The Lawsin Linkage Proof of Concept
The Lawsin Linkage:
1. Establish a solid bracket system made of 3 sections - center brackets and two ends bracket.
2. All linkages are suspended on these brackets.
3. Make a crankshaft similar to a carousel setup.
4. Choose longer legs to make it easily navigate with obstacles or obstructions.
5. The center of mass is better off if it is weighed forward.
"Nature is mathematically, biologically, mechanically, chemically intelligent even without a brain."
~ Joey Lawsin
The Lawsin Linkage, sometimes called the Bowtie Truss, is a double cantilever truss system with connecting elements (links) in triangular frames. The structure, which forms like a bow-tie or a double inverted king posts, was developed by Joey Lawsin in 1988 to simulate the walking cadence of his biotronics animals. The linkage was designed to meet the following criteria:
1. It must carry out a walking cadence fluidly like an actual living animal's gait.
2. It can conquer any type of terrain obstacles from carpet floors to seabeds.
3. It can move in different directions with various range of actuated motion or R.O.A.M.
4. Its structure elements must be guided by nature's mathematics, eg. geometry, kinematics.
5. It can be integrated with the Arduino platform for micro-consciousness programming.
The linkage consists of two equilateral triangles that are connected in a common pivot axis known a pin joint. Lawsin, who has a background in civil and aeronautical engineering, designed this type of linkage specifically for his Biotronics known as the Silver Species due to the fact that this type of triangular structures, aside for the isosceles and scalene, are commonly used in bridges, trusses, airfoils, beams, and other frame structures that provide stability, strength, material efficiency, and evenly distribution of forces.
Mathematically, the Lawsin Links can be easily computed using basic trigonometry (SOH-CAH-TOA.) and basic mechanics (strength of materials). The comprehensive details of his computations will not be discussed here but rather pictures of the basic Bowtie Biomechanical Walker Mechanism will be presented instead.
1. It must carry out a walking cadence fluidly like an actual living animal's gait.
2. It can conquer any type of terrain obstacles from carpet floors to seabeds.
3. It can move in different directions with various range of actuated motion or R.O.A.M.
4. Its structure elements must be guided by nature's mathematics, eg. geometry, kinematics.
5. It can be integrated with the Arduino platform for micro-consciousness programming.
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| Lawsin Linkage Proof of Concept |
The linkage consists of two equilateral triangles that are connected in a common pivot axis known a pin joint. Lawsin, who has a background in civil and aeronautical engineering, designed this type of linkage specifically for his Biotronics known as the Silver Species due to the fact that this type of triangular structures, aside for the isosceles and scalene, are commonly used in bridges, trusses, airfoils, beams, and other frame structures that provide stability, strength, material efficiency, and evenly distribution of forces.
Mathematically, the Lawsin Links can be easily computed using basic trigonometry (SOH-CAH-TOA.) and basic mechanics (strength of materials). The comprehensive details of his computations will not be discussed here but rather pictures of the basic Bowtie Biomechanical Walker Mechanism will be presented instead.
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| Lawsin Bow Tie Links |
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| Bow Tie in expanded form |
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| Bowtie Linkage |
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| Bowtie Structure |
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| Bowtie Walker Prototype |
The Bowtie Linkage Test
Lawsin Linkage in Action
Take note that the walker's gait is not fully simulated like a living animal yet. Lack of lego components is one of the problems. To build more animal-like linkages, the following steps must be taken into considerations:1. Establish a solid bracket system made of 3 sections - center brackets and two ends bracket.
2. All linkages are suspended on these brackets.
3. Make a crankshaft similar to a carousel setup.
4. Choose longer legs to make it easily navigate with obstacles or obstructions.
5. The center of mass is better off if it is weighed forward.
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