Kinematic Analysis of Mobile Robot with Klann Walking Mechanism

Abstract

There have been important developments in the field of robotics until today. Since the areas where the leg touch the ground in legged mobile robots are small, the usage area is quite wide. They can adapt to all kinds of terrain conditions and can be used in places unsuitable for human health. Examples of these include areas containing radioactive, closed areas that do not contain sufficient oxygen, areas with explosives and caves. Considering that the robot will be used on rough terrain, the Klann walking mechanism, which is superior to other walking mechanisms, has been chosen. In this paper, solid modeling of a mobile robot with four legs has been done in SolidWorks program. In the Klann walking mechanism, which consists of six link, the coupler curve of the end point where the leg touches the ground has been drawn in the Cinderella program. Then, by performing kinematic analysis of the mechanism, velocity and acceleration graphs were obtained.