Abstract:

The Klann linkage is a planar mechanism designed to simulate the gait of legged animal and
function as a wheel replacement. The linkage consists of the frame, a crank, two grounded
rockers, and two couplers all connected by pivot joints. The proportions of each of the links in
the mechanism are defined to optimize the linearity of the foot for one -half of the rotation of the
crank. The remaining rotation of the crank allows of foot to be raised to a predetermined height
before returning to the starting position and repeating the cycle. Two of these linkages coupled
together at the crank and one-half cycle out of phase with each other will allow the frame of a
vehicle to travel parallel to the ground. The Klann linkage provides many of the benefits of more
advanced walking vehicles without some of their limitations. It can step over curbs, climb stairs,
or travel into areas that are currently not accessible with wheels but do not require
microprocessor control or multitudes of actuator mechanism. It fits into the technological space
between these walking devices and axle-driven wheels. Designed and Fabricated by:D.PREM
PIRAJINFINAL YEAR MECHANICAL,VELAMMAL ENGINEERING COLLEGE.

A complete CAD model of the robot is built using CATIA software and a dynamic simulation and analysis
is carried out using MSC.Admas software. A microcontroller based board is designed to drive the system.
The system can be driven directly using a keypad or wirelessly using a joystick connected with

Supposed you know that this mechanism has 6 input parameters, so in order to
build this mechanism you have to choose these parameters values correctly. I
have chosen the parameters in order to achieve the following; - Step length = almost 10 cm
(because I was in need to achieve linear velocity nearly 10 cm\s which depends on the speed of
the motors I have used). - Step Height = almost 10 cm (to have the availability to pass over an
obstacle) - The linearity of the step path while the leg in in contact with the ground.
So, the parameters I have chosen was: 225 mm, 150 mm,-25 deg,-80 deg, 225 mm, 90
mm respectively. You have to choose the parameters according to the goal you want to
achieve.
Applications
It would be difficult to compete with the efficiency of a wheel on smooth hard surfaces but as
condition increases rolling friction, this linkage becomes more viable and wheels of similar size
cannot handle obstacles that this linkage is capable of. Toys could be developed that would fit in
the palm of your hand and just large enough to carry a battery and a small motor. Six leg
mechanical spiders can be applicable for the making of robots. It has a wide range of application
in the manufacturing of robots. A large version could use existing surveillance technology to
convert your television into a real-time look at the world within transmitting range. It would also
relay commands from the remote to the spider bike additional frequencies could be used to
operate manipulators for retrieving the mail during unfavorable weather or taking the dog out. In
toy industries for making robotic toys it has got many applications. It can also be used for
military purpose. By placing bomb detectors in the machines we can easily detect the bomb
without harmful to humans. It can be used as heavy tanker machines for carrying bombs as well
as carrying other military goods. It is also applicable in the goods industries for the small
transportation of goods inside the industry. The mountain roads or other difficulties where

ordinary vehicles cannot be moved easily can be replaced by our six leg mechanical spider.
Heavy loads can be easily transported if we made this as a giant one. It has got further
application for the study of linkage mechanism and kinematic motions. The geometry and
conditions can be changed according to application needs. It can travel in rough surfaces very
easily, so this machine can be used in rough surfaces were ordinary moving machine cannot
travel.
Advantages

Construction expense is low.

Heavy load can be carried.

It can be run in rough surfaces

Easy to control Maintenance is less

Disadvantages

Speed is minimum due to load.

Not smooth running.

High powered motor is needed.

- See more at: http://www.xtremeprojects.net/2012/01/mechanical-engineering-projectmechanical-spider.html#sthash.59ltJFfE.dpuf

The invention provides a walking device which stimulates a gait of a legged animal. The device
includes a frame with spaced axial mounts, a leg, axially connected upper and lower rocker
arms which limit reciprocating leg motion. The leg is driven by a connecting arm powered by a
rotating crank. The position and configuration of the axial connecting sites establish a prescribed
orbital path that the foot undertakes with each revolution of the crank. Both rocker arms and the
crank are axially mounted to the frame.
The leg has a hip joint axially connected to the upper rocker arm for limiting hip motion, a foot
and a knee joint axially connected to the connecting arm. The connecting arm has three axial
connecting sites, one for connecting to the knee, another to the crank, and a third connecting site
defined as a centrally disposed elbow joint connecting site which connects onto the lower rocker

arm and limits knee joint motion. Under power, crank rotation is transferred to the connecting
arm causing the leg to move in an accurate reciprocating movement of a restricted actual
pathway which stimulates the gait of the legged animal. The walking device may be manually
powered or motorized by applying motorized power to the crank axles. Klann mechanism is a
planar mechanism designed to simulate the giant legged animal and function as a wheel
replacement. Here we are using a single leg consists of a six bar linkage made up entirely of
pivot joint that converts rotating motion into linear motion. The linkage consists of the frame, a
crank, two grounded rockers, and two coupler is connected using pivot joints. The proportions of
each of the links in the mechanism are defined to optimize the linearity of the foot for one-half of
the rotation of the crank.The remaining rotation of the crank allows the foot to be raised to a
predetermined height before returning to the starting position and repeating the cycle. Two of
these linkages coupled together at the crank and one-half cycle out of phase with each other will
allow the frame of a vehicle to travel parallel to the ground. The Klann linkage provides many of
the benefits of more advanced walking vehicles without some of their limitations. It can step
over curbs, climb stairs, or travel into an area that are currently not accessible with wheels but
does not require microprocessor control or multitudes of actuator mechanisms.

Photos & Drawings

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