Final Project/Conclusions

Final Project/Demo Images

The project aimed to create a walking linkage system inspired by the complex movements of a spider, diverging from traditional mechanisms like the Jensen and Klann linkages. The design combined two 1-DOF linkage systems, a 4-bar oscillator, and a modified Klann linkage, to mimic the spider's 3D leg movements. This combination posed significant challenges, especially in managing the complexities and errors inherent in a system with eight legs. The team focused on demonstrating a complex 3D motion profile, prioritizing position analysis over velocity or acceleration. After exploring various designs, the Klann linkage was chosen for its aesthetic similarity to spider legs and its potential for achieving the target motion profile. The oscillating mechanism, inspired by windshield wiper systems, was adapted to provide the desired movement. Kinematic analysis ensured both linkages met Grashof conditions and had 1 DOF. The prototype combined these linkages through a gear system, with a large transmission gear driving smaller gears for synchronization, and a bevel gear assembly translating motion. Manufactured using laser-cut plywood, the prototype demonstrated the feasibility of combining complex mechanical systems. The project's timeline encompassed design, production, assembly, and troubleshooting phases. The process highlighted the importance of integration in mechanical design, adaptation of existing systems for specific requirements, and practical problem-solving in mechanical engineering. The project not only illustrated the challenges in replicating natural movements but also underscored the team's resourcefulness and collaborative problem-solving skills in mechanical design.

Lessons Learned:

1. Integration of Complex Systems: Successfully combining different mechanisms to achieve a novel motion profile.
2. Adaptation and Modification: Customizing existing linkage designs to meet specific motion requirements.
3. Practical Challenges: Addressing real-world mechanical and design challenges in prototype development.
4. Resourcefulness: Utilizing available tools and materials effectively, while being conscious of limitations.
5. Collaboration and Problem-Solving: Working as a team to brainstorm, design, and troubleshoot complex mechanical systems.