KLANN LINKAGE PDFKLANN LINKAGE PDF

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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Walking Mechanism Using a Klann Linkage

The Klann linkage is lnkage 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 picture above show the original model, and another has other four leg to make it more like a real spider.

Click right pictures to see the animation. The following is a detailed construction process. There is not construction process of first picture since it is contained in the second one. In yz-plane, draw circle centered on M of radius 1.

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Point C is the intersection of the two circles. Hide previous three circles and line. Connect segment AC and MD.

In yz-plane, draw circle centered on D of radius 0. Point E is the intersection of the two circles. Create a line through E and D and a circle centered on D in yz-plane of radius 2. Point F is their intersection.

Klann linkage

Connect segment BE and EF. Draw a regular octagon around z-axis through point A. Point G and H are adjacent vertices in the regular octagon, and point I is their midpoint. Hide the original regular octagon.

Create a plane bisecting the remaining regular octagon. Hide the bisecting plane. Create lnikage bisecting plane of regular octagon. Reflect two triangles and two klznn to obtain two new triangles and circles. Call the two vertices of the triangle in the circle. For convenience, we leave the first leg, and hide three other legs temporarily. Rotate point O and M 90 degrees counterclockwise around this line to obtain point G and H.

Draw a new regular octagon around this line through point B. Hide point G, point H, lineand bigger regular octagon. Create two line in the plane containing smaller regular octagon. Call the intersecting point of two lines L. Hide point J, K, L, lineand two kann at step Point A” is the vertex of new triangle corresponding to point A.

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Hide pointlineand triangle containing point A”. Also reflect plane P in this plane to obtain plane P’. Hide the useless objects.

Draw a circle in yz-plane centered on point O of radius 0. Take a movable point M on the circle.

Klann linkage – Wikipedia

Create a line through M and C and a circle centered on C in yz-plane of radius 0. Point D is their intersection. Point M’ is the central symmetry of point M through point O. Create a line parallel z-axis through point A. Rotate previous regular octagon around this line mapping point G to point I to obtain linkkage regular octagon.

Translate point M mapping point O to. Translate point H mapping point G to point J to obtain point K. Create a plane P containing this line and midpoint between J and L. Show previous hidden three leg. Draw a sphere centered on point N through point B.