Design Framework To Optimize The Walking Curve Of Klann Mechanism

Gan, Melvin Yeou Wei (2017) Design Framework To Optimize The Walking Curve Of Klann Mechanism. Project Report. UTeM, Melaka. (Submitted)

Text Design Framework To Optimize The Walking Curve Of Klann Mechanism - Melvin Gan Yeou Wei - 24 Pages.pdf - Submitted Version Download (480kB)

Abstract

Wheels always have major disadvantage on uneven terrains especially those with short instant evaluation changes surface, such as stairs and steep or jagged rock. These surfaces are not a problem to normal human but for the disables who are using wheelchair, they avoid these surfaces. Therefore, legged mechanisms are recommended as an alternative for the purpose of accessing areas that wheels cannot. The most important aspect of the planar mechanism as legged mechanism is that it does not need large number of actuators for movement. All it need are a rotating motor or crank. There are many types of legged mechanism that fit the above description and the most effective mechanism are Theo Jansen Mechanism, resemble a human leg and Klann Mechanism, resemble a spider leg. In this project, Klann mechanism is chosen as it has more advantages. By creating this framework for Klann Mechanism, others are able simulate an operating or moving Klann mechanism easily. Furthermore, it can be used to determine the limitation of the walking curve, meaning the x step and y step for Klann. In addition, modification on the parameter of mechanism can easily be done by just using this Deign Framework of Klann Mechanism. Finally, if possible, by doing more simulation, a new understanding on Klann mechanism can be obtained.

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