SIX LEG KINEMATIC MOVING MACHINE

Under The Guidance of Dr.M.K.SONPIMPLE

By students of 4th sem; Sec.(A)

Department Of Mechanical Engineering

Priyadarshini College Of Engineering
 CERTIFICATE
This is to certify that this powerpoint presentation contains the bonafied pratical work of
Mr. A NIMJE,S JATHADE,S D BONDE,D KUMAR,A GIRHEPUJE,Y BANDARKAR,S RAUT,S P
BONDE,G WANDHE of 2nd year / semester 4th Section- A bearing roll nos.
119,120,121,122,123,124,125,126,127 has successfully completed pratical and report
work in the subject Mini Project under the guidance of Dr M K Sompiple during the
session 2013-14.

Name Of Deptt:- MECHANICAL

Head Of Deptt:- Dr K S ZAKIUDDIN

Name Of Students:-

ANIKET NIMJE(119)
SHUBHAM JATHADE(120)
SHUBHAM D. BONDE(121)
DEEPAK KUMAR(122)
ABHISHEK GIRHEPUJE(123)
YOGESH BANDARKAR(124)
SHUBHAM RAUT(125)
SHUBHAM P. BONDE(126)
GAURAV WANDHE(127)
INTRODUTION:-
Four bar linkage are the closed loop kinematic linkage , they
perform a wide variety of motions with a few simple parts.
This project discusses the design & fabrication of one such
mechanism (four bar mechanism). In this project Six Leg
Kinematic movement works on Grashof's principle which
states that the sum of the length of the shortest and longest
links must be less than or equal to the some of the other two
links.
However this condition is necessary but nor sufficient.
Mechanism satisfying this condition will fall into crank-rocker
mechanism, double crank mechanism and double rocker
mechanism. A frame, connecting rod, crank & a lever
constitute to obtain the required motion. In this project we
tried to show mainly the application of simple four bar
mechanism.
 AIM:- To construct a six leg kinematic moving
machine .
OBJECTIVE:- The objective of this project is to convert
concept of four bar mechanism into a simple
working physical model.
PRINCIPLE:- Six leg kinematic moving machine works
on the principle of four bar mechanism designed
by the use of Grashofs law which states that The
sum of the shortest and the largest link length should
not be greater than the sum of the remaining two
links length if there is to be continuous relative
motion between the two link.
WORKING:- This kinematic walker is six-legged machine that
can walk on any surface. It is an arrangement of six linkages
that are powered together by a single motor. This device is
analogous to a six-legged insect such as a spider. The motor
can either be powered by mains or a battery. The kinematic
walker comprises six legs that move simultaneously to provide
motion. Each of these six linkages are made of a four bar
mechanism.
These six legs move synchronously with several angular
intervals in between them so that they give a walking motion
just like a six-legged insect. Four fixed links surround the
linkages and support their movement. Each of this four fixed
link constitutes two independent link of the used four bar
mechanism.
CONSTRUCTION:- Construction of the this kinematic walker
begins with its raw CAD model, which comprises of six four
bar mechanism.

After the completion of the CAD model we start

constructing the physical model similar to this. The
fabrication work requires are cutting links of appropriate
size, drilling of hole in the steel links e.t.c.
As mentioned earlier this kinematic moving machine have six
four bar mechanism working together. It comprises of 6 linkages,
4 fixed links, 10 cranks, 6 followers. Each of the six linkages are
assembled by connecting the 4 links together by bolts so as to
form the 4 bar linkage as desired. Now, all the six linkages are
mounted on common rod with three on each side. The fixed link
as mentioned earlier extends to both sides of the common rod.
There are four such links which sandwich the linkages in
between them. These links support the 4 bar linkages. For our
requirement we need one link to rotate which is s the rotating
link is connected to the shaft of a motor and this link is given the
power. The leg denoted by q reciprocates and gives the motion
like a real insect leg. The fixed link denoted by P remains
stationery. The other connecting link which is mounted over the
common rod denoted by L in the largest link and it like the leg
also reciprocates:
 1. Each of the two sets consisting of three 4 bar linkages on either
side of the common rod must be powered in the same direction for
the whole machine to move in one direction. Thus the power from
a single motor is divided by sprockets and a chain.
2. When the motor is given the electrical input from the mains it
runs the sprocket connected to its shaft. The sprocket in turn moves
the chain meshed to it. Thus the chain transmits power to both the
sprockets.
3. Now the sprockets, moving in one direction, rotate the small links
of all the six 4 bar linkages and these links move synchronously with
four on the ground at one time and two on the ground at another.
Thus forward motion is given to the machine by the legs which
reciprocate on the ground.
As these sprockets are connected to the small link of the linkage by
a shaft, power is delivered to the link and thus the linkages can
move. All six linkages move synchronously to produce movement in
one direction thus producing a crab like movement. This device can
walk on uneven surfaces.
APPLICATIONS:- It would be difficult to compete with the
efficiency of a wheel on smooth hard surfaces but as
condition increases rolling friction, this linkage becomes more
viable and wheels of similar size cannot handle obstacles that
this linkage is capable of. Toys could be developed that would
fit in the palm of your hand and just large enough to carry a
battery and a small motor. Six leg mechanical spiders can be
applicable for the making of robots. It has a wide range of
application in the manufacturing of robots. A large version
could use existing surveillance technology to convert your
television into a real-time look at the world within
transmitting range. It would also relay commands from the
remote to the spider bike; additional frequencies could be
used to operate manipulators for retrieving the mail during
unfavorable weather or taking the dog out. In toy industries
for making robotic toys it has got many applications. It can
also be used for military purpose.
By placing bomb detectors in the machines we can easily
detect the bomb without harmful to humans. It can be
used as heavy tanker machines for carrying bombs as
well as carrying other military goods. It is also
applicable in the goods industries for the small
transportation of goods inside the industry. The
mountain roads or other difficulties where ordinary
vehicles cannot be moved easily can be replaced by our
six leg mechanical spider. Heavy loads can be easily
transported if we made this as a giant one. It has got
further application for the study of linkage mechanism
and kinematic motions. The geometry and conditions
can be changed according to application needs. It can
travel in rough surfaces very easily, so this machine can
be used in rough surfaces were ordinary moving
machine cannot travel.
ADVANTAGES:-
Construction expense is low.
Heavy load can be carried.
It can be run in rough surfaces.
Easy to control Maintenance is low.

DISADVANTAGES:-
Speed is minimum due to load.
Not smooth running.
High powered motor is need.