3600 ROTATION OF

“KINEMATIC WALKER MECHANISM”

PROJECT REFERENCE NO.: 40S_BE_1669

COLLEGE : BLDEA’S V.P. DR. P.G. HALAKATTI COLLEGE OF ENGINEERING AND
TECHNOLOGY, VIJAYAPURA
BRANCH : DEPARTMENT OF MECHANICAL ENGINEERING
GUIDE : PROF. S.V. KONNUR
STUDENTS : MS. SHWETHA V. PATTAR
MR. RAKESH M. BHOVI
MR. SUBHAS S. RATHOD
MR. VEERESH KUMAR PANCHAL

Keywords:
To give access to places which are dirty, dangerous, Jobs which are highly difficult, It rotates
about 360 degree which gives more efficient information by its surrounding area.Design and Fabrication.

Introduction:
This project presents the kinematics of the movement for a six- legged mobile robot, inspired
from the living world, as well as the command and control system, which allow the robot to move on
different surfaces with different speeds. For generating the movement, through a command and control
system, stepping motors and bars are used. A frame, connecting rod, crank and a lever constitute to
obtain the required motion. In this project, the application of simple four bar mechanism is used. The
most important benefit of this mechanism is that, it does not require microprocessor, controller and other
actuator mechanisms.
The military, law enforcement, Explosive Ordinance Disposal units, and private security firms
could also benefit from applications of this mechanism. It would perform very well as a platform with the
ability to handle stairs and other obstacles better than wheeled or tracked vehicles. In this mechanism
links are connected by pivot joints and convert the rotating motion of the crank into the movement of foot
similar to that of animal walking.
The suggested machine uses the basic four bar chain mechanism and slotted lever type quick
return mechanism with some modifications. The synthesis of the link lengths is based on Freudenstein’s
(algebraic) three accuracy points. The velocity and acceleration analysis of oscillating links explains the
effect of change in the crank’s angular velocity and acceleration on all other links. The suggested
machine is capable of moving forward and backward, turning right and left and rotating around a point
on the commands given.

Objectives:
 To give access to places which are dirty.
 To give access to places those are dangerous.
 Job which are highly difficult.
 The structure design of this kind of robots puts great contribution to environmental adaptability
and walking stability on complex and nasty non – structure environment.
 This study presents a new type of six – legged walking machine.
 This six legged walking machine adopts new structure and tripod gait, as well as six legs driven
 by one motor.
 It rotates about 360 degree using hydraulic system, so it reduces friction.
 One unique advantage of this walking machine is that the walking movement can be realized
without any complex control system.
 A second advantage is that the centre of gravity height jitter of this machine is negligible. human’s
activities need to be replaced by machine.
 Mountain transport,Satellite detection,Disaster relief and rescue,Mineral exploitation,
 Military affairs

Methodology:
Material used for project is alluminium because of its low weight.
The main advantage of legged robots is their ability to access places impossible for wheeled
robots. By copying to the physical structure of legged animals, it may be possible to improve the
performance of mobile robots. To provide more stable and faster walking, scientists and engineers can
implement the relevant biological concepts in their design.
Legged robots can be used for rescue work after earthquakes and in hazardous places such as the
inside of a nuclear reactor, giving biologically inspired autonomous legged robots great potential. Low
power consumption and weight are further advantages of walking robots, so it is important to use the
minimum number of actuators. In this context, an objective is set in this project to develop a six- legged
mobile robot whose structure is based on the biomechanics of insects.

Construction of mechanism:
Problem Statement
Literature review reveals that the main concern with the moving leg mechanism is the number of
links involved in the design of the structure, since the numbers of links are more it is very tedious to
design and operate. For the machine to move in a smooth manner the dimensions of the pieces should
precise. More priority should be given to the position of the holes to be drilled since the movement
depends on the amount of power or motion which is transferred to the locomotive parts respective to the
position of the drills. The key to success for this mechanism is for the designer to make it locomotive
even in the roughest of terrains thus the legs form an integral part and should be designed more
cautiously. An objective is set to develop a six- legged mobile robot in this project.
It consists of motor or engine mounted at the top.
1. Out of three spur gear one is connected to motor or engine shaft called „Driving gear‟ and
remaining two are meshes with driving gear with the help of chain.
2. The crank is connected to the shaft on which two driven gears are mounted.
3. As the motor made to „ON‟ the driving gear drives another two gear , one is clockwise while
other is anticlockwise as the gears are rotate in opposite direction.
4. Due to this rotation resulting in the crank rotation
5. Crank moves the forcing link gives the momentum in a particular line of action with help of
supporting link.
6. The work of supporting link is to move the arm in a particular profile which made by the end
point of arm and move back to its normal position i.e. initial position.
7. All these give the walking motion to the arm like a spider.
 Fig shows 3D moddel of Kinamatic walker

Fig shows Physical moddel of Kinamatic walker

Obstacle clearance
The main motive of making the hexapod was to overcome obstacles comes in the way where the
wheeled robots are helpless. Like in rocky surface the wheeled bot cannot pass over a rocks or even small
stones and in desert or in sand the wheeled bots get struck and slip. Whereas Hexapod locomotion is
based on picking and pushing mechanism and its extensive stability can easily conquer rocky and sandy
terrains. Due to this aspect Hexapod can be used in defense and in military applications like mine
detection and spying. It can be used in research and exploration in such areas where men cannot reach
such as in volcanic research. This concept can also be used for exploration and sample testing in other
planets and asteroids.

Conclusion:
In this project, a six legged robot is developed. It is used to step over curbs, climb stairs, or travel into
areas that are currently not accessible with wheels without microprocessor control and other actuator
mechanisms. It would be difficult to compete with the efficiency of a wheel on a smooth hard surface but
as the roughness of the path increases this linkage becomes more viable and wheels of similar size cannot
handle obstacles that this linkage is capable of. Further, pivoting arms could be used to optimize
 The height of the legs for the waterline.
 Increase the platform height.
 Reduce the vehicle width.
 It allows the legs to fold up compactly for storage
Future scope of work:
This mechanism can be made more flexible by using different link lengths for front, middle and
hind legs. Intelligence can be induced by introducing Sensors and vision to improve the effectiveness of
this robot in future. Range of motion and moments available at each joint are the greatest concern as it is
important for achieving stance and insect like walking.