8 LEGGED WALKING ROBOT

Presenter’s Name
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.
• 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.
INTRODUCTION
• It is the fact that the wheels are ineffective on rough and rocky areas. Therefore
vehicle 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.
KLANN MECHANISM
• The main advantage of Klann mechanism robots is their ability to access
places impossible for wheeled robots. By copying to the physical structure
of legged animals, it may be possible to improve the performance of
mobile robots.
• To provide more stable and faster walking, scientists and engineers can
implement the relevant biological concepts in their design.
• The most forceful motivation for studying Klann mechanism robots is To
give access to places which are dirty to give access to places those are
dangerous.
• Low power consumption and weight are further advantages of walking
robots, so it is important to use the minimum number of actuators. In this
context, an objective is set in this project to develop an eight- legged
mobile robot whose structure is based on the biomechanics of insects.
• 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.
COMPONENTS
• Frames and Base Plate
• Aluminum bars
• Electric Motors
• Gears
• Legs
• Linkage
• Battery
 Frames and Base Plate
• The model consists of a base plate and four frames which are fixed
vertical to the base plate. The base plate and the frames are made of
aluminum.
• Aluminium is lightweight, ductile and malleable metal with
appearance ranging from silvery to dull gray, depending on the
surface roughness. It is nonmagnetic and does not easily ignite.
• Aluminium is a good thermal and electrical conductor, having 59% the
conductivity of copper, both thermal and electrical, while having only
30% of copper's density. Aluminium is capable of being a
superconductor, with a superconducting critical temperature of 1.2
Kelvin and a critical magnetic field of about 100 gauss.
Aluminum bars
• Aluminium is a silvery white, soft, non-magnetic, ductile metal. Aluminium
is the third most abundant element (after oxygen and silicon), and the
most abundant metal in the Earth's crust.
• Aluminium is usually alloyed – it is used as pure metal only when corrosion
resistance and/or workability are more important than strength or
hardness. The strength and durability of aluminium alloys vary widely,
not only as a result of the components of the specific alloy, but also as a
result of heat treatments and manufactur ing processes.
• The main reason for choosing aluminium is that it is light in weight and
light weight ultimately increases the efficiency of the machine. The low
density of aluminium accounts for it being lightweight but this does not
affect its strength.
DC Motor
A DC motor is any of a class of rotary electrical machines that converts direct current electrical
energy into mechanical energy.
The principle of working of a DC motor is that "whenever a current carrying conductor is placed in a
magnetic field, it experiences a mechanical force". In our project we use 100 rpm DC motor.
 Gears
• Gears are very important for transmission. Gears are also useful in speed
reduction. Two sets of gears are used for effective transmission. Each set
consists of a smaller gear and two bigger gears. Smaller gear consists of 36
teeth and a larger gear consists of 60 teeth, thereby giving a speed reduction
ratio of 1.68. The gears are spur gears and are made of nylon plastic gears.
• Numerous nonferrous alloys, cast irons, powder-metallurgy and plastics are
used in the manufacture of gears. Plastic is commonly used where cost or
weight is a concern. A properly designed plastic gear can replace steel in many
cases because it has many desirable properties, including dirt tolerance, low
speed meshing, the ability to "skip" quite well and the ability to be made with
materials not needing additional lubrication. Manufacturers have employed
plastic gears to reduce costs in consumer items including copy machines,
optical storage devices, cheap dynamos, consumer audio equipment, servo
motors, and printer.
COST ESTIMATION

DETAILS AMOUNT SPENT

Gears Rs.1200

Wireless Remote Control Rs.4000

Motors Rs.1000

Legs Rs.1000

Screws and Nuts Rs.400

Raw Material Rs.500

Other Rs.300

Total Rs.8,400
Applications of Klann Mechanism
• 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.
• Eight 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 surveilla nce technology to
convert your television into a real-time look at the world within
transmitting range.
• 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.
• There would be further benefits if a portion of these tasks should be
automated or made more accurate through Global Positioning Systems,
infrared viewing, and audio and video recording. It could be programmed
to patrol a predefined. Perimeter at random intervals.
Future Scope of Work
• This mechanism can be made more flexible by using different link
lengths for front, middle and hind legs. Intelligence can be induced
by introducing Sensors and vision to improve the effectiveness of this
robot in future. Range of motion and moments available at each joint
are the greatest concern as it is important for achieving stance and
insect like walking.
THANK YOU