A

SYNOPSIS ON

DESIGN AND FABRICATION OF MECHANICAL MOVER

A MINOR PROJECT REPORT

Klannlinkagemechanism

A Report Submitted In Partial Fulfillment of the Requirements for the

Degree of

BACHELOR OF ENGINEERING

In

MECHANICAL ENGINEERING

ST. ALOYSIUS INSTITUTE OF TECHNOLOGY COLLEGE

JBALAPUR - 482020

Head of Department: Ajinkya Pathak

Submitted by: Deepak Kumar Singh

Roll no.: 0223ME121012

In The Guidance of: Yashwant Vishwakarma
 ACKNOWLEDGEMENT
We are very much indebted to the Chairman, Honble. Dr. JEPPIAAR,
M.A., B.L., Ph.D., the Director Mrs. M. Regeena Jeppiaar, B.Tech, M.B.A.,
(Ph. D)., and the Principal Dr. Sushil Lal Das, M.Sc (Engg)., Ph.D.

We would like to express our deep sense of gratitude to Dr. V.

Natarajan, M.E., Ph.D., Head of the Department and our guide
Dr.S.Jeyanthi M.E.,Ph.D.,for giving valuable suggestions for making this
project a grand success.

We also thank the teaching and non-teaching staff members of the

Department of Mechanical Engineering for their constant support.
 ABSTRACT

As the wheels are ineffective on rough and rocky areas, therefore robot with legs

provided with Klann mechanism is beneficial for advanced walking vehicles. It can step over

curbs, climb stairs or travel areas that are currently not accessible with wheels. The most

important benefit of this mechanism is that, it does not require microprocessor control or

large amount of actuator mechanisms. In this mechanism links are connected by pivot joints

and convert the rotating motion of the crank into the movement of foot similar to that of

animal walking. 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. The remaining

rotation of the crank allows the foot to be raised to a predetermined height before returning to

the starting position and repeating the cycle. Two of these linkages 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. This project is useful in hazardous material handling, clearing

minefields, or secures an area without putting anyone at risk. The military, law enforcement,

Explosive Ordinance Disposal units, and private security firms could also benefit from

applications of mechanical spider. It would perform very well as a platform with the ability to

handle stairs and other obstacles to wheeled or tracked vehicles.

The goal for 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 algorithm develops will be of use to robotics

community and in future society.

 CONTENTS

1. INTRODUCTION

2. LITERATURE REVIEW

3. OBJECTIVES

4. METHODOLOGY

5. ISSUES & CHALLENGES

6. CONCLUSION

7. REFRENCES
 CHAPTER 1
INTRODUCTION

INTRODUCTION

1.1. BACKGROUND:
Sincetimeunknown,mansfascinationtowardssuperfastmobilityhasbeen
unquestionable.Hisneverendingquesttowardslightningfasttravelhasgainedpaceoverthe
pastfewdecades.Now,witheverypassingday,maniscapableofcoveringlongerdistances
inrelativelyshorterdurationoftime.Todaysautomobilesarebeastsonwheelswhichare
designedforspeedandcomfort.
However,mostoftodaysautomobilesarelimitedtoroadsorplainterrains.Eventhe
offroadvehiclesareofnousewhenthelandistoorough.Needlesstosay,novehiclecan
climbmountains.
Thisisbecauseallautomobilesdependonrubberwheelswhichfarebetteronlyon
roads.Man,whohimselfdepends,onlegscantravelonrockyterrainsandclimbmountains,
butsuchjourneysarenevercomfortable.
Thusnaturallythesolutioncanbeseenasanautomobilewhichrestsonandmoves
withlegs.Simple,itmaysoundbuttheproblemsinbuildingaworkingmodelaremany.The
mosttroublesomepartispoweringthegaitofthelegs.Rotationofwheelsinwheeled
vehiclesispoweredbyanengineorelectricmotors.Unlikewheels,legsmoveinanacute
reciprocatingmovement.Thisispracticallytough.
ThisiswhereKlannMechanismpitchesin.Itconvertsrotaryactiondirectlyinto
linearmovementofaleggedanimal.Vehiclesusingthismechanismcantravelonanytypeof
surface.Also,theydonotrequireheavyinvestmentsinroadinfrastructure.

