Mechanical Hexapod Essay

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ABSTRACT: Mechanical Hexapod is a device that is capable of moving on six legs, imitating the gait of a spider. Although, the wheel is the primary component used in all forms of transportation equipment, the inherent disadvantages such as movement over uneven terrain or climbing stairs cannot be overlooked. The hexapod incorporates Klann Mechanism to enable movement and overcome some of the limitations of the wheel. The purpose of the hexapod robot is to ease the movement either on flat or on the inclined surface.
Keywords: Klann Mechanism, Hexapod, Linkages.
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INTRODUCTION
The study involved in the proposal is mainly concerned with a hexapod robot with maneuverable wheel which is a combination of six …show more content…

However, locomotion capabilities of robots are often constrained by a limited range of gaits and associated energy efficiency. This article presents the design of a novel reconfigurable Klann mechanism capable of transcending beyond such constraints. Such approach opens up new research avenues, opportunities and applications.
BENEFITS OF KLANN MECHANISM
• Simplicity of design: the design is simple and less intricate as compared to other proposed mechanisms.
• Compatibility: Better compatibility combined with optimum number of linkages
• Reliability: This mechanism consists of linkages made up of pivot joints and light, durable materials such as Aluminum for better reliability. A single leg is a six-bar linkage that comprises of the casing, pinions, electric engine, crank, associating arm, lower rocker, leg and an upper rocker. [3]The ground focuses for the upper and lower rocker in this design are vertically in line to permit a coupled pair of legs to move similar to the front wheels of an average automobile. The frame and links comprise of aluminum as per light weight requirements. Four gears and two pinions made of nylon material are

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