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The Klann linkage is a
The Klann mechanism uses six links per leg, whereas the
In there is a set of coordinates for an example leg:
MechanicalspiderMechanisms101Mondo SpiderWalking BeastCrabfu
{{Mobile robots Linkages (mechanical) Walking vehicles Robot kinematics 1994 in robotics
The Klann linkage is a planar
Planar is an adjective meaning "relating to a plane (geometry)".
Planar may also refer to:
Science and technology
* Planar (computer graphics), computer graphics pixel information from several bitplanes
* Planar (transmission line technologies), ...
mechanism designed to simulate the gait of legged animal and function as a wheel replacement, a 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
Linkage may refer to:
* ''Linkage'' (album), by J-pop singer Mami Kawada, released in 2010
*Linkage (graph theory), the maximum min-degree of any of its subgraphs
*Linkage (horse), an American Thoroughbred racehorse
* Linkage (hierarchical cluster ...
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 (or desired) motion that is the mathematical model for a mechanical system. Reuleaux, F., 187''The Kinematics of Machinery, ...
.
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 ofkinematics
Kinematics is a subfield of physics, developed in classical mechanics, that describes the Motion (physics), motion of points, Physical object, bodies (objects), and systems of bodies (groups of objects) without considering the forces that cause ...
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 show the working of klann mechanism.
Comparison with Jansen's linkage
The Klann mechanism uses six links per leg, whereas the Jansen's linkage
Jansen's linkage is a planar leg mechanism designed by the kinetic sculptor Theo Jansen to generate a smooth walking motion. Jansen has used his mechanism in a variety of kinetic sculptures which are known as (Dutch for "beach beasts"). Jans ...
developed by Theo Jansen
Theodorus Gerardus Jozef Jansen (; born 14 March 1948) is a Dutch artist. In 1990, he began building large mechanisms out of PVC that are able to move on their own and, collectively, are titled ''Strandbeest''. The kinetic sculptures appear to ...
uses eight links per leg, with one degree of freedom
Degrees of freedom (often abbreviated df or DOF) refers to the number of independent variables or parameters of a thermodynamic system. In various scientific fields, the word "freedom" is used to describe the limits to which physical movement or ...
.
Example leg
In there is a set of coordinates for an example leg:
See also
*Wheel
A wheel is a circular component that is intended to rotate 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 machines. Wheels, in conjunction wi ...
*Linkage (mechanical)
A mechanical linkage is an assembly of systems connected to manage forces and movement. The movement of a body, or link, is studied using geometry so the link is considered to be rigid. The connections between links are modeled as providing i ...
*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
Jansen's linkage is a planar leg mechanism designed by the kinetic sculptor Theo Jansen to generate a smooth walking motion. Jansen has used his mechanism in a variety of kinetic sculptures which are known as (Dutch for "beach beasts"). Jans ...
*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
{{Mobile robots Linkages (mechanical) Walking vehicles Robot kinematics 1994 in robotics