EFFECT OF VARIATION OF ANGLES OF TERNARY LINKS ON THE GAIT PATTERN OF KLANN’S MECHANISM

Pratik Walimbe, Pranavkumar Nehrotra, Akash Gunjal, Manish Chaudhari

Abstract: Although wheeled robots have been an area of interest for researchers, the major drawback with the wheels is that, as the ground gets rougher and rougher, wheels tend to become insubstantial i.e. less and less effective. But the solution to this predicament already exists. Thanks to the nature’s solution which has no such problems. The solution is ‘legs’. The idea of replicating a natural concept into an artificial product has led the foundations of the newlyevolved branch of science and engineering called ‘Biomimetics’ or also known as ‘Biomimicry’. The underlying intent of this ‘Biomimetics’ or ‘Biomimicry’ based project is is to study the effect of variation of angles of ternary links on gaitpattern of an octopod robot using Klann’s linkage/Klann’s mechanism. For the replication of the leg of an insect, the use of Klann’s linkage has been demonstrated. The mathematical modelling and mathematical formulation for the Klann’s linkage has been stated by using ‘Complex Algebra Method’. The position analysis using Complex Algebra Method enables us to find the nature of gait pattern of the Klann’s mechanism. Then effect of variation of angles of couplerlinksonthe gait pattern of Klann’s mechanism has been simulated. Through the analysis and simulation process, a number of possible solutions were obtained. But a careful analysis will lead to the conclusion thatthemost precise i.e. optimum gait pattern is obtained by maintaining a very particular combination of angles of coupler links.Thus, through a rigorous simulation process, the combination of the actual values of angles of coupler links, corresponding to the optimized gait pattern can be achieved.

Keywords: gait pattern, octopod, Klann’s linkage, coupler angles

DOI: https://doi.org/10.15623/ijret.2018.0708017