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Walking Mechanism Using a Klann Linkage

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 [1].
Applications of the Klann linkage to simulate a walking spider can be found in [2].
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.

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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 , , and , using the Mathematica function SSSTriangle. The position of the joints can then be derived from these solutions.
References
[1] J. C. Klann, "Walking Device," US patent US6260862 B1, 1998.
[2] J. C. Klann, "Mechanical Spider," Klann Research and Development, LLC. (Apr 18, 2016). www.mechanicalspider.com.
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