Klann Linkage Walker

thingiverse

This is a walking mechanism based on the Klann linkage, seen elsewhere in form of spider-like creature. Now instead of making one set of linkage for each leg, I copy the movement of the leg tip to the back side and connect them using two bars, here the foot and the connector. The wide foot surface would enable it to walk over soft terrain like sand, where common pointed legs could be stuck in. This set consists of 2 feet with 180 degree phase difference. With the dc motor, the speed is about 2 steps per second. Walking demo video: https://youtu.be/mHIyUTuQcdY There are 2 hole sizes, 3.2mm for passing of 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 the names of other bars stuck. The crank connectors are rather loose fit, I can release them easily without much force. Maybe z-axis wobble helps on creating wavy texture which grabs the parts together. 24 Jan 2018: updated connector, bar E, gear1.