Page Comparison

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The initial approach was to analyze the system

The videos below show the animations for both the original Klann linkage (approximately the one used for the prototype) and our modified version with a more vertical profile.

Design Process:

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. 

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Lastly, we realized that this project would require large amounts of ball bearings and dowels and using them is likely to increase the size of our project. Thus, we are considering using a different method of joining our links, likely some form of pin or nut and bolt.

Next Steps

Our next steps are going to be to start finalizing our plans for the connection between the two linkage systems. We currently intend to use a bevel gear to simultaneously drive the oscillating and Klann linkages at a 1:1 gear ratio. With that figured out we will refine our link measurements to achieve the most optimal position profiles and then plan out the orientation and mounting of the linkage systems on a base. This base needs to look like the silhouette of a spider's body so we have to work around this shape. Once the mounting of the linkage systems, motor, and power source are determined and properly integrated into the intended spider shape we can start fabricating the links and assembling them, being sure to test them and ensure they run smoothly and with no collisions or jams. At this point the hardest part is over and we can start the full assembly of our project, designing and producing an aesthetically pleasing 3D body for the spider. We intend to do this my using spaced out layers of laser cut wood slotted perpendicular to the base to form the framework of a 3D body around all our components.

Bill of Materials

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