of simulations regarding the path curves described by the end point of Jansen's leg configuration, a limited number of paths are analysed. In spite of the numerous possibilities for varying the link lengths, it has been observed that for a slight variation of the distance between the fixed joints along horizontal axis, the step height can be increased. The shapes of the path curves described by these modified configurations are analysed and compared with the original one based on the length and the height of the step values. Based on the observations made upon the new path curves obtained a practical solution is proposed. This consists in adding a second DOF to the leg mechanism that will allow adjusting the distance between the fixed joints.