Struggling with writing your thesis on the Klann Mechanism? You're not alone.

Crafting a thesis can

be an arduous task, especially when it involves intricate subjects like the Klann Mechanism. From
conducting thorough research to organizing your thoughts cohesively, every step demands precision
and expertise. However, fret not, because there's a solution that can ease your burden – ⇒
BuyPapers.club ⇔.

Writing a thesis requires not only a deep understanding of the subject matter but also impeccable
writing skills. Many students find themselves overwhelmed by the complexities involved in
articulating their ideas effectively. That's where ⇒ BuyPapers.club ⇔ comes in. Our team of
experienced writers specializes in various fields, including mechanical engineering, and they're well-
equipped to assist you in crafting a top-notch thesis on the Klann Mechanism.

By availing our services, you can bid farewell to the stress and uncertainty that often accompany the
thesis writing process. Whether you're grappling with formulating a research question, conducting
literature reviews, or structuring your paper, our experts are here to guide you every step of the way.
We understand the importance of delivering original, well-researched content that meets academic
standards, and we're committed to helping you achieve your academic goals.

Don't let the daunting task of writing a thesis deter you from pursuing excellence in your academic
endeavors. Place your trust in ⇒ BuyPapers.club ⇔ and let us take the reins while you focus on
other aspects of your academic journey. With our assistance, you can rest assured that your thesis on
the Klann Mechanism will be nothing short of exceptional. Reach out to us today and experience the
difference that professional guidance can make in your academic success.
The challenge faced with the legged platform is that increase in the number of legs to overcome
stability issues will give rise to other problems such as cost, size, complex control system, and
associated maintenance issues. The Klann linkage is a mechanism that is used to simulate the foot
steps of legged animal and can be used in robot instead of wheel. A higher walking pattern and with
a higher lift angle with a shorted stride than the standard one is appropriate for jam avoidance.
Kulandaidaasan Sheba, Jaichandar, Mohan Rajesh Elara, Edgar Martinez-Garcia, and Le Tan-Phuc.
The variety of the supporting leg polygons of the quadruped robot. Editor’s Choice articles are based
on recommendations by the scientific editors of MDPI journals from around the world. They are
THEO JANSON’s mechanism and KLANN linkage. But our future prospect is to replace the wheels
with the leg locomotion in terrain robots to go anywhere where the wheels cannot go. 1
INTRODUCTION 1.1 Klann Mechanism The Klann linkage was developed by Joe Klann in 1994 as
an expansion of Burmester curves which are used to develop four-bar double-rocker linkages such as
harbour crane. Journal of Functional Morphology and Kinesiology (JFMK). For the purpose of
defining the order of the states through naming convention, we define the states of the transfer leg
“Left-Fore”, “Right-Hind”, “Right-Fore”, and “Left-Hind” as “Phase 1”, “Phase 2”, “Phase 3”, and
“Phase 4”, respectively. In this case, height difference between the leg before and after
transformation will be the same for all four legs, therefore, undesired floor contact is eliminated and
height offset is not necessary. Find support for a specific problem in the support section of our
website. Zoomed area of the triangle frame of the Left-Fore leg. Gout, Urate, and Crystal Deposition
Disease (GUCDD). The trajectory generator using cubic polynomial interpolation introduced in
Section 3 is used to produce a smooth transition from current state to next one. The transformation
sequence is: Left-Fore—Right-Hind—Right-Fore—Left-Hind. Length 206 is much to short for the
detaips provided. Walking phase synchronization for four legs (n: count of loop, starts from 0). To
know the velocity and acceleration of each kinematic link in leg mechanism. Trajectory Generation
and Stability Analysis for Reconfigurable Klann Mechanism Based Walking Robot. All the COG
results are automatically calculated and projected using the software Autodesk Inventor. Another
potential design optimization problem considered for future work is to minimize the number of active
actuators used for locomotion from four to two in the current mechanical design. Blue represents the
minimum velocity and the red represents the maximum velocity. It represents height offsetting of the
linear slider to prevent undesired floor contact during transformation (. A higher walking pattern and
with a higher lift angle with a shorted stride than the standard one is appropriate for jam avoidance.
