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  • 이 무한한 공간의 영원한 침묵이 나를 두렵게 한다.
    - 파스칼


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Jansen LinkageKlann Linkage
tj1.gif
jk3.gif
8 links per leg
120 degrees of crank rotation per stride.
3 legs will replace a wheel.
Counterclockwise rotation of the crank.
6 links per leg
180 degrees of crank rotation per stride.
2 legs will replace a wheel.
Clockwise rotation of the crank.
Step height is primarily achieved by a parallel linkage in the leg that is folded during the cycle angling the lower portion of the leg.Step height is achieved by rotating the connecting arm which is attached to the crank on one end and the middle of the leg on the other. It pivots on a grounded rocker.
Jansen started in 1990 using computer models to develop a walking linkage.Klann started exploring various linkage synthesis methods in 1993 after being inspired in a kinematics class.
The eight-bar Jansen linkage evolved through iterations of a computer program.The six-bar Klann linkage is an expansion of the four-bar Burmester linkage developed in 1888 for harbor cranes.
Published 밫he Great Pretender� 
BMW commercial featured Theo Jansen 
http://en.wikipedia.org/wiki/Theo_Jansen 
U.S. Provisional Application Ser. No. 60/074,425, filed on Feb. 11, 1998
US Patent 6,260,862 issued July 17, 2001 
US Patent 6,364,040 issued April 2, 2002 
US Patent 6,478,374 issued November 12, 2002 
Theo Jansen
Kinetic Sculptor
www.strandbeest.com

Joe Klann
Mechanical engineer
www.mechanicalspider.com



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FG84BD4GWG7O5XI.LARGE.jpg



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