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Klann's Mechanical Spider - Climbing Mod

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Klann's Mechanical Spider, modified for climbing

The mods of this variation of Klann's linkage are:
  1. 20% longer legs to help with clearing obstacles (lower leg section's length = 12 units vs. 10 for Klann's patent)
  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
  3. straighter legs, with the leg angle reduced to 17.63 degrees, which improves climbing ability 
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Klann's Mechanism Modified for Climbing
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LEGO Approximations of Klann's Linkage Configured for Climbing and Descending
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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.
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Triangle used to make a knee bend of 17.63 degrees
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  • Home
  • Walker ABC's
  • Build Instructions
    • TrotBot Builds >
      • TrotBot Linkage Plans
      • TrotBot's Legs Simplified
      • Quadruped TrotBot
      • Hexapod TrotBot
      • TrotBot
      • TrotBot, Ver 3
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      • Wooden TrotBots by Automata Korea Design
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      • Mindstorms TrotBot, Ver 2
      • Mindstorms TrotBot
      • Large-Scale TrotBot
    • Strider Builds >
      • Strider Linkage Plans
      • Strider Ver 3's Legs
      • Strider Ver 3's Frame
      • Mindstorms Strider Ver 3 Mod
      • Strider
      • Strider's Legs Simplified (ver 2's