DESIGN & FABRICATION OF

EIGHT LEGGED WALKING

MACHINE
Project by:
K DILEEP REDDY_159F1A0308
M SAI CHARAN_159F1A0315
G PURUSHOTHAM REDDY_169F5A0304
K KATTE BASAPPA_169F5A0305

Under the guidance of:

N PHANI RAJA RAO

SVIT
DEPARTMENT OF MECHANICAL ENGINEERING
 ABSTRACT

Eight Legged Walking Machine has four pairs of legs: four attached to
the front shaft and four more to the rear shaft. The mechanism is a lower pair
mechanism with only pin joints or revolute pairs. The legs are made by using
Theo-Jansen leg mechanism. The entire mechanisms are of crank-rocker type
and the crank is connected to the motor. Pair of legs (front and rear) shares the
same frame. While the mechanism is in motion, at any instant of time four legs
keep contact with the ground and making the machine dynamically stable. The
main advantage of legged robots or moving machine is their ability to access
places impossible for wheeled machines.

The most forceful motivation for studying legged moving machine is:
• To give access to places those are dangerous
• To accomplish jobs which are highly difficult for wheeled vehicles
 Types of Leg Mechanisms

• Theo-Jansen linkage mechanism

• Klann linkage mechanism
• Eight-bar leg mechanism
• 2 DOF pantograph leg mechanism
• Ghassaei Linkage mechanism
• Tchebyshevs plantigrade machine
• TrotBot Linkage mechanism
• Strider Linkage mechanism
 Literature Surveys
Survey 1

Analysis of Theo Jansen Mechanism (Strandbeest) by Swadhin Patnaik

I decided to implement linkage based locomotive systems on standard load

carrying tippers and trucks as a replacement for the conventional tyres. The first
mechanism which I came across for such purpose was Klann mechanism which
actually mimics the motion of the biological organism (crab). On observing further in
detail I found that there were lot of drawbacks with the Klann mechanism, the
drawbacks being jerky motion and difficulty in the turning of the vehicle. The next step
to be taken was to find a better mechanism which had a smooth walking pattern on any
given terrain and could easily function as per requirements. The most flexible
mechanism which I settled with is THEO-JANSEN MECHANISM (STRANDBEEST).
 Survey 2

The Design and Optimization of a Crank-Based Leg Mechanism by

Professors Phil Choi and Dwight Whitaker Pomona College Department
of Physics and Astronomy in 2011

This paper describes the design and fabrication process of a 2n-legged passive
walker based on the work of Theo Jansen; the primary focus of this paper is the design
of a crank-based leg linkage. The linkage was simulated in Mathematics, and an
analysis of the leg design, including an analysis of the foot path and centre of mass is
provided and compared to the Theo Jansen mechanism. The results of the comparison
found that the foot path of the new design is flatter and has a more constant velocity
when it is in contact with the ground and the leg linkage requires 85% less vertical
centre of mass movement during locomotion than the Theo Jansen mechanism, but its
step height is about 33% less. A detailed description of the fabrication of a six-legged
walker made primarily from PVC tubing is given, as well as suggestions for
improvement and future work.
 Survey 3
Theory Analysis and Experiment Research of the Leg Mechanism for the
Human-Carrying Walking Chair Robot by Lingfeng Sang, Hongbo Wang,
Shuaishuai Wang, Na Chen, and Yuehua Wen
For the high carrying capacity of the human-carrying walking chair robot, in
this paper, 2-UPS+UP parallel mechanism is selected as the leg mechanism; then
kinematics, workspace, control, and experiment of the leg mechanism are researched in
detail. Firstly, design of the whole mechanism is described and degrees of freedom of
the leg mechanism are analyzed. Second, the forward position, inverse position, and
velocity of leg mechanism are studied. Third, based on the kinematics analysis and the
structural constraints, the reachable workspace of 2-UPS+UP parallel mechanism is
solved, and then the optimal motion workspace is searched in the reachable workspace
by choosing the condition number as the evaluation index. Fourth, according to the
theory analysis of the parallel leg mechanism, its control system is designed and the
compound position control strategy is studied. Finally, in optimal motion workspace,
the compound position control strategy is verified by using circular track with the
radius 100 mm; the experiment results show that the leg mechanism moves smoothly
and does not tremble obviously. Theory analysis and experiment research of the single
leg mechanism provide a theoretical foundation for the control of the quadruped
human-carrying walking chair robot.
Comparison between Theo-Jansen and Klann Mechanism
Prototype of Eight Legged Machine
Nomenclature

Dimension of Frame – 100*100

Crank Rocker arm length – 15
Couplers length – 38
Remaining links – As per Theo Jansen Ratio
Motor type – DC motor
Motor Capacity – 0.25 HP Approx
Gear type – Spur Gears
THANK YOU