{"product_id":"theo-jansen-mechanism-educational-model","title":"Theo Jansen Mechanism - Educational model","description":"\u003ch2\u003eMy Educational Mechanical Examples Series\u003c\/h2\u003e\u003cp\u003eThis model is one of my educational mechanical mechanism examples on 80mm x 80mm base plates.\u003cbr\u003eYou can find all models of the series in this collection =\u0026gt; \u003ca target=\"_blank\" rel=\"noopener noreferrer ugc\" href=\"https:\/\/makerworld.com\/collections\/15048577-my-educational-mechanism-models\"\u003e[Mechanical Mechanism Examples]\u003c\/a\u003e\u003c\/p\u003e\u003cfigure class=\"image image_resized\" style=\"width: 61.78%\"\u003e\u003cimg src=\"https:\/\/makerworld.bblmw.com\/makerworld\/model\/DSM00000002078221\/design\/2025-11-13_a0fbbb25e21458.png\"\u003e\u003c\/figure\u003e\u003ch2\u003e \u003c\/h2\u003e\u003ch2\u003eThe present model\u003c\/h2\u003e\u003cp\u003eThis is an educational model of Theo Jansen mechanism, which generates a walking motion for kinetic sculptures from a single rotational input.\u003c\/p\u003e\u003cp\u003e\u003cimg src=\"https:\/\/makerworld.bblmw.com\/makerworld\/model\/DSM00000002078221\/design\/d01a505d-5f9b-48b3-bbf7-51f383eefd3d.webp\"\u003e\u003c\/p\u003e\u003cp\u003e\u003cimg src=\"https:\/\/makerworld.bblmw.com\/makerworld\/model\/DSM00000002078221\/design\/bc0c01b6-cdf6-4f10-9f57-47475d232289.gif\"\u003e\u003c\/p\u003e\u003cp\u003e \u003c\/p\u003e\u003cfigure class=\"media\"\u003e\u003coembed url=\"https:\/\/youtu.be\/AF2-KeKldQk\"\u003e\u003c\/oembed\u003e\u003c\/figure\u003e\u003ch2\u003eBrief Description\u003c\/h2\u003e\u003cp\u003eTheo Jansen invented this mechanism to generate a walking motion for his kinetic sculptures, known as \u003ci\u003eStrandbeesten\u003c\/i\u003e, by deriving complex leg trajectories from a single rotational input.\u003c\/p\u003e\u003cp\u003eThe mechanism theoretically consists of \u003cstrong\u003eeleven rods\u003c\/strong\u003e whose ends are connected by pivot joints.\u003c\/p\u003e\u003cp\u003eIn this model, the shortest input crank is replaced by a rotating disk.\u003c\/p\u003e\u003cp\u003e\u003cimg class=\"image_resized\" style=\"width: 37.23%\" src=\"https:\/\/makerworld.bblmw.com\/makerworld\/model\/DSM00000002078221\/design\/ba4d0185-03e5-4298-b638-62ffa0e570fa.webp\" width=\"356\"\u003e\u003c\/p\u003e\u003cp\u003eOf the remaining ten rods, \u003cstrong\u003esix\u003c\/strong\u003e form \u003cstrong\u003etwo triangles\u003c\/strong\u003e, each of which has a fixed shape.\u003c\/p\u003e\u003cp\u003e\u003cimg class=\"image_resized\" style=\"width: 37.04%\" src=\"https:\/\/makerworld.bblmw.com\/makerworld\/model\/DSM00000002078221\/design\/afeb5da7-89bf-475e-aa84-5aba896377b1.webp\" width=\"358\"\u003e\u003c\/p\u003e\u003cp\u003eWith the exception of the disk’s center, only one point is fixed to the base plate; all other joints are free to move. Between the two fixed points, two four-bar linkage mechanisms are driven by the input crank. Each of these four-bar linkages drives one vertex of the two triangles, respectively.\u003c\/p\u003e\u003cp\u003e\u003cimg src=\"https:\/\/makerworld.bblmw.com\/makerworld\/model\/DSM00000002078221\/design\/1c2be717-22c9-4ee7-918f-7f215416ef57.webp\" width=\"800\"\u003e\u003c\/p\u003e\u003cp\u003eA third four-bar linkage has only one fixed pivot. It receives motion by the two of its links, producing a complex trajectory at its remaining free point. This motion is transmitted to the lower triangle, causing the foot to trace a path suitable for walking.