Abstract
The Klann linkage is a planar mechanism that produces an approximately straight-line walking path with a lifted recovery phase, making it ideal for multi-legged robots. This project designs and fabricates a six-legged spider-style robot that uses six identical Klann mechanisms arranged symmetrically around a central chassis.
A single central crankshaft (or paired motors) drives all six linkages in a coordinated phase relationship, generating a stable alternating tripod gait. The robot demonstrates efficient mechanical walking without complex servo sequencing, combining pure mechanism design with optional electronic speed control.
It is an excellent final-year project for Mechanical, Mechatronics and Robotics students, highlighting kinematics, linkage synthesis, fabrication accuracy and gait stability analysis.
