Klann's Mechanical Spider - Climbing Mod
Klann's Mechanical Spider, modified for climbing
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 for Klann's patent)
- 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 to 17.63 degrees, which improves climbing ability
Klann's Mechanism Modified for Climbing
LEGO Approximations of Klann's Linkage Configured for Climbing and Descending
Klann's Patented Linkage Configured for Climbing - the Black Klann's Leg Angle Reduced by 20 Degrees
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Klann's Patented Linkage Configured for Descending - the Black Klann's Leg Angle Increased by 20 Degrees
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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.
Triangle used to make a knee bend of 17.63 degrees
