Design of Mobile Robot with Klann Walking Mechanism to Overcome the Set and Step Type Obstacle

Abstract

The use of wheeled, railed and tracked mobile robots in the defense industry, space, first aid and disasters has become insufficient over time due to advanced technology. Therefore, the interest in mechanisms that provide walking movement has gradually increased. Mobile robots with one degree of freedom walking mechanism provide more comfortable progress in rough terrain conditions than wheeled and tracked robots. In addition, higher energy efficiency and not requiring more actuators are important advantages compared to foot mechanisms with many degrees of freedom. In this study, an eight legged spider type mobile robot was designed. Klann type walking mechanism with one degree of freedom has been designed for the robot to overcome the obstacles and move in a balanced way. Each foot in the mechanism consists of six links. In the mobile robot whose solid model was designed in SolidWorks program, different trajectories were drawn with the help of GeoGebra program in case of set and step type obstacles. Link optimizations were made according to the obstacle type. In addition, simulations were made to overcome the set and step type obstacle in the Algodoo program.