For a platform with reconfigurable legs, this problem is even more obvious because of changing leg
dimensions associated with the task. Identified novel foot trajectory patterns of interest for
reconfiguration application. The main point of static transformation stability is to transform from the
initial state of all four legs shown in Figure 3 and Table 3. The analysis is based on the FEM concept
integrated into CAD software called ANSYS 16.0. And also by using a designing software called
CATIA, we are going to design a 3D model of the walking form and simulate them. Reply Delete
Replies Reply Anonymous March 18, 2013 at 5:16 AM cud u plztell how u calculated these
dimensions.
Step Climbing Hammering Motion Digging Motion In this case, the height of foot trajectory is about
500 (units), that is higher than normal trajectory. This article is an open access article distributed
under the terms and conditions of the Creative Commons Attribution (CC-BY) license ( ). This
designed reconfigurable Klann based walking platform is used herein as a case study for the
generation of input joint trajectories to synchronize multiple reconfigurable one-degree-of-freedom
legs for realizing stable walking gaits. Joint’s actuators promise mobile flexibility, while the
Actuator’s torque performance impacts on the toughness of the robot’s body. These static stability
results show that in most cases, the proposed approach generates sufficient conditions to keep the
platform stable. First of all the computer model of walking robot based on Klann mechanism is going
to perform in SOLIDWORKS. The identified novel gait patterns are shown in Table 1. International
Journal of Turbomachinery, Propulsion and Power (IJTPP). Our project is going to simulate the
computer model and perform analysis on the single leg of the walking robot based on Klann linkage
by using FEM concept. The transformation sequence is: Left-Fore—Right-Hind—Right-Fore—Left-
Hind. The maximum velocity produces is in the main leg link where the point touches with the
ground. It can be seen from Figure 2 that in a walk pattern, there is a shift of 90 degrees among the
four legs’ phases. “Transfer” and “support” are used as terms for describing states of the leg that
swings over the ground and touches the ground respectively. Currently a four legged reconfigurable
robot based on the Klann mechanism is being constructed to validate the robustness of the produced
gaits and control approaches. For the second method (“Transformation in Walking” in this paper), the
robot transforms leg by leg in its transfer phase while walking in order to save time and perform a
high maneuverability. Reply Leave a Reply Cancel reply Your email address will not be published.
Thanks so much. Delete Replies Reply Reply Bala May 9, 2011 at 7:53 AM Good Luck. The static
transformation from “Jam avoidance” to “Digging motion”. Coordinate systems used to analyse
input angle for the four legs. Subscribe to receive issue release notifications and newsletters from
MDPI journals. The trajectory of the whole transformation process from Jam avoidance to digging
motion is shown in Figure 13 k. We use cookies on our website to ensure you get the best experience.
The grey area represents the static stability zone. ( a ) Phase 1; ( b ) Phase 2; ( c ) Phase 3; ( d )
Phase 4. Project Eye: In order to observe the stress distribution in the kinematic links of leg
mechanism to get a safe design of walking robot. Figure 4 shows the coordinate systems used to
analyse input angle for the four legs. Then, the transformation process is started with changes in the
input angle from. Two of these linkages coupled together at the crank and one-half cycle out of
phase with each other will allow the frame of a vehicle to travel parallel to the ground. At any
moment, only one leg is in transfer phase while the other three legs are in support phase to carry the
mass of robot. In part modelling there is a different kind of additional modules are there like
surfacing, sheet metal, sketcher, mould tools, Weldments and office products. 4.1 MODELING OF
WALKING ROBOT BASED ON KLANN MECHANISM The design of walking robot is based on
our size of bot width and height and length. Kulandaidaasan Sheba, Jaichandar, Mohan Rajesh
Elara, Edgar Martinez-Garcia, and Le Tan-Phuc. To clearly explain our approach, we focused on a
four legged robot with reconfigurable Klann legs ( Figure 1 ).
