Moving Horse Craft

Hello friends, In this session of instructables, a simple moving horse craft is made with the help of A4 size paper sheets( photo sheets). This moving horse craft is based on The Theo Jansen’s Mechanism, which is driven by a DC motor.

Theo Jansen’s Mechanism:

Jansen's linkage is a planar leg mechanism designed by the kinetic sculptor Theo Jansen to generate a smooth walking motion. Jansen has used his mechanism in a variety of kinetic sculptures which are known as Strandbeesten (Dutch for "beach beasts"). Jansen's linkage bears artistic as well as mechanical merit for its simulation of organic walking motion using a simple rotary input. These leg mechanisms have applications in mobile robotics and in gait analysis. (Source:- Wikipedia)

According to design of the walker, you can use as many pairs of legs as you want. For the purpose of this project, I am using two pair of legs.

• One A4 photo paper sheet
• Two Ivory paper sheet A4 size (GSM=210)
• Glue
• Super Glue
• Cardboard Sheet
• DC motor
• One AAA Size 1.5V Battery
• Wires
• Four iron needle pins
• Color Printer
• Scissors
• ON/OFF Switch
• Electric Duct/ casing
• Gears from old toy car
• Steel rod (diameter = 2 mm, length= 30.5 mm)
• Two small steel rods (diameter = 2 mm, length = 15.3 mm)

Tools used:

• Mini Hand Saw
• Ruler or try square
• Digital Vernier caliper
• Scissors
• Paper cutting tool
• Soldering iron
• Mini drill machine
• 3D printer

Now, take print out of Template_2_ Theo Jansen’s Mechanism on two Ivory Sheet A4 size. Cut the profile using paper cutting tool and fold them on the dash line accordingly. Paste the required parts with the help of glue. Similarly cut out the other three mechanisms.

These two pair of mechanism acts as the legs of the horse. Join the pair of legs with a cylindrical paper at the centre with the help of glue. 

Take print out of the Template_1_horse on an A4 photo paper sheet using color printer. Cut out the horse profile with the help of scissors. Paste both cut outs on the cardboard sheet with the help of glue.

After drying for few minutes, cut out the profile from the cardboard sheet with the help of scissors.

The driver part consists of DC motor with worm gear setup and Crankshaft. The Crankshaft is made with the help of three gears, out of which two gears are used as crankshaft. Making a hole of 3mm at a distance of 5mm from the centre of gear. Insert the steel rod of length = 15.3 mm in this hole. Do the same procedure for second gear.

Now adjust the gear in proper alignment and the crank should be 180 degrees opposite to one another.

 One gear at the middle of the shaft acts as the driven gear of worm gear mechanism.

 I got all these gears from old toys and cars.

I prepared a 3D printed AAA Size Battery holder as well.

The motor driver assembly is enclosed In a box prepared using electrical duct/ casing piece. Cut this piece in two halves to make a box that can hold DC motor and gear parts.

Assemble all the parts of driver mechanism as shown in the images.

Make holes on electrical duct/ casing piece at desired position. Insert the steel rod containing driven gear, put the motor at the desired position and attach the crankshaft gears on the ends of the steel rods. Insert the small shaft in the crankshaft gears. Use super glue to attach the shafts to the crankshaft gears.

After completing the assembly of driver motor attach the 3D printed battery holder at the top of gear box with the help of super glue.

Make necessary connections as per the circuit diagram using switch, wires and circuit diagram.

Now attach the legs mechanism to the horse cutout with the help of iron pins at the desired position.

Remember that the central cylindrical paper free moves on the crankshaft.

Assemble all parts together with the help of glue wherever required.

To run DC motor, insert a 1.5V battery inside the battery holder and switch it ON.

The horse craft is moving now.

If you have any query regarding this tutorial, feel free to ask in comments section.  

Hope you enjoyed this session of Instructables. Thanks for reading my work.

Stay tuned to my Instructables channel for more upcoming exciting projects.

Thanks again.