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Walking Mechanism Using a Klann Linkage

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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].

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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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Contributed by: Erik Mahieu (April 2016)
Open content licensed under CC BY-NC-SA

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