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Title: Design of Mobile Robot with Klann Walking Mechanism to Overcome the Set and Step Type Obstacle
Authors: Yongul, Abdullah
Kavlak, Koray
Keywords: Klann mechanism
legged mobile robot
mechanism simulation
set and step type obstacle
Degrees of freedom (mechanics)
Energy efficiency
Machine design
Advanced technology
Defense Industry
First aids
Klann mechanism
Legged mobile robot
Mechanism simulation
Set and step type obstacle
Tracked mobile robots
Walking mechanism
Walking movements
Mobile robots
Publisher: Institute of Electrical and Electronics Engineers Inc.
Abstract: The use of wheeled, railed and tracked mobile robots in the defense industry, space, first aid and disasters has become insufficient over time due to advanced technology. Therefore, the interest in mechanisms that provide walking movement has gradually increased. Mobile robots with one degree of freedom walking mechanism provide more comfortable progress in rough terrain conditions than wheeled and tracked robots. In addition, higher energy efficiency and not requiring more actuators are important advantages compared to foot mechanisms with many degrees of freedom. In this study, an eight legged spider type mobile robot was designed. Klann type walking mechanism with one degree of freedom has been designed for the robot to overcome the obstacles and move in a balanced way. Each foot in the mechanism consists of six links. In the mobile robot whose solid model was designed in SolidWorks program, different trajectories were drawn with the help of GeoGebra program in case of set and step type obstacles. Link optimizations were made according to the obstacle type. In addition, simulations were made to overcome the set and step type obstacle in the Algodoo program. © 2022 IEEE.
Description: 4th International Congress on Human-Computer Interaction, Optimization and Robotic Applications, HORA 2022 -- 9 June 2022 through 11 June 2022 -- 180434
ISBN: 9781665468350
Appears in Collections:Mühendislik ve Doğa Bilimleri Fakültesi Koleksiyonu
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collections

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