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Title: Kinematic Analysis of Mobile Robot with Klann Walking Mechanism
Authors: Kavlak, Koray
Kartal, I.A.
Keywords: coupler curve
kinematic analysis
Klann walking mechanism
legged mobile robot
Issue Date: 2021
Publisher: Institute of Electrical and Electronics Engineers Inc.
Abstract: There have been important developments in the field of robotics until today. Since the areas where the leg touch the ground in legged mobile robots are small, the usage area is quite wide. They can adapt to all kinds of terrain conditions and can be used in places unsuitable for human health. Examples of these include areas containing radioactive, closed areas that do not contain sufficient oxygen, areas with explosives and caves. Considering that the robot will be used on rough terrain, the Klann walking mechanism, which is superior to other walking mechanisms, has been chosen. In this paper, solid modeling of a mobile robot with four legs has been done in SolidWorks program. In the Klann walking mechanism, which consists of six link, the coupler curve of the end point where the leg touches the ground has been drawn in the Cinderella program. Then, by performing kinematic analysis of the mechanism, velocity and acceleration graphs were obtained. © 2021 IEEE.
Description: 3rd International Congress on Human-Computer Interaction, Optimization and Robotic Applications, HORA 2021 -- 11 June 2021 through 13 June 2021 -- -- 171163
ISBN: 9781665440585
Appears in Collections:Mühendislik ve Doğa Bilimleri Fakültesi Koleksiyonu
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collections

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