Six Legged Spider Bot using Klann Mechanism


Six Legged Spider Bot using Klann Mechanism report

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Six Legged Spider Bot using Klann Mechanism

Six Legged Spider Bot using Klann Mechanism


Abstract: On the surface of the earth, there is the presence of wheeled and tracked vehicles. People, as well as animals, can go anywhere by the help of legs. Machine mainly consists of various mechanisms for their successful operation to get the desired output. Some of the famous mechanisms are the four-bar mechanism, single slider crank mechanism, double slider crank mechanism, etc., used for transmitting motion, force, torque etc. Our aim is to design and fabricate mechanical multi-legged robot and deformation in the kinematics links by using CADD software. The analytical data can be further used for reference purpose to design a walking robot to attain better design qualities. The analysis of the robot is based on the FEM concept integrated into Cad software called ANSYS R16.2. The aim of this project is to create an eight-legged robot to test new walking algorithm. We loosely based our design on spider because there has an advanced way in robotics on octopedal locomotion. Hopefully, the algorithm developed will be of use for the robotics community and in future society.The proportion of individual link in the mechanism is to optimize the linearity of the foot for one-half of the rotation of the crank. The remaining rotation of crank helps the foot to be raised to a predetermined height before returning to the starting position. Two of these linkages are 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. Our project is mainly useful for hazardous material handling, clearing minefields, or secures an area without putting anyone at risk. Wheels are mainly ineffective on rough and rocky areas, therefore robot with legs provided with Klann mechanism is beneficial for advanced walking vehicles. It steps over curbs, climbs stairs or travel areas that are currently not accessible with wheels. In this mechanism, links are mainly connected by the help of pivot joints