StrandBeetle

Objectives

For my final project in Special Topics in DIY Design and Fabrication, I aimed to create a smaller, simplified version of the many kinetic sculptures designed by Theo Jansen, called Strandbeesten. This smaller version of the Strandbeest would be controlled electrically with an Arduino rather than by the wind (as original Strandbeesten are powered) due to different scaling and environmental factors.

Product Inspiration Mood Board: Board shows other designer's attempts to electrically power small robots using Jansen's linkage, along with aesthetic inspiration for the StrandBeetle.

Target Customer Research Mood Board: The StrandBeetle has potential to be advertised as an interactive children's toy.

Outcomes

The final project features two pairs of legs designed with ratios from Jansen's linkage, automated with two DC motors coupled to toy wheels and an Arduino board (9V battery powered). It was assembled using slot fit laser cut 3mm white acrylic and 6mm clear acrylic bonded with acrylic cement and/or friction. Active joints were assembled with headless M4 screws and threaded plastic bolt nut caps with laser cut spacers in between layers to reduce friction. While the StrandBeetle is unable to fully support itself on its own, it is able to semi-reliably perform walking motions on par to that of its larger sibling.

Process

The design process began with sketches based on research on the Strandbeest, Jansen's linkage, and common pitfalls encountered when building these kinetic sculptures. Common problems in creating a Strandbeest include too much friction within the joints or instability of the legs/spine.

Initial design sketches. Jansen's linkage is defined by specific ratios within a leg to obtain a specific walking pattern.

Each component was modeled separately and assembled within SoldWorks.

After laser cutting pieces of the first leg, different options were explored for binding of the active joints.

Completed leg attached to small gear and temporary spine.

Toy wheels on DC motors were measured and fitted for a ring shaped gear. Two of there were coupled to each wheel.

The temporary spine was altered and split in order to make room for the DC motor and the toy wheel. Spine was glued to a wood base, which was later found to be too heavy.

Rods were fixed into place for testing of the first prototype and leg assembly.

Legs and DC motor were fitted to prototype. The gears were found to be too far apart and did not interact correctly. Assemblage overall was too heavy.

More spacers were needed for leg stability. Spacers were later custom laser cut for better fit.

Laser cut pieces required for one leg system, the spine, and DC motor mount. White acrylic is 3mm while clear acrylic is 6mm.

Back of spine and DC motor mount assembled in 3mm acrylic. Arduino and bread board are screwed and zip tied next to each other in order to keep wiring from coming loose.