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Use Style: Paper Title International Journal of Mechanical, Robotics and Production Engineering. Volume VII, Issue III ISSN 2349-3534, www.ijmpe.com, email [email protected], March 2018 “DESIGN & MANUFACTURING OF ROBOT BY USING KLANN’S MECHANISM” 푃푟표푓. 푆. 푆. 푆ℎ푒푣푎푙푒1 푆ℎ푎푠ℎ푎푛푘 퐾푢푙푘푎푟푛푖2, 퐴푡ℎ푎푟푣푎 퐾푢푙푘푎푟푛푖3, 푀푎푛표푗 퐵푎푔푎푙4 , 푅푢푠ℎ푖푘푒푠ℎ 퐵ℎ표푠푎푙푒5 1 Asst. Prof. Department of Mechanical Engineering, 2,3,4,5 Student Department of Mechanical Engineering, Zeal College of Engineering & research, Narhe, Pune:- 411041, India. Abstract— As the wheels are ineffective on rough and rocky locomotion. Hopefully algorithm develops will be of use to robotics areas, therefore robot with legs provided with Klann’s mechanism is community and in future society. beneficial for advanced walking vehicles. It can step over curbs, Keywords— klann’s mechanism; pivot joints; microprocessor climb stairs or travel areas that are currently not accessible with control; actuator mechanisms; wheels. The most important benefit of this mechanism is that, it does not require microprocessor control or large amount of actuator I. INTRODUCTION mechanisms. In this mechanism links are connected by pivot joints A. Background and convert the rotating motion of the crank into the movement of foot similar to that of animal walking. The proportions of each of the Since time unknown, man’s fascination towards super-fast links in the mechanism are defined to optimize the linearity of the mobility has been un-questionable. His never ending quest foot for one-half of the rotation of the crank. The remaining rotation towards lightning fast travel has gained pace over the past few of the crank allows the foot to be raised to a predetermined height decades. Now, with every passing day, man is capable of before returning to the starting position and repeating the cycle. Two covering longer distances in relatively shorter of time. Today’s of these linkages coupled together at the crank and one-half cycle duration automobiles are beasts on wheels which are designed out of phase with each other will allow the frame of a vehicle to travel parallel to the ground. This project is useful in hazardous material for speed and Comfort. However, most of today’s automobiles handling, clearing minefields, or secures an area without putting are limited to roads or plain terrains. Even the off-road vehicles anyone at risk. The military, law enforcement, Explosive Ordinance are of no use when the land is too rough. Needless to say, no Disposal units, and private security firms could also benefit from vehicle can climb mountains. This is because all automobiles applications of mechanical spider. It would perform very well as a depend on rubber wheels which fare better only on roads. Man, platform with the ability to handle stairs and other obstacles to who itself depends, on legs can travel on rocky terrains and wheeled or tracked vehicles. climb mountains, but such journeys are never comfortable. Thus The goal for this project is to create an eight-legged robot to test naturally the solution can be seen as an automobile which rests new walking algorithm. We loosely based our design on spider on and moves with legs. because there has an advanced way in robotics on octopedal 1 Prof.S.S.Shevale, Shashank Kulkarni, Atharva Kulkarni, Manoj Bagal and Rushikesh Bhosale International Journal of Mechanical, Robotics and Production Engineering. Volume VII, Issue III ISSN 2349-3534, www.ijmpe.com, email [email protected], March 2018 B. Why Klann’s Mechanism? that would generate suitable stepping motions when driven by a source of power.much of the research of fatigue crack The main advantage of Klann’s mechanism robots is their propagation rates has been concerned with the early and middle ability to access places impossible for wheeled robots. By stages of crack initiation and propagation, a small portion of copying to the physical structure of legged animals, it may be which has been reported in compendiums edited by Beevers possible to improve the performance of mobile robots. To [1980], Amzallag [1994], Ruschau and Donald [1995], and provide more stable and faster walking, scientists and engineers Marsh, Smith and Ritchie [1991]. Investigation reported in the can implement the relevant biological concepts in their design. literature has been concerned with life prediction under constant The most forceful motivation for studying Klann’s mechanism amplitude and constant y requency sinusoidal fatigue loading. robots is An attempt to address more variation in loading, as reported by To give access to places which are dirty. Khan, Rauf, and Younas To give access to places those are dangerous. B. Existing Design of the Leg Mechanism For legged robots, 2 DOF is the minimum required to move Job which are highly difficult legged robots can be used for a leg forward by lifting and swinging. Figure shows the leg rescue work after earthquakes and in hazardous places such as mechanism, using