Walking Mechanism Using a Klann Linkage

4-bar linkage lengths

b

5.92

c

2.59

d

5.03

5-bar linkage lengths

s

4.71

q

4.52

p

5.56

v

13.02

time & animation

t

show one leg only

show all traces

The Klann linkage is a six-bar mechanism that can be used in walking robots that simulate the gait of spiders or crab-like animals. It was patented by Joseph C. Klann in 1998[1].

Applications of the Klann linkage to simulate a walking spider can be found in[2].

You can use this Demonstration to explore the geometry of the linkage and to find a combination of bar lengths that creates a foot trace around a sizeable horizontal region.

Details

The Klann linkage can be divided into two parts: a four-bar linkage

ABYXA

with one degree of freedom attached to a five-bar linkage

YPTSBY

with two degrees of freedom.

Both linkages can be analyzed by solving the triangles

XAY

,

ABY

, and

PTS

, using the Mathematica function SSSTriangle. The position of the joints can then be derived from these solutions.

References

[1] J. C. Klann, "Walking Device," US patent US6260862 B1, 1998.

[2] J. C. Klann, "Mechanical Spider," Klann Research and Development, LLC. (Apr 18, 2016). www.mechanicalspider.com.

Permanent Citation

Erik Mahieu

"Walking Mechanism Using a Klann Linkage"
http://demonstrations.wolfram.com/WalkingMechanismUsingAKlannLinkage/
Wolfram Demonstrations Project
Published: April 20, 2016