The Klannlinkage is a planar mechanism designed to simulate the gait of legged animal and function as a wheel replacement, a leg mechanism. 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.[2] It is categorized as a modified Stephenson type III kinematic chain.[3][4][5][6]
Underwater walking robot, using Klann leg linkages in laser-cut and anodised aluminium.[1]
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.
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.[7]
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.Movement paths of each point (in blue is the ground link)
klann, linkage, this, article, needs, additional, citations, verification, please, help, improve, this, article, adding, citations, reliable, sources, unsourced, material, challenged, removed, find, sources, news, newspapers, books, scholar, jstor, november, 2. This article needs additional citations for verification Please help improve this article by adding citations to reliable sources Unsourced material may be challenged and removed Find sources Klann linkage news newspapers books scholar JSTOR November 2016 Learn how and when to remove this template message The Klann linkage is a planar mechanism designed to simulate the gait of legged animal and function as a wheel replacement a leg mechanism 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 2 It is categorized as a modified Stephenson type III kinematic chain 3 4 5 6 Underwater walking robot using Klann leg linkages in laser cut and anodised aluminium 1 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 Contents 1 Mechanism 2 Comparison with Jansen s linkage 3 Example leg 4 See also 5 References 6 External linksMechanism editKlann 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 7 nbsp 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 nbsp 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 nbsp Movement paths of each point in blue is the ground link Comparison with Jansen s linkage editThis section does not cite any sources Please help improve this section by adding citations to reliable sources Unsourced material may be challenged and removed Find sources Klann linkage news newspapers books scholar JSTOR November 2016 Learn how and when to remove this template message nbsp Jansen LinkageThe 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 Example leg edit nbsp example leg illustratedIn U S patent 6 260 862 there is a set of coordinates for an example leg 4 Point X Y DescriptionFixpoints9 1 366 1 366 first rocker arm axle11 1 009 0 574 second rocker arm axle15 1 599 0 750 crank shaftfully extended ground stride position27X 0 741 0 750 elbow joint29x 1 331 0 750 crank33x 0 000 0 000 foot35x 0 232 0 866 knee joint axle37x 0 866 1 500 hip jointgrounded gait position27Y 1 277 0 750 elbow joint29y 1 867 0 750 crank33y 1 000 0 000 foot35y 0 768 0 866 knee joint axle37y 1 000 1 732 hip jointSee also editWheel Linkage mechanical Leg mechanism Mondo Spider Jansen s linkage Chebyshev linkage and Chebyshev s Lambda MechanismReferences edit Rooney T Pearson M Welsby J Horsfield I Sewell R Dogramadzi S 6 8 September 2011 Artificial active whiskers for guiding underwater autonomous walking robots PDF CLAWAR 2011 Paris France a href Template Citation html title Template Citation citation a CS1 maint location missing publisher link Mechanical Spider Klann Research And Development LLC Archived from the original on 14 April 2004 Retrieved 22 November 2016 U S Provisional Application Ser No 60 074 425 was filed on Feb 11 1998 a b U S patent 6 260 862 U S patent 6 364 040 U S patent 6 478 314 Ganapati Priya Robotic Spider Melds Legos and 3 D Printing Wired Retrieved 22 November 2016 External links edit nbsp Wikimedia Commons has media related to Klann linkages nbsp Wikibooks has a book on the topic of Klann linkage Klann Linkage In Phun on YouTube Animation of the linkage s climbing ability Legs mk2 on YouTube Clear side on view of linkage in motion Son of Mr Crabby CamBam made Klann linkage walking crab robot on YouTube Mechanicalspider Mechanisms101 Archived 2009 02 02 at the Wayback Machine Mondo Spider Walking Beast Crabfu Retrieved from https en wikipedia org w index php title Klann linkage amp oldid 1177225424, wikipedia, wiki, book, books, library,
