3D Printed Walking Robot (Klann Linkage): This walking robot has been a project that I have been wanting to have a go at for a while now and I finally got. PDF | On Dec 1, , Jaichandar Kulandaidaasan Sheba and others published Design and evaluation of reconfigurable Klann mechanism. PDF | In this paper, discuss the spider mechanism (Klan’s mechanism) for any random movements, whenever the transformation by wheel is not possible.

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In the patent, there is are two tables with coordinates. This page was last edited on 17 Augustat Also reflect plane P in this plane to obtain plane P’.

Klann linkage – Wikipedia

Take a movable point M on the circle. In other languages Add links.

The remaining rotation of the crank allows the foot to be raised to a predetermined height before returning olann the starting position and repeating the cycle. Hide point G, point H, lineand bigger regular octagon.

As the author of this book, I would like to cite larger sections of the patents.

Walking Mechanism Using a Klann Linkage – Wolfram Demonstrations Project

Policies and guidelines Contact us. Retrieved 22 November A full device consists of at least three pairs of legs, which means a total of six legs.


November Learn how and when to remove this template message. Connect segment BE and EF. The Klann linkage is a planar mechanism designed to simulate the gait of legged animal and function as a wheel replacement. This section does not cite any sources. Klanh is a bit tricky to realize in the animation, but obvious in the klanb Translate point M mapping point O to.

Klann linkage

Hide point J, K, L, lineand two line at step Rotate previous regular octagon around this line mapping point G to point I to obtain another regular octagon. This article needs additional citations for verification. The Klann linkage can walk on non-planar roads and hill areas, and on uneven surfaces and terrain. Mobile robots and uncrewed vehicles. By using this site, you agree to the Terms of Use and Privacy Policy. Patent 6, or more specifically the patent holders website [10] has six input variables.

Create two line in the plane containing smaller regular octagon.

Translate point H mapping point G to point J to obtain point K. Please help improve this article by adding citations to reliable sources. Wikipedia has related information at Klann linkage. Hide the useless objects. 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.


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In yz-plane, draw circle centered on D of radius 0. The design of the Klann mechanism is portable with less linkage for movement. Create a plane P containing llnkage line and midpoint between J and L. The following is a detailed construction process. Hide the original regular octagon.

Walking Mechanism Using a Klann Linkage

Connect segment AC and MD. In other projects Wikimedia Commons Wikipedia. Call the intersecting point of two lines L. It converts the rotatory motion to linear motion, and looks like linkagr animal walking.

Create another bisecting plane of regular octagon.

Click right pictures to see the animation. The linkage consists of the frame, a crank, two grounded rockers, and two couplers all connected by pivot joints. In other projects Wikimedia Commons Wikibooks.

Wikibooks has a book on the topic of: It can step over curbs, climb stairs, or travel into areas that are currently not accessible with wheels but does not require microprocessor control or multitudes of actuator mechanisms.

The robot comes to an almost stand still during each crank revolution. Humanoid list Android list Hexapod list.