13.6 Conclusions & Future Work

Project Reflection

Overall, our project was successful in achieving its primary objective: demonstrating that a Jansen linkage mechanism could generate forward motion by pushing a skateboard. As shown in our final demonstration, the mechanism was able to effectively produce a walking motion and translate that into forward propulsion. While the system was not fully optimized or integrated into a final product, we were able to validate the core concept and confirm that our design approach was feasible.

Lessons Learned

One of the most important lessons we learned was the importance of iterative design. Our early prototypes revealed several issues with geometry, link interference, and structural integrity, which required multiple redesigns and adjustments. Through this process, we gained a better understanding of how sensitive the Jansen linkage is to small dimensional changes.

We also learned that mechanical stability and joint precision are critical. Using nails as joints introduced looseness and instability, which negatively impacted motion quality. This emphasized the need for proper hardware, such as bearings and rigid shafts, in our final design.

Another key takeaway was the challenge of balancing the system. With only a single leg, maintaining consistent and stable motion was difficult. This highlighted how important balance and weight distribution are in dynamic mechanical systems.

Future Work

To take our design to the next level, several improvements could be implemented. One major enhancement would be adding additional legs to improve stability and create smoother, more continuous motion. Alternatively, incorporating a gyroscopic sensor or active stabilization mechanism could help balance a single-leg system.

We would also like to integrate basic electronics and control systems. Adding circuitry with buttons or a switch would allow the mechanism to start and stop more conveniently, rather than relying on manually connecting and disconnecting the battery. This could be extended further with embedded software to control speed or motion patterns.

From a mechanical perspective, designing a more effective end effector would improve how force is transferred to the ground, resulting in a stronger and more efficient push. Additionally, creating a dedicated, 3D-printed mounting structure would provide a more secure and reliable way to attach the mechanism to the skateboard.

Tips for Future Groups

Future groups should prioritize proper scaling early in the design process, as working at too small of a scale makes it difficult to evaluate real-world performance, while working at a large scale, such as with a full-size skateboard, introduces its own challenges. Larger systems require significantly more torque to drive the mechanism, and maintaining correct link proportions becomes more difficult. Small geometric inaccuracies at larger scales can lead to greater instability, increased interference between links, and reduced motion efficiency.

It is also important to invest time in accurate hole placement and link dimensions, as small errors can significantly impact motion. Using high-quality joints and rigid materials early on can help avoid issues with looseness and misalignment.

Finally, expect to iterate frequently, testing and refining the design multiple times is essential for achieving smooth, reliable, and stable motion.

Acknowledgements

We would like to give special thanks to TA David Gutierrez Moreno for his support throughout the project. He consistently helped us troubleshoot issues, locate and source necessary parts, and provided valuable advice that guided our design decisions. His assistance played an important role in keeping our project moving forward.