$Id: Klann.html 280 2013-10-22 20:04:09Z mrwhat $

A Klann linkage was described in a manner similar to the method used to characterize the Jansen linkage above, and animated. The dimensions recovered from the patent seem to be sub-optimal in several ways. The measurements have many round numbers and are very symetric, as if designed by a human, and not (yet) optimized by a computer.

I wrote an optimizer for the Klann linkage, and got an optimized Klann geometry, with these dimensions :

AC=17.5; Bx=-38.8; By=-12.5; Dx=-14.6; Dy=41.9; BH=23.7; CF=73.4; CH=38.8; DE=34.1; EF=57.7; EG=111.7; FG=59; FH=35.2;and this optimized Klann orbit.

I worry that this linkage is just not as smooth (torque ripple) as Jansen. It looks to me like we are at some extreme geometry at some parts of the orbit, where the ground forces on a moving mass will not do much to help keep the crank rotating. (Nearly parallel forces, little vector in the direction helping crank rotation)

For each half-assembly (one leg pair, sharing a crank), print:

- (1 ea) main, crankArm, pulley
- (2 ea) DE, BH, leg, rocker

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