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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Wikipedia has related information at Klann linkage.

On Wikipedia, there is a need to compromise between readability, details and amount of illustration. It is impossible, to give an overview to the general public and an in depth view for engineers diving deeper into the topic at the same time. This book will also talk about the relevant patent s. This book will shall not replace studying the patent, but simplifying it by providing additional tables and illustrations.

Klann linkage – Wikipedia

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


A big thanks has to go to the patent holder Joseph Klann for his website, [1] which is a great reference and for uploading pictures [2] to Wikimedia Commons. Without the pictures from Joseph Klann on Commons and without his linkate, this book would not have been possible. This book is the partner book to Comparison of crank based leg mechanism.

Two leg units combine to form, as Mister Klann puts it, jlann a wheel replacement. A full device consists of at least three pairs of legs, which means a total of six legs. 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

In the patent, there is limkage two tables with coordinates. Here we use those tables, but with the point description written next to it.

The geometric construction according to U. Patent 6, or more specifically the patent holders website [10] has six input variables. We will consider the stride length as an input as well here input 0as table 2 uses bigger stride length.


Walking Mechanism Using a Klann Linkage – Wolfram Demonstrations Project

An other thing to keep in mind is, that not all combination of inputs result in a working linkage. The input variables lkann figure 17 and therefore table 1 according U. Patent 6, are as follow: Presuming that the fasted foot defines the speed of the whole robot, we can animate a Robot based on the values in table It is a bit tricky to realize in the animation, but obvious in the graph: The robot comes to an almost stand still during each crank revolution.

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