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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Draw a regular octagon around z-axis through point A. Point A” is the vertex of new triangle corresponding to point A. Reflect two triangles and two circles to obtain two new triangles and circles. Wikibooks has a book klajn the topic of: Create a plane bisecting the remaining regular octagon. Draw a circle in yz-plane centered on point O of radius 0. It was developed by Joe Klann in as an expansion of Burmester curves which are used to develop four-bar double-rocker linkages such as harbor crane booms.

Take a movable point M on the circle. Retrieved 22 November Humanoid list Android list Hexapod list. Walking Humanoid list Android list Hexapod list. linjage

Hide pointlineand triangle containing point A”. Wikipedia has related information at Klann linkage. As the content of a patent may be copyrighted, this book will only cite small sections of the patent to be on the safe side.

Wikimedia Commons has media related to Klann linkages. 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.


It fits into the technological space between these walking devices and axle-driven wheels. By “connecting the dots” without suffix, “x” suffix and “y” suffix, we can derive a first meaning from the drawing, showing us the frame and the leg in two positions.

Klann linkage – Wikipedia

Views Read Edit View history. There is not construction process of first picture since it is contained in the second one. The Klann mechanism uses six links per leg, whereas the Jansen’s linkage developed by Theo Jansen uses eight links per leg, with one degree of freedom.

In other languages Add links. Point D is their intersection. Create two line in klnan plane containing smaller regular octagon.

Klann linkage – Wikibooks, open books for an open world

A full device consists of at least three pairs of legs, which means a total of six legs. This article needs additional citations for verification.

In the patent, there is are two tables with coordinates. This section does not cite any sources. Linkages mechanical Walking vehicles Robot kinematics in robotics. Klann linkage work kann the basis of kinematics where all links gives relative motion with each other. 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.

Klann linkage

From Wikibooks, open books for an open world. Hide point J, K, L, lineand two line at step Uses authors parameter Articles needing additional references from November All articles needing additional references Commons category link is on Wikidata. Point E is the intersection of the two circles. This page was last edited on 24 Januaryat It is a bit tricky to realize in the animation, but obvious in the graph: Policies and guidelines Contact us.

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We will consider the stride length as an input as well here input 0as table 2 uses bigger stride length. It converts the rotatory motion to linear motion, and looks like an animal walking. Call the intersecting point of two lines L.

Create a line through E and D and a circle centered on D in yz-plane of radius 2. Patent 6, or more specifically the patent holders website [10] has six input variables. Retrieved from ” https: Call the two vertices of the triangle in the circle.

The linkage consists of the frame, a cranktwo grounded rockersand two couplers all connected by pivot joints. Connect segment AC and MD. Presuming that the fasted foot defines the speed of the whole robot, we can animate a Robot based on the values in table The Klann linkage is a planar mechanism designed to simulate the gait of legged animal and function as a wheel replacement.

Here we use those tables, but with the point description written next ilnkage it. Rotate point O and M 90 degrees counterclockwise around this line to obtain point G and H. For convenience, we leave the first leg, and hide three other legs temporarily.

The robot comes to an almost stand still during each crank revolution.