A clearance-coupled dynamic model of the Jansen linkage demonstrates that a gait-durability-optimized design retains lower per-cycle wear than the classical version across statistical ensembles despite impact amplification and non-uniform wear.
Dynamic response analysis and optimization of spatial mech- anism with wear clearance.Mechanics Based Design of Structures and Machines, 53(9):6422– 6442, 2025
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Adjusting Jansen linkage lengths within 29% yields designs that flatten stance by 28%, smooth velocity by 58%, and cut total joint wear by 56% while satisfying gait constraints.
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Wear-Clearance-Impact Coupling in the Jansen Linkage: A Gait-Durability-Optimized Design Slows Joint Loosening
A clearance-coupled dynamic model of the Jansen linkage demonstrates that a gait-durability-optimized design retains lower per-cycle wear than the classical version across statistical ensembles despite impact amplification and non-uniform wear.
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Durability-Aware Multi-Objective Optimization of the Jansen Linkage: Trading Gait Quality Against Joint Wear
Adjusting Jansen linkage lengths within 29% yields designs that flatten stance by 28%, smooth velocity by 58%, and cut total joint wear by 56% while satisfying gait constraints.