The Klann linkage is a six-bar mechanism that can be used in walking robots that simulate the gait of spiders or crab-like animals. It was patented by Joseph C. Klann in 1998 .
Applications of the Klann linkage to simulate a walking spider can be found in .
You can use this Demonstration to explore the geometry of the linkage and to find a combination of bar lengths that creates a foot trace around a sizeable horizontal region.
The Klann linkage can be divided into two parts: a four-bar linkage
with one degree of freedom attached to a five-bar linkage
with two degrees of freedom.
Both linkages can be analyzed by solving the triangles
, using the Mathematica function SSSTriangle
. The position of the joints can then be derived from these solutions.