Klann mechanism
The Klann mechanism or the Klann coupling gear is a coupling gear . The Klann coupling gear is z. B. used for running robots and often compared with the Jansen coupling gear ( Strandbeest ) by Theo Jansen and the Chebyshev lambda mechanism . The Klann coupling mechanism, like this, can be viewed and used as an approximate straight line guide .
Construction specification
The design specification is described in U.S. Patent 6,260,862.
Dimensions
In US Patent 6,260,862 a set of coordinates for an example leg:
| Point | X | Y | description |
|---|---|---|---|
| Fixed points | |||
| 9 | 1,366 | 1,366 | First rocker arm axis |
| 11 | 1.009 | 0.574 | Second rocker arm axis |
| 15th | 1,599 | 0.750 | Crank axle |
| fully extended ground stride position | |||
| 27X | 0.741 | 0.750 | Elbow joint |
| 29x | 1,331 | 0.750 | crank |
| 33x | 0,000 | 0,000 | foot |
| 35x | 0.232 | 0.866 | Knee joint |
| 37x | 0.866 | 1,500 | hip joint |
| grounded gait position | |||
| 27Y | 1,277 | 0.750 | Elbow joint |
| 29y | 1,867 | 0.750 | crank |
| 33y | 1,000 | 0,000 | foot |
| 35y | 0.768 | 0.866 | Knee joint |
| 37y | 1,000 | 1,732 | hip joint |
Comparison with the Jansen coupling gear
Unlike the Jansen coupling gear, the Klann coupling gear can be parameterized and thus more flexibly adapted. Furthermore, it is more robust against manufacturing tolerances. For example, non-optimal lengths lead to a sub-optimal step, but less quickly to jamming.
Another advantage of the Klann coupling mechanism is that it has fewer legs and joints than the Jansen coupling mechanism.
Applications
Underwater running robot
Kinetic work of art - Mondo Spider
Patents
- US Provisional Application Ser. No. 60 / 074,425, which was filed on Feb. 11, 1998
- Patent US6260862 : Walking device. Registered on July 17, 2001 , inventor: Joseph Klann.
- Patent US6364040 : Walking device. Registered on April 2, 2002 , inventor: Joseph Klann.
- Patent US6478314 : Walking device. Registered on November 12, 2002 , inventor: Joseph Klann.
Individual evidence
- ↑ a b Patent US6260862 : Walking device. Inventor: Joseph Klann.
- ↑ Archived copy ( Memento of the original dated November 6, 2014 in the Internet Archive ) Info: The archive link has been inserted automatically and has not yet been checked. Please check the original and archive link according to the instructions and then remove this notice.
- ↑ http://www.mondospider.com/history/
- ↑ http://www.mondospider.com/frequently-asked-questions/