1.2.OVERVIEW:
Itisthefactthatthewheelsareineffectiveonroughandrockyareas.Therefore
vehiclewithlegsprovidedwithKlannmechanismisbeneficialforadvancedwalking
vehicles.Itcanstepovercurbs,climbstairsortravelareasthatarecurrentlynotaccessible
withwheels.Themostimportantbenefitofthismechanismisthat,itdoesnotrequire
microprocessorcontrolorlargeamountofactuatormechanisms.Inthismechanismlinksare
connectedbypivotjointsandconverttherotatingmotionofthecrankintothemovementof
footsimilartothatofanimalwalking.
Theproportionsofeachofthelinksinthemechanismaredefinedtooptimizethe
linearityofthefootforonehalfoftherotationofthecrank.Theremainingrotationofthe
crankallowsthefoottoberaisedtoapredeterminedheightbeforereturningtothestarting
positionandrepeatingthecycle.

Thisprojectisusefulinhazardousmaterialhandling,clearingminefields,orsecures
anareawithoutputtinganyoneatrisk.Themilitary,ExplosiveOrdinanceDisposalunits,and
securitysystemcouldalsobenefitfromapplicationsofmechanicalspider.Itwouldperform
verywellasaplatformwiththeabilitytohandlestairsandotherobstacles.
 The Klann linkage is a planar mechanism designed to simulate the gait of
legged animal and function as a wheel replacement. The linkage consists of the
frame, a crank, two grounded rockers, and two couplers all connected by pivot joints.
It was developed by Joe Klann in 1994 as an expansion of Burmester curves which
are used to develop four-bar double-rocker linkages such as harbor crane booms. It
is categorized as a modified Stephenson type III kinematic chain.

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. The remaining
rotation of the crank allows the foot to be raised to a predetermined height before
returning to the starting position and repeating the cycle. Two of these linkages
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.

The Klann linkage provides many of the benefits of more advanced walking
vehicles without some of their limitations. 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.

Mechanism
Klann linkage work on the basis of kinematics where all links gives relative motion
with each other. It converts the rotatory motion to linear motion, and looks like an
animal walking.

These figures show a single linkage in the fully extended, mid-stride, retracted, and
lifted positions of the walking cycle. These four figures show the crank (rightmost link
in the first figure on the left with the extended pin) in the 0, 90, 180, and 270 degree
positions.

This animation show the working of klann mechanism.

This is a repeating animation of the legs in motion with the near legs of each set
outlined in blue. A reasonable understanding of the functioning of the linkage can be
gained by focusing on a specific point and following it through several cycles. Each
of the pivot points is displayed in green. The three positions grounded to the frame
for each leg are stationary. The upper and lower rockers move back and forth along
a fixed arc and the crank traces out a circle.

It has been a hobby for a number of years to develop a bicycle

without wheels that could walk. It would move on legs and resemble a
large insect. A linkage was developed that satisfied the design criteria and
several small-scale prototypes were built that demonstrated the concept.
Applications for the linkage go beyond human-powered machines. The
links are connected by pivot joints and convert the rotating motion of the
crank into the movement of a foot similar to that of an animal walking.

Two of these legs coupled together at the crank can act as a wheel
replacement and provide vehicles with a greater ability to handle
obstacles and travel across uneven terrain while providing a smooth even
ride. Initially it was called the SpiderBike but the applications for this
linkage have expanded well beyond the initial design purpose of a human-
powered walking machine. This linkage could be utilized almost anywhere
a wheel is employed from small wind-up toys to large vehicles capable of
transporting people.

