klann linkage

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KLANN LINKAGE

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KLANN LINKAGE

KLANN LINKAGEINTRODUCTIONThe Klann linkage is a planar mechanism designed to stimulate the gait of ledgged 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.

HISTORYThe Klann linkage was created by Joe Klann in 1994.The idea was an expansion of Burmester curves which are used to develop four-bar double-rocker linkages.DESIGN OF MECHANISMS

Beam 1DESIGN OF MECHANISMS (2)

Beam 2DESIGN OF MECHANISMS(3)

Beam 3DESIGN OF MECHANISMS(4)

Beam 4DESIGN OF MECHANISMS (5)

Beam 5DESIGN OF MECHANISMS (6)

Beam 6DESIGN OF MECHANISMS (7)

Beam 7HOW IT WORKS

CALCULATIONS (DETAILS)

(PART 1)(PART 1)

(PART 2)

(PART 2)

LINEAR ACCELERATION

DYNAMICS

REAL EQUATIONS

EQUATIONS ADJUSTMENTS

KNOWN ANSWERS

MATRIX

ANSWERS

BENEFITS OF MECHANISMUse only six linkages for each leg which means lower weight and cost.Small number of joints needed means less friction occurs.The mechanism structure reduces the ground pressure.

CONCLUSIONIn the end, we can conclude that using Klann mechanism, we were able to transform a full, rotating crank motion from only one link to produce a linear, walking-like motion that resembles a spiders leg, thus giving this mechanism a liking in robotic spiders.We believe that this mechanism will be a huge boost for engineers to use in the future.THANK YOU