SYNOPSIS Objective: To design the model of a walking robot by using SOLIDWORKS and to do
analysis on the kinematic links of leg mechanism by using ANSYS. Please let us know what you
think of our products and services. For a platform with reconfigurable legs, this problem is even
more obvious because of changing leg dimensions associated with the task. Figure 10 shows two
situations of static stability, stable and unstable condition. Leave this field empty if you're human:
Extrudesign- Engineering Blog Our motive is to help students and working professionals with basic
and advanced Engineering topics. Trajectory Generation and Stability Analysis for Reconfigurable
Klann Mechanism Based Walking Robot. Robotics. 2016; 5(3):13. Reply Delete Replies Reply
Androssi October 25, 2011 at 9:50 PM hey what is the angle between the 490 link and the 265 link.
An illustration of the static stability depending on the positional relationship between the center of
gravity (COG) and the stability zone. ( Left ): Platform is stable; ( Right ): Platform is not stable.
Compared to other CAD software like CATIA this software is much easier to use. In this case,
height difference between the leg before and after transformation will be the same for all four legs,
therefore, undesired floor contact is eliminated and height offset is not necessary. And also meshing
technics are also more in ANSYS compared to SOLIDWORKS. In Table 6, black points represent the
COG of the platform, and yellow points, blue points, green points, and red points represent the
contacting point of the support legs. The following fig 5.18 to fig 5.22 show the accelerations in the
links. Kulandaidaasan Sheba, J.; Elara, M.R.; Martinez-Garcia, E.; Tan-Phuc, L. Journal of Functional
Morphology and Kinesiology (JFMK). So we should make sure about the number of elements not to
exceed 32,000. For more information on the journal statistics, click here. Here the maximum
velocities found at the point which is in contact with the ground. Legged robots can jump or step
over obstacles whereas wheels need to somehow travel over it, or take a different path Wheels
require a continuous path to travel whereas legs can step over isolated paths and move on. The switch
angles of the support and transfer legs for gaits are presented in Table 2 and Figure 3 where the
support state starts from angle. First of all the computer model of walking robot based on Klann
mechanism is going to perform in SOLIDWORKS. Identified novel foot trajectory patterns of
interest for reconfiguration application. As the third degree polynomial interpolation can be
calculated uniquely, based upon the initial condition. The dynamic analysis also gives this
acceleration in the links. European Journal of Investigation in Health, Psychology and Education
(EJIHPE). In SOLIDWORKS the results are less accurate but in ANSYS we can get more accurate
values than SOLIDWORKS. It was designed to simulate the gait of legged animal like spider and
function as a wheel replacement. Reply Delete Replies Reply PCarpenter June 6, 2012 at 12:29 AM
The triangle dimensions do have a typo error. The 206.57 should read 296.57 Reply Delete Replies
Reply saloni August 11, 2012 at 3:51 AM plz tell what is the angle between 490 and 265 link. Future
work would include online gait generation and transformation via the use of gait libraries in relation
to the terrain under testing. Journal of Low Power Electronics and Applications (JLPEA).
International Journal of Translational Medicine (IJTM). For the purpose of defining the order of the
states through naming convention, we define the states of the transfer leg “Left-Fore”, “Right-Hind”,
“Right-Fore”, and “Left-Hind” as “Phase 1”, “Phase 2”, “Phase 3”, and “Phase 4”, respectively. An
illustration of four leg walking synchronization for all the four phases given in Table 3. ( a ) Phase 1;
( b ) Phase 2; ( c ) Phase 3; ( d ) Phase 4. First, the pictures of the transient structural analysis results
are shown. 5.1.1 SAMPLE IMAGES Fig 5.1: ANSYS Workbench 16.2 interface Fig 5.2: ANSYS
mechanical module Fig 5.3: Meshing Fig 5.4: Boundary conditions Fig 5.5(a): Product tree Fig
5.5(b): Solution information The results of structural analysis of the mechanism are shown in the
following figures. Six useful gait cycles based on this reconfigurable Klann mechanism for
quadruped robots has been clearly shown here. International Journal of Turbomachinery, Propulsion
and Power (IJTPP). Kulandaidaasan Sheba, J.; Elara, M.R.; Martinez-Garcia, E.; Tan-Phuc, L. Which
provides so many products like ANSYS Mechanical, Auto Dynamics, Ansys fluid dynamics, CFD,
CFX, Electronics, ANSYS Maxwell and similar products. Next, we will evaluate the static stability
of the whole platform at a specific moment of each phase corresponding to the proposed gaits.
