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The Klann linkage is a planar mechanism designed to simulate the gait of legged animal and function as a wheel replacement, a
The Klann mechanism uses six links per leg, whereas the Jansen's linkage developed by Theo Jansen uses eight links per leg, with one
In there is a set of coordinates for an example leg:
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{{Mobile robots Linkages (mechanical) Walking vehicles Robot kinematics 1994 in robotics
leg mechanism
A leg mechanism (walking mechanism) is a mechanical system designed to provide a propulsive force by intermittent frictional contact with the ground. This is in contrast with wheels or continuous tracks which are intended to maintain continuous f ...
. 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
In mechanical engineering, a kinematic chain is an assembly of rigid bodies connected by joints to provide constrained motion that is the mathematical model for a mechanical system. Reuleaux, F., 187''The Kinematics of Machinery,''(trans. an ...
.
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 is supposed to provide 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 ofkinematics
In physics, kinematics studies the geometrical aspects of motion of physical objects independent of forces that set them in motion. Constrained motion such as linked machine parts are also described as kinematics.
Kinematics is concerned with s ...
where all links gives relative motion with each other. It converts the rotatory motion to linear motion, and looks like an animal walking.
This animation shows the working of a klann mechanism.
Comparison with Jansen's linkage
The Klann mechanism uses six links per leg, whereas the Jansen's linkage developed by Theo Jansen uses eight links per leg, with one degree of freedom
In many scientific fields, the degrees of freedom of a system is the number of parameters of the system that may vary independently. For example, a point in the plane has two degrees of freedom for translation: its two coordinates; a non-infinites ...
.
Example leg
In there is a set of coordinates for an example leg:
See also
*Wheel
A wheel is a rotating component (typically circular in shape) that is intended to turn on an axle Bearing (mechanical), bearing. The wheel is one of the key components of the wheel and axle which is one of the Simple machine, six simple machin ...
*Linkage (mechanical)
A mechanical linkage is an assembly of systems connected so as to manage forces and Motion, movement. The movement of a body, or link, is studied using geometry so the link is considered to be Rigid body, rigid. The connections between links ...
*Leg mechanism
A leg mechanism (walking mechanism) is a mechanical system designed to provide a propulsive force by intermittent frictional contact with the ground. This is in contrast with wheels or continuous tracks which are intended to maintain continuous f ...
* Mondo Spider
* Jansen's linkage
*Chebyshev linkage
In kinematics, Chebyshev's linkage is a four-bar linkage that converts rotational motion to approximate linear motion.
It was invented by the 19th-century mathematician Pafnuty Chebyshev, who studied theoretical problems in kinematic Mechanism ...
and Chebyshev's Lambda Mechanism
In kinematics, the Chebyshev Lambda Linkage is a four-bar linkage that converts rotational motion to approximate straight-line motion with approximate constant velocity. It is so-named because it looks like a lowercase Greek letter lambda (λ) ...
References
External links
* Animation of the linkage's climbing ability * Clear side-on view of linkage in motion *Mechanicalspider
Mondo Spider
{{Mobile robots Linkages (mechanical) Walking vehicles Robot kinematics 1994 in robotics