PROJECT - DESIGN AND

FABRICATION OF
KINEMATIC WALKER
A Project by –

 IIT Guwahati, MECHANICAL DEPARTMENT (2014 BATCH sec –B)

 Under the guidance of Prof. Karuna Kalita

STUDENTS-
 Mahesh Yogi (140103036)
 Akshay Pimpalkar (140103048)
 Akshit Ughade (140103074)
 Dinesh Makkar (140103086)
 Avdhoot Waghmode (140103080 )
 Suwesh Kumar (140103084)
 Shashwat Srivastava (140103082 )
 INTRODUCTION

 The scope of our project is to make a robot which

can walk on any Surfaces and carries a limited load .
It could be used as a watchdog in sewer
maintenance etc.
 Our kinematic walker is a six-legged machine which
is an arrangement of linkages, together powered by
a single motor.
 These six legs move simultaneously with several
angular intervals in between them so that they give
a walking motion just like a six-legged insect.
 HOW WE PROCEEDED!!

 Design and Calculation part – This included

designing of the model on SOLIDWORKS and
kinematic analysis on MATLAB.
 Fabrication of various parts and assembling them.
 Placing the motor on bot and connecting the
shaft of the bot to the motor using gears.
 Providing a switch for controlling motor.
 MODEL is READY!!
 TOOLS & MATERIALS USED

MATERIALS TOOLS
USED  SOLIDWORKS 3-D modelling tool
 Acrylic Sheets  SOLIDWORKS motion analysis
tool
 200 R.P.M Dc motor
 MATLAB (for position, velocity
 Two gears (70 and 36 teeth )
and acceleration analysis)
 DPDT switch  Cutting tools like hacksaw etc.
 9 volt Battery
 Connecting wires
 Nut and bolts
 Metal rod
 Designing the Model

 At first, we started by calculating the dimensions of

links and designing the shape and structure of links.
This was calculated using the 3-point synthesis Path
Generation method. Each leg was supposed to trace
a specific path, so we considered any three points on
the path, assumed the coupler point and located the
fixed pivot point for all members on the frame.
 After calculating the dimensions, we designed the
CAD model and checked if the legs are moving
comfortably or not. We also analyzed the legs motion
through this.
 MATLAB was used to check if the legs traced the
correct path or not
MOTION ANALYSIS VIDEO
 Kinematic Analysis on MATLAB

 Calculation of velocity and

acceleration of the bot and the
legs was done on MATLAB. First Path followed by the legs Velocity of the Bot v/s Time
we made a rough calculation for
the positions and velocities of
link by providing constant
angular velocity to one of the
crank and then MATLAB code
was written and stimulated.
APPLICATIONS of
 It can be used as a watchdog in
Kinematic Walker sewer maintenance.
 Can be used on uneven/rough
terrains, where wheeled robots
cannot be used!
 Used on extra-terrestrial surfaces.
(like moon /mars )
 To study insects and animal leg
mechanisms.
 REFERENCES

 This site was taken as reference for studying walker mechanism - http://
www.instructables.com/
Thank you !!