European Journal of Investigation in Health, Psychology and Education (EJIHPE). The path is little
twisted when it is touching the ground so that the flexibility and stability of the leg are changed and
it is not suitable for the design of walking robot. Coordinate systems used to analyse input angle for
the four legs. If the center of gravity (COG) stays inside the supporting leg polygon, the robot is
stable, and in the case of the quadruped robot, its supporting leg polygon is a triangle. Section 3
deals with the design of Trajectory Generation. Section 6 deals with the static and in motion
characterization of transformation. Trajectory Generation and Stability Analysis for Reconfigurable
Klann Mechanism Based Walking Robot. Results of the static stability analysis of the transformation
ii -transformation in motion. In this case, height difference between the leg before and after
transformation will be the same for all four legs, therefore, undesired floor contact is eliminated and
height offset is not necessary. Before transforming, the leg moves with Jam avoidance trajectory
until it reaches point “A”, also known as the start point of the transfer phase of Jam avoidance. This
process is repeated for the other three legs with the sequence mentioned in Section 4 and Table 3. A
Legged Robot based on one degree of freedom and reconfigurable planar leg mechanism can be
designed to operate in a complex environment with simple control schemes. Here the wheels can be
replaced by either four legs or six legs sometimes eight legs is also possible to design a terrain robot.
This walking robots can be more advantageous than wheeled robots and can go anywhere like as
humans and other organisms like spider and crab and cockroach. In both transient structural and
Rigid Body Dynamics. In part modelling there is a different kind of additional modules are there like
surfacing, sheet metal, sketcher, mould tools, Weldments and office products. 4.1 MODELING OF
WALKING ROBOT BASED ON KLANN MECHANISM The design of walking robot is based on
our size of bot width and height and length. There are So many CAD tools like SOLIDWORKS,
CATIA, CREO, UNIGRAPHICS, AutoCAD, ANSYS, and ABAQUS. Feature papers represent the
most advanced research with significant potential for high impact in the field. A Feature. Coordinate
systems used to analyse input angle for the four legs. Tropical Medicine and Infectious Disease
(TropicalMed). International Journal of Translational Medicine (IJTM).
One example is to add an inverted pendulum to act as a counterweight that moves oppositely to the
transfer leg direction. The following figure 4.6 shows the equivalent stresses in main leg link. The
marketing organization can produce sales brochures and videos that introduce the product to
potential customers. That’s why the project would like to go with this version. The relationship
between the center of gravity (COG) and the three support legs of the robot is presented in Table 4
where the black points denote the COG of the robot, the yellow points, green points, blue points
and red points represent the contact points of the support legs with the ground, and the gray line
shows the static stability zone. If that limit is crossed then the Ansys 16.2 cannot solve any problem.
Since the position and velocity of the crank are controlled through a continuous function with a
degree higher than one, the load force applied to the main actuator can be decreased to a minimum.