The relationships for the linkage have been established and are
covered by several patents. The simplicity and scalability of the walking
device, along with a little imaginative engineering, lead to numerous
possibilities

The Klann linkage provides many of the benefits of more advanced

walking vehicles without some of their limitations. 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
inefficient actuator mechanisms. It fits into the technological void between
these walking devices and axel-driven wheels.

Movement paths of each point:

 CHAPTER 2
LITERATURE REVIEW
2.1. OVERVIEW

A six bar linkage is a one degree-of-freedom mechanism that is constructed

from six links and seven joints. An example is the Klann linkage used to drive the legs
of a walking machine.

In general, each joint of a linkage connects two links, and a binary link
supports two joints. If we consider a hexagon to be constructed from six binary links
with six of the seven joints forming its vertices, then, the seventh joint can be added
to connect two sides of the hexagon to forming a six-bar linkage with two ternary
joints. This type of six-bar linkage is said to have the Watt topology.
A six-bar linkage can also be constructed by first assembling five binary links
into a pentagon, which uses five of the seven joints, and then completing the linkage
by adding a binary link that connects two sides of the pentagon. This again creates
two ternary links that are now separated by one or more binary links. This type of
six-bar linkage is said to have the Stephenson topology. The Klann linkage has the
Stephenson topology.
The common mechanisms used in kinematic leg movement are Klann linkage
mechanism and Jansen linkage mechanism. Both will operate in a single plane
provided a constant axle height, use only pivot joints and the rotating crank for
input.

2.2. KLANN MECHANISM

The Klann linkage is a planar mechanism designed to simulate the gait of
legged animal and function as a wheel replacement. The linkage consists of the
frame, a crank, two grounded rockers, and two couplers all connected by pivot joints.
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. The remaining rotation
of the crank allows the foot to be raised to a predetermined height before returning to
the starting position and repeating the cycle. Two of these linkages 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.
The Klann linkage provides many of the benefits of more advanced walking vehicles
without some of their limitations. It can step over curbs, climb stairs, or travel into
an area 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.
2.3.JANSENLINKAGEMECHANISM

The foot of a walking mechanism is the part of the mechanism that comes in
direct contact with the ground as indicated. As the crank turns, the foot traces out a
cyclical path relative to the body of the walker; this path is known as the locus. A
crank based leg system with the foot, locus, and crank labeled. The direction of
movement of the linkage to the crank and the foot through the locus are indicated.
Additionally, a fixed point in the linkage relative to the body of the walker is
indicated with a black square.
The locus can be divided into four parts: the support, lift, return, and lower
phases. Throughout the support phase, the foot is ideally in contact with the ground.
During the lift the foot is moving toward its maximum height in the locus. During the
return, the foot reaches its maximum height off the ground and moves in the same
direction as the body of the walker. Finally, during the lower the foot descends in
height until it makes contact with the ground.
CHAPTER 3
OBJECTIVES
 OBJECTIVES

Our project, Design and Fabrication of Mechanical Mover using

Klann Mechanism, is to demonstrate the working of Klann
Mechanism through a simple walking robot.
A normal robot (or vehicle) can move only forward and backward
direction. By using Klann Mechanism the vehicle can able to move in
one plane along different direction. The movement of the kinematic
linkage is done by the use of electric motors
Though the idea is pretty old, the future scope could be many
making it useful in hazardous material handling, clearing minefields,
or secures an area without putting anyone at risk.
The military, law enforcement, explosive ordinance disposal units,
and private security firms could also benefit from applications of
mechanical spider. It would perform very well as a platform with the
ability to handle stairs and other obstacles to wheeled or tracked
vehicles.
 CHAPTER 4
METHODOLOGY
WORKMETHODOLOGYADOPTED:

The most important benefit of this mechanism is that, it does not require
microprocessor control or large amount of actuator mechanisms. In this
mechanism links are connected by
pivot joints and convert the rotating motion of the crank into the
movement of foot similar to that of animal walking. 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. The remaining rotation of
the crank allows the foot to be raised to a predetermined height before
returning to the starting position and repeating the cycle. Two of these
linkages coupled.