\u003c\/p\u003e\u003cp\u003e\u003cimg src=\"https:\/\/makerworld.bblmw.com\/makerworld\/model\/DSM00000002078221\/design\/46616d42-6092-410f-a4ba-d02e19c7a57b.webp\"\u003e\u003c\/p\u003e\u003cp\u003eThe walking motion strongly depends on the carefully chosen lengths of each rod, so it is essential to assemble every rod in the correct position.\u003c\/p\u003e\u003ch2\u003eCase\u003c\/h2\u003e\u003cp\u003eThis model is compatible with the case included \u003ca target=\"_blank\" rel=\"noopener noreferrer ugc\" href=\"https:\/\/makerworld.com\/models\/1983088-educational-gear-examples-1\"\u003ein my first set\u003c\/a\u003e.\u003c\/p\u003e\u003cfigure class=\"image\"\u003e\u003cimg src=\"https:\/\/makerworld.bblmw.com\/makerworld\/model\/DSM00000002078221\/design\/2025-12-05_9be9e13028da48.jpg\" width=\"4032\"\u003e\u003c\/figure\u003e\u003ch2\u003ePrinting\u003c\/h2\u003e\u003cul\u003e\n\u003cli\u003eUse the models named \u003ci\u003e\u003cstrong\u003e???-printable.stl \u003c\/strong\u003efor printing\u003cstrong\u003e.\u003c\/strong\u003e\u003c\/i\u003e\u003cbr\u003eThe models named \u003ci\u003e\u003cstrong\u003e???-assembled.stl\u003c\/strong\u003e\u003c\/i\u003e are provided just to show how they should be assembled.\u003cbr\u003e \u003c\/li\u003e\n\u003cli\u003eUse \u003cstrong\u003ewell-dried PETG\u003c\/strong\u003e to have better dimensional accuracy.\u003c\/li\u003e\n\u003cli\u003eUse \u003cstrong\u003e0.1 mm or 0.08 mm layer height\u003c\/strong\u003e to have smoother surfaces.\u003c\/li\u003e\n\u003cli\u003eUse slow printing speed for overhangs.\u003c\/li\u003e\n\u003cli\u003eSelect \u003cstrong\u003e“Random” seam position\u003c\/strong\u003e to have smoother rotation.\u003cbr\u003eRandomly distributed seam should be easily worn out after some wearing.Printing\u003c\/li\u003e\n\u003c\/ul\u003e\u003ch2\u003eSanding and Filing\u003c\/h2\u003e\u003cp\u003eNote that, in this model, the rotation of the bases for bearings is intentionally made not too smooth.\u003c\/p\u003e\u003cp\u003eSometimes, the gears suffer from the stringing effect and\/or elephant foot effect, resulting in a too tight fit to the shafts (they are designed with a 0.15 mm radial clearance). \u003c\/p\u003e\u003cp\u003eIf you see rough surface on the shafts due to stringing, sand off the roughness with a small piece of sand paper.\u003c\/p\u003e\u003cfigure class=\"image\"\u003e\u003cimg src=\"https:\/\/makerworld.bblmw.com\/makerworld\/model\/DSM00000002078221\/design\/2bbae1d7-d68b-4683-bff4-4446f9941f93.webp\"\u003e\u003c\/figure\u003e\u003cp\u003eIf you feel the gears do not rotate smoothly due to an elephant effect, widen the hole slightly by using a thin round bar file.\u003c\/p\u003e\u003cfigure class=\"image image_resized\" style=\"width: 75%\"\u003e\u003cimg src=\"https:\/\/makerworld.bblmw.com\/makerworld\/model\/DSM00000002078221\/design\/c721d770-6619-492e-8792-c8696130b106.webp\"\u003e\u003c\/figure\u003e\u003cp\u003eWithout those issues, the parts should rotate very smoothly with minimal friction.\u003c\/p\u003e\u003ch2\u003eAssembly\u003c\/h2\u003e\u003cp\u003eNote that the links have different lengths. So, place them in the right places by referring the number of dimples on them.