Klann's Mechanical Spider - Climbing Mod
The mods of this variation of Klann's linkage are:
- 20% longer legs to help with clearing obstacles (lower leg section's length = 12 units vs. 10.04 for Klann's patent, and 10 for Klann Ver 2)
- a claw-like "heel" on the inside of the leg to help the rear legs with clearing obstacles like the 2x4s in the above video
- straighter legs, with the leg angle reduced from 29 to 17.63 degrees, which improves climbing ability:
Further reducing Klann's 17.63 degrees leg angle may have prevented jamming during the below slope change experiment, but once past the V-bottom the angle would need to be increased immediately to walk efficiently:
This build is identical to Long-Legs Klann Ver 3, except for the lower leg section shown below. It may also work as a Mindstorms version with the EV3 brick mounted underneath since its lower legs are 2 holes longer than our Klann Ver 2 approximation of Klann's patented linkage.