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The process for designing and producing our prototype focused on refining the proportional lengths of the two most important linkage systems. For our leg linkage, based on the known Klann Linkage, we aimed to minimize lateral movement but not completely get rid of it. The small amount of lateral movement is meant to compensate for the slight lateral movement caused by the arc of the oscillating linkage. With these two movements opposing and timed oppositely we want to create as close to a straight line path of motion as possible.
Working Prototype:
We used a bevel gear to simultaneously drive the oscillating and Klann linkages at a 1:1 gear ratio. We refined our link measurements to achieve the most optimal position profiles and then planned out the orientation and mounting of the linkage systems on a base. The images and video below shows the gear assembly and combined motion profile of the walking mechanism.
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