a Watt-chain six-bar mechanism to imitate the the inside of a nuclear reactor, giving biologically inspired cockroach (insect) leg. We chose a six bar mechanism because autonomous legged robots great potential. Low power of its superior force-transmission angle and bigger oscillating consumption and weight are further advantages of walking angle in comparison with other types such as the four - bar robots, so it is important to use the minimum number of mechanism (Norton, 2004). Force transmission is very actuators. In this context, an objective is set in this project to important for leg mechanisms, because of the point contact with develop an eight- legged mobile robot whose structure is based the ground. The leg mechanism itself has one DOF for lifting, on the biomechanics of insects. whilst the base of mechanism has another DOF for swinging. The leg mechanism, with its body size shown in Figure 1, is II. PROBLEM STATEMENT modeled with Solid Works. It has six links and seven cylindrical joints. The body size and link dimensions are determined from As the human being are replaced by robot in most of area. the maximum swing and lift angles. Each link is created by The robots are more accuracy than man. But for movement of entering its shape and reference coordinates. To mate the contact the robot is done by the wheels. Those wheels are ineffective on surfaces of the parts, the assembly bar of the assembly mating the rough & rocky area. Therefore robot with legs provided with menu is used. Material properties of all materials considered Klann’s mechanism is beneficial for advanced walking vehicles. according to design consideration. From design considerations, And all robots are work by the controller & hardware which the analysis carried out by using ANSYS .following required expertise. Klann’s mechanism does not require methodology are used for result. microprocessor control or large amount of actuator mechanisms. C. A Mechanical Design of a Quadruped Robot It is a quadruped, electrically actuated, walking and wall III. LITERATURE SURVEY climbing robot. The trunk consists of one part only, and the legs A. History of Legged Mechanism are mounted, symmetrically, on the corners of the trunk. Each The scientific study of legged locomotion began just very a leg has three links and three actuated joints connecting these century ago when Leland Stanford, then governor of California, links. Hip horizontal joint is used to swing the three links of the commissioned Edward Muyridge to find out whether or not a leg in a plane parallel to the ground while walking, hip vertical trotting horse left the ground with all four feet at the same time. joint, to attach-detach the foot on and from the terrain for swing Stanford had wagered that it never did. After Muybridge proved and support stages, respectively. him wrong with a set of stop motion photographs that appeared IV. OBJECTIVES in Scientific American in 1878, Muybridge went on to document the walking and running behavior of over 40 mammals, to demonstrate the working of Klann’s Mechanism including humans. His photographic data are still of through a simple walking robot. considerable value and survive as a landmark in locomotion To design & develop the Klann’s Mechanism in CAD research. The study of machines that walk also had its origin in To fabricate of Klann’s Mechanism. Muybridge’s time. An early walking model appeared in about. By using Klann Mechanism the vehicle can able to move It used a linkage to move the body along a straight horizontal in one plane along different direction. path while the feet moved up and down to exchange support during stepping. The linkage was originally designed by the V. KLANN’S MECHANISM famous Russian mathematician Chebyshev some years earlier. The Klann linkage is a planar mechanism designed to During the 80 or 90 years that followed, workers viewed the task simulate the gait of legged animal and function as a wheel of building walking machines as the task of designing linkages replacement. The linkage consists of the frame, a crank, two 2 Prof.S.S.Shevale, Shashank Kulkarni, Atharva Kulkarni, Manoj Bagal and Rushikesh Bhosale International Journal of Mechanical, Robotics and Production Engineering. Volume VII, Issue III ISSN 2349-3534, www.ijmpe.com, email [email protected], March 2018 grounded rockers, and two couplers all connected by pivot =54 mm joints. The proportions of each of the links in the mechanism are Diameteral Pitch, DP = Z1/d1 defined to optimize the linearity of the foot for one-half of the =36/65 rotation of the crank. The remaining rotation of the crank allows =0.553 mm-1. the foot to be raised to a predetermined height before returning to the starting position and repeating the cycle. Two of these Outside Diameter, Do = (Z1+2)/DP linkages coupled together at the crank and one-half cycle out of =(36+2)/0.55 phase with each other will allow the frame of a vehicle to travel =69.09 mm.
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