Journal of Otorhinolaryngology, Hearing and Balance Medicine (JOHBM). The first point can be
considered as the initial state (. It is necessary that reconfigurable legged robots should maintain
stability during rest and motion, with a minimum number of legs while maintaining their full range
of walking patterns resulting from different gait configuration. Mainly the analysis is going to
proceed in two different modules. Walking phase synchronization for four legs (n: count of loop,
starts from 0). The platform stability for these six useful gait cycles are validated through simulated
results which clearly shows the capabilities of reconfigurable design. It would perform very well as a
platform with the ability to handle stairs and other obstacles to wheeled or tracked vehicles. From
Figure 9, it is confirmed that all supporting leg polygons consist of two legs in opposing corner and
one other leg. Thus our project is studying project using design software and simulation software. 9
REFERENCES Mechanical Spider by Using Klann Mechanism G. For most legged platforms, one
of the important factors is to determine the required number of legs to obtain stability during motion
and rest. It can step over curbs, climb stairs or travel areas that are currently not accessible with
wheels. Please let us know what you think of our products and services. For a platform with
reconfigurable legs, this problem is even more obvious because of changing leg dimensions
associated with the task. Section 8 gives a conclusion of this study along with a discussion regarding
future work. 2. Specification of the Reconfigurable Klann Platform In this section, specifications of
a developed reconfigurable Klann legged robot is discussed. The transformation sequence is: Left-
Fore—Right-Hind—Right-Fore—Left-Hind. Reply Delete Replies Reply alantronics October 20,
2012 at 11:10 PM I am sorry, dude. Then the project can design a successful six-legged walking
robot which can go anywhere like living creatures like crab and spider. Figure 2 (left) shows the
overall definition for all four legs of the robot as well as viewing directions that will be used to
evaluate the input angles of the four legs in Table 1. Visit our dedicated information section to learn
more about MDPI. Trajectory Generation and Stability Analysis for Reconfigurable Klann
Mechanism Based Walking Robot. During the reconfiguration process the recommended mechanism
switches from a pin jointed Gurbler kinematic chain to a seven degree-of-freedom mechanism with
slider joints. The initial states of each leg are presented in Table 3 (column “Phase 1”) and the final
states (Phase 4) of each leg are the initial states of the next cycle. ISPRS International Journal of
Geo-Information (IJGI).
Hence, stability analysis is needed only for Phase 2 and Phase 3. The simulation result of the phase
synchronization of the standard curve for stable walking. Coordinate systems used to analyse input
angle for the four legs. Specifically, in this part, we focus on the synchronization strategy for the
“walk” pattern. Kulandaidaasan Sheba, J.; Elara, M.R.; Martinez-Garcia, E.; Tan-Phuc, L. Editor’s
Choice articles are based on recommendations by the scientific editors of MDPI journals from
around the world. Walking phase synchronization for four legs (n: count of loop, starts from 0). For
a platform with reconfigurable legs, this problem is even more obvious because of changing leg
dimensions associated with the task. Identified novel foot trajectory patterns of interest for
reconfiguration application. So the material to be added thereto transfer some amount of stress not to
avoid stress. Fig 5.6: Equivalent stress in the main leg The stress distribution in the connecting arm
shown in the following figure 4.7. It will show the equivalent stress in connecting arm here the
colour bar shows the respected stress values for the connecting arm. Identified novel foot trajectory
patterns of interest for reconfiguration application. Perform a transformation for both input driving
angle and link dimension. And the remaining colours represent the respected velocity values in the
colour bar side of the picture as shown above. Editors select a small number of articles recently
published in the journal that they believe will be particularly. Figure 7 shows all possible states of
stable walking of a Klann standard trajectory with half-phase shift. Here the motor power is directly
transferred to the crank. Journal of Theoretical and Applied Electronic Commerce Research
(JTAER). The quadruped robot walks with three support leg and one transfer leg. This designed
reconfigurable Klann based walking platform is used herein as a case study for the generation of
input joint trajectories to synchronize multiple reconfigurable one-degree-of-freedom legs for
realizing stable walking gaits. For the “Digitigrade locomotion” and “Hammering motion”, due to
short contact to the ground. Figure 5 shows the relationship between input angles. Next figure 6
shows the stress distribution in connecting arm likewise the further pictures shows the respected
stress distribution in the remaining links. The transformation sequence is: Left-Fore—Right-
Hind—Right-Fore—Left-Hind. Because the stresses are more at the points where the pivots
connected to the main leg link and crank. Fig 5.7: Equivalent stress in connecting arm Fig 5.8 shows
the stresses in lower rocker arm here the colour bar shows the stress values of the lower rocker arm.
