09-03-2014, 08:30 PM
Abstract:
In this Six Leg Kinematic movement works on Grashof's principle which states that the sum of the length of the shortest and longest links must be less than or equal to the some of the other two links. In this project we tried to show mainly the application of simple four bar mechanism, Four-bar linkage or simply a 4-bar or four-bar is the simplest movable linkage. It consists of four rigid bodies (called bars or links), each attached to two others by single joints or pivots to form a closed loop.
This project discusses the design & fabrication of one such mechanism (four bar mechanism). These six legs move synchronously with several angular intervals in between so that they give walking motion just like a six-legged insect. Four fixed links surround the linkages and support there movement. Each of the six linkages are assembled by connecting the 4 links together by bolts so as to form the 4 bar linkage as desired and the linkage functions as a leg by giving reciprocating motion As these sprockets are connected to the small link of the linkage by a shaft, power is delivered to the link and thus linkages can move. All six linkages can move synchronously to produce movement in one direction thus producing a crab like a movement. This device can walk on uneven surface.