Klann Linkage Walker

thingiverse

This is a locomotive mechanism based on the Klann linkage, seen elsewhere in the form of spider-like creatures. Instead of making one set of linkages for each leg, I replicate the movement of the leg tip to the back side and connect them using two bars, with the foot and connector serving as the connection points. The wide foot surface enables it to walk over soft terrain like sand, where common pointed legs could become stuck. This set consists of 2 feet with a 180-degree phase difference. With a dc motor, the speed is approximately 2 steps per second. Walking demo video: https://youtu.be/mHIyUTuQcdY There are two hole sizes available - 3.2mm for passing a 3mm screw and 2.8mm for tapping. Screws used (length): * 15mm x9 * 20mm x12 * 30mm x4 * 40mm x1 * M3 nut x20 Yes, there is no barA part; originally, it was the crank part, but I renamed it so that the names of other bars stuck. The crank connectors are a loose fit, and I can release them easily without much force. Maybe z-axis wobble helps in creating a wavy texture that grabs the parts together. 24 Jan 2018: updated connector, bar E, gear1