Dr.

AMBEDKAR INSTITUTE OF TECHNOLOGY

Near Jnana Bharathi Campus, Bengaluru-560 056.
(An Autonomous Institution, Aided by Government of Karnataka)

Mini Project Synopsis

on
SIX LEG KINEMATIC WALKER MECHANISM

Submitted By
MANU K 1DA17ME089
NAVEEN M R 1DA17ME099
PAWAN KUMAR B DEYANNAVAR 1DA17ME103
PRAJWAL M 1DA17ME108

Under the guidance

of
VINOD K L
Asst. Prof., Dept of ME
Dr. AIT
Department of Mechanical Engineering
2019-2020
Abstract:
The scope of our project is to make this robot walk on any surface with a stiff gait slow
and carried a limited load. It could be used for surveillance in sewer maintenance. This project
involves the design and fabrication of a kinematic walker. This kinematic walker is six-legged
machine did can walk on any surface. It is an arrangement of six linkages did together are
powered by a single engine. This device is analogous to a six-legged insect (examined as a
spider). The motor can be powered by mains either or a battery. The kinematic walker comprises
six legs that move simultaneously to provide motion. Each of synthesis six legs linkages are
made of a four bar mechanism.

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.
 Mountain transport, Satellite detection, Disaster relief and rescue, Mineral exploitation.
 Military affairs
Scope for Future 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.

Conclusions

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

References

[1] N. G. Lokhande, V.B. Emche, Mechanical Spider by Using Klann Mechanism Shri Datta
Meghe Polytechnic,Hingna Nagpur-16,India, 2006.

[2] Yoseph Bar-Cohen, Biomimetics: mimicking and inspired-by biology, California Institute of
Technology, March 2005.

[3] Patil Sammed Arinjay, Prof. V.J. Khot Design of Bio-Mimic Hexapod, Department of
Mechanical Engg., J. J. Magdum College of Engineering, Jaysingpur, Shivaji University,
India,2004.

[4] Gabriel Martin Nelson, Learning about Control of Legged Locomotion using a Hexapod
Robot with Compliant Pneumatic actuators, Case Western Research University, May 2002