Strength and Modal Analysis of Mobile Robot with Klann Walking Mechanism

Abstract

Multi legged robots in mobile robots have a wide range of use in the defense and space industry, in places harmful to human health, such as earthquake zones. The advantage of legged robots is that they can reach places that are inaccessible to wheeled and tracked robots. By modelling the physical structure of legged animals, mobile robots are designed and manufactured. In this paper, a mobile robot with Klann walking mechanism was modelled in SolidWorks program. Eight legs were preferred to ensure balance and prevent vibration in walking mechanism. Parts such as gear, shaft, disc, battery and motor are used in robot design. The coupler curve at the position where the Klann walking mechanism contact the ground has been drawn in the Cinderella program. Stress and strain values were found as a result of the strength analysis of the mobile robot, and natural frequency values were found as a result of the modal analysis. © 2021 IEEE.