By –

Gaurav Pachkawade
Why Legged Mechanism
• To give access to places which are dirty
• To give access to places those are dangerous
• To accomplish jobs which are highly difficult for
wheeled or tracked vehicles
INTRODUCTION
 Almost all animals and humans as well have legs for
locomotion or movement. But historically the very first
vehicles developed by human were run with wheels.
And even now through the industrial revolution and
technological progress wheeled locomotion has
remained the most widespread technology of
transportation.
Types of Legged Mechanisms

Klann
Jensen Linkage linkage

Eight Bar
Linkage

Ghassaei Strandbeest
Linkage
Design
Mobility:
To determine the
movement and
flexibility of this ten
linkage design. This
can be seen in figure.
Using
i=3(n-1)-2j-h
=3(6-1)-2*7
=1
MATERIALS
 Hollow Aluminium Square Bars
 Chains
 Sprocket
 Electric motor
 Steel Frame
ADVANTAGES
 To have a platform with legs that are able to strategically
choose contact points on the ground is a vast advantage over
wheels in many ways
 The ability to change direction of movement without
changing the direction the body is facing.
 Useful in tight spaces and creates a faster and more natural movement in places
with a lot of obstacles. Wheels also have a tendency to slip on the ground when they
lose traction.
 The advantages are not just noticeable in rural environments.
The urban society of today is in many ways adapted for
Legs. Ask anyone in a wheelchair. Urban obstacles like stairs
and doorsteps are often a problem for wheeled platforms
DISADVANTAGES

 The speed of a walking mechanism will always be less as

compared with the wheeled mechanisms .

 The design will be more complicated and will have more

moving parts.

 Balancing the mechanism is the main issue while

designing the mechanism
APPLICATIONS

 It can be used for military purpose. By placing bomb detectors in the

machines, we can easily detect the bomb without any harm to humans.
 Six leg mechanical spiders can be applicable for the making of robots.
It has a wide range of application in the manufacturing of robots.
 It is also applicable in the goods industries for the small transportation
of goods inside the industry.
 . It can travel in rough surfaces very easily, so this machine can be used
in rough surfaces were ordinary moving machine cannot travel.
FUTURE SCOPE
 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.
CONCLUSION
In this way, the eight legged mechanism is
developed. It can be 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.