The transformation sequence is: Left-Fore—Right-Hind—Right-Fore—Left-Hind. Since the gait
pattern before and after transformation is mixed, height difference between the four support legs will
become large. There are So many CAD tools like SOLIDWORKS, CATIA, CREO, UNIGRAPHICS,
AutoCAD, ANSYS, and ABAQUS. During the reconfiguration process the recommended
mechanism switches from a pin jointed Gurbler kinematic chain to a seven degree-of-freedom
mechanism with slider joints. Input angle value of four legs in one cycle including four phases, phase
transition ( Left ) and in five cycles of 8 seconds each ( Right ). It can be seen from Figure 2 that in
a walk pattern, there is a shift of 90 degrees among the four legs’ phases. “Transfer” and “support”
are used as terms for describing states of the leg that swings over the ground and touches the ground
respectively.
Identified novel foot trajectory patterns of interest for reconfiguration application. Reply Delete
Replies Reply Woodsmoke July 1, 2011 at 10:02 AM Your base triangle is measured incorrectly. If
the center of gravity (COG) stays inside the supporting leg polygon, the robot is stable, and in the
case of the quadruped robot, its supporting leg polygon is a triangle. The project finally came to
know how the velocities and the accelerations of the links by the analysis. A Legged Robot based on
one degree of freedom and reconfigurable planar leg mechanism can be designed to operate in a
complex environment with simple control schemes. Input angle value of four legs in one cycle
including four phases, phase transition ( Left ) and in five cycles of 8 seconds each ( Right ). Our
project is going to simulate the computer model and perform analysis on the single leg of the
walking robot based on Klann linkage by using FEM concept. This is only to consider the input
information for ANSYS. i.e for dynamic analysis, it should have a input information for ANSYS.
Conflicts of Interest The authors declare no conflict of interest. In this paper, we implement both
these transformation methods on our reconfigurable Klann robot. Paper should be a substantial
original Article that involves several techniques or approaches, provides an outlook for. Which means
Beach animal the following figure shows how it looks exactly Pic: from learningfromdogs.com
Behind that gait structure of STRANDBEEST, the mechanism involved is Theo Jansen’s mechanism.
The initial and final state of the transfer leg in the transformation in walking. The next challenge is to
develop a stable transformation. Compared to other CAD software like CATIA this software is
much easier to use. Coordinate systems used to analyse input angle for the four legs. It is necessary
that reconfigurable legged robots should maintain stability during rest and motion, with a minimum
number of legs while maintaining their full range of walking patterns resulting from different gait
configuration. The initial and final state of the transfer leg in the transformation in walking.
Currently a four legged reconfigurable robot based on the Klann mechanism is being constructed to
validate the robustness of the produced gaits and control approaches. The project going to choose a
six-bar mechanism because of its superior force-transmission angle and bigger oscillating angle in
comparison with other types such as the Theo Jansen’s mechanism. An illustration of four leg
walking synchronization for all the four phases given in Table 3. ( a ) Phase 1; ( b ) Phase 2; ( c )
Phase 3; ( d ) Phase 4. As the third degree polynomial interpolation can be calculated uniquely, based
upon the initial condition. Whenever the COG of the robot is placed on its center, the positional
relationship between a line on the two legs in opposing corners and the COG has an influence on its
static stability. Trajectory Generation and Stability Analysis for Reconfigurable Klann Mechanism
Based Walking Robot. Robotics. 2016; 5(3):13. The challenge faced with the legged platform is that
increase in the number of legs to overcome stability issues will give rise to other problems such as
cost, size, complex control system, and associated maintenance issues. To clearly explain our
approach, we focused on a four legged robot with reconfigurable Klann legs ( Figure 1 ). Since
Klann is a one degree-of-freedom linkage, the end point of the leg depends only on the angle of the
driving link, the input angle, defined as. The switch angles of the support and transfer legs for gaits
are presented in Table 2 and Figure 3 where the support state starts from angle. By applying the
following method, the capabilities of standard non-reconfigurable quadruped Klann legs are
significantly extended. Journal of Functional Morphology and Kinesiology (JFMK).