Wear-Clearance-Impact Coupling in the Jansen Linkage: A Gait-Durability-Optimized Design Slows Joint Loosening

arXiv:2606.25208v1 Announce Type: new Abstract: A companion study introduced joint durability into the dimensional design of the Theo Jansen walking linkage and found its classical "holy numbers" Pareto-dominated, but it modelled the revolute joints as ideal, clearance-free pins, so its wear figures were relative rankings, not a prediction of in-service degradation. Here we relax that idealization. We build a forward-dynamic model of the Jansen leg in which a revolute joint becomes a clearance j...