CONSTRUCTIONANDWORKING:

Construction : It consist of motor or engine mounted at the top. Out of

three spur gear one is connected to motor or engine shaft called Driving
gear and remaining
two are meshes with driving gear . The crank is connected to the shaft on
which two driven gears are mounted by the shaft. As the motor made to
ON the driving gear drives.another two gear , one is clockwise while
other is anticlockwise as the gears are rotate in opposite direction. Due to
this this rotation resulting in the crank rotation. Crank moves the forcing
link gives the momentum in a particular line of action with help of
supporting link. The work of supporting link is to move the arm in a
particular profile which made by the end point of arm and move back to
its normal position i.e. initialposition All these gives the walking motion to
the arm like a spider.

Working: The basic working principle of Klann Mechanism is that when

the crank is rotated, a series of relative movements in the various links
result in a gait-like movement of the leg.

If all the legs in a device are connected to a single motor, the device will
be able to move in only one direction (or two directions, if the motor can
rotate in both directions).

This issue is resolved by using more than one motor. The device can be
made to take a turn by using the motors strategically.
ANALYSIS:

The blue print of the direction of motion for the corresponding

directions of rotation of the motors is given in the table T5.1.

Direction of Direction of rotation Direction of

movement of spider of motor 1 rotation of motor 2
Forward Clockwise Counter-clockwise
Backward Counter-clockwise Clockwise
Right Clockwise Clockwise
Left Counter-clockwise Counter-clockwise

The above functions are executed seamlessly by the Wireless

Electronic Remote Control System.
CHAPTER 5
ISSUES &
CHALLENGES
 ISSUES&CHALLENGES

It is very complex to design a link mechanism.

CHAPTER 6
CONCLUSION
 CONCLUSIONS

This project can step over curbs, climb stairs, or travel into an area that are currently
not accessible with wheels but does not require microprocessor control or multitudes
of actuator mechanisms.

It would be difficult to compete with the efficiency of a wheel on smooth hard

surfaces but as conditions increase rolling friction, this linkage becomes more viable
and wheels of similar size cannot handle obstacles that this linkage is capable of.

Pivoting suspension arms could be used to optimize,

The height of the legs for the waterline.

Increase the platform height.
Reduce the vehicle width.

Also it allows the legs to fold up compactly for storage and delivery.

Thus, all the principles and mechanisms involved in a walking robot

using are studied and the practical difficulties in fabrication of a working model are
understood.

If implemented properly, automobiles moving on legs using Klann

Mechanism have the potential to change mobility as we know it.
 CHAPTER 7
REFERENCES

REFERENCES
1. Soyguder S, Alli H; Design and prototype of a six- legged walking.
International Journal of Industrial Robot, 2007; 34(5): 412422.
2. Lovasz E Ch, Pop C, Pop F, Dolga F; Novel Solution for Leg
Mechanism. Int. J. of Applied Mechanics and Engineering, 2014;
19(4): 699-708.
3. Inoue H, Noritsugu T; Development of Walking Assist Machine Using
Linkage Mechanism. An International Journal of Robotics and
Mechatronics, 2010; 22(2): 189-196.
4. www.mekanizmalar.com
5. www.wikipedia.com
6. Design and prototype of a six-legged walking insect robot Servet
Soyguder and Hasan Alli Mechanical Engineering Department, Firat
University, Elazig, Turkey.
7. Mechanical Design of A Quadruped Robot for Horizontal Ground to
Vertical Wall Movement Abd Alsalam Sh. I. Alsalameh Shamsudin
H.M. Amin Rosbi Mamat Center for Artificial Intelligence and
Robotics (CAIRO) Faculty of Electrical Engineering Universiti
Teknologi Malaysia.
8. A study of availability and extensibility of Theo Jansen mechanism
toward climbing over bumps Kazuma Komoda (PY)1, and Hiroaki
Wagatsuma 1 Department of Brain Science and Engineering, Kyushu
Institute of Technology 2 RIKEN Brain Science Institute.