\u003c\/p\u003e\u003cp\u003e\u003cimg src=\"https:\/\/makerworld.bblmw.com\/makerworld\/model\/DSM00000002078221\/design\/772c1be8-0146-4407-86d5-4eda1350376d.png\"\u003e\u003c\/p\u003e\u003cp\u003e\u003cimg src=\"https:\/\/makerworld.bblmw.com\/makerworld\/model\/DSM00000002078221\/design\/96b3ec05-ffed-49f8-933c-5a6138dae035.png\" width=\"751\"\u003e\u003c\/p\u003e\u003ch3\u003eOther examples\u003c\/h3\u003e\u003cp\u003eYou may also be interested in the models in my educational mechanical mechanism examples.\u003c\/p\u003e\u003cp\u003eFind them in this collection:\u003cbr\u003e\u003ca target=\"_blank\" rel=\"noopener noreferrer ugc\" href=\"https:\/\/makerworld.com\/collections\/15048577-my-educational-mechanism-models\"\u003ehttps:\/\/makerworld.com\/collections\/15048577-my-educational-mechanism-models\u003c\/a\u003e\u003c\/p\u003e\u003cfigure class=\"image image_resized\" style=\"width: 61.78%\"\u003e\u003cimg src=\"https:\/\/makerworld.bblmw.com\/makerworld\/model\/DSM00000002078221\/design\/2025-11-13_a0fbbb25e21458.png\" width=\"964\"\u003e\u003c\/figure\u003e\u003cp\u003e \u003c\/p\u003e\u003cp\u003eHappy printing!\u003c\/p\u003e\u003ch3\u003eAcknowledgement\u003c\/h3\u003e\u003cp\u003eI got into gears thanks to \u003cstrong\u003eK.$uzuki\u003c\/strong\u003e's amazing \u003ca target=\"_blank\" rel=\"noopener noreferrer ugc\" href=\"https:\/\/karakurist.jp\/\"\u003earticles\u003c\/a\u003e and \u003ca target=\"_blank\" rel=\"noopener noreferrer ugc\" href=\"https:\/\/www.youtube.com\/@karakurist\"\u003eYouTube videos\u003c\/a\u003e. Many of the mechanisms shown in this series came from the introductions on \u003ca target=\"_blank\" rel=\"noopener noreferrer ugc\" href=\"https:\/\/karakurist.jp\/\"\u003ehis website\u003c\/a\u003e. He also makes \u003ca target=\"_blank\" rel=\"noopener noreferrer ugc\" href=\"https:\/\/oishiiosushi.thebase.in\/\"\u003eexcellent gear models\u003c\/a\u003e himself. This series wouldn’t have existed without his inspiration.\u003c\/p\u003e\u003cp\u003eI learned a lot about technical detail of designing gear tooth profiles from \u003ca target=\"_blank\" rel=\"noopener noreferrer ugc\" href=\"https:\/\/involutegearsoft.hatenablog.com\/\"\u003eHaguruma-No-Hanashi website\u003c\/a\u003e. I’m truly grateful for that.\u003c\/p\u003e\u003cp\u003e \u003c\/p\u003e\u003ch2\u003eLicense (2026-03-13 updated)\u003c\/h2\u003e\u003cul\u003e\n\u003cli\u003eThe 3D model(s) are licensed under \u003ca target=\"_blank\" rel=\"noopener noreferrer ugc\" href=\"https:\/\/creativecommons.org\/licenses\/by\/4.0\/\"\u003eCreative Commons Attribution 4.0 International\u003c\/a\u003e. (unchanged)\u003c\/li\u003e\n\u003cli\u003eHowever, the text and images on this page are copyright reserved. (added on 2026-03-13)\u003c\/li\u003e\n\u003c\/ul\u003e\u003cp\u003e \u003c\/p\u003e\u003cp\u003eDesign by osamutake on MakerWorld (license: BY).\u003c\/p\u003e","brand":"Mymadmanlab","offers":[{"title":"Default Title","offer_id":67398610452784,"sku":null,"price":6.99,"currency_code":"USD","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0987\/0809\/5280\/files\/0_de1c5d73-8808-4491-938a-2b2d699dd898.png?v=1784887499","url":"https:\/\/mymadmanlab.com\/products\/theo-jansen-mechanism-educational-model","provider":"Mymadmanlab.com","version":"1.0","type":"link"}