Galloping horse mechanism at 1:6.5 scale.
The linkage topology and dimensions are the result of a lengthy optimization process whose main objective was a faithful reproduction of the gait. The mechanism is mostly wooden, with metallic shafts and bearings. It features about 340 independent parts arranged into 38 moving groups. It has 2 actuated degrees of freedom and 5 passive ones.
The anatomy and dynamics are based on Cornado, Sandro Boy and Don Diarado.
My gratitude and acknowledgement to my wife for her patience and to the Fab Lab at ESAAA for their support.
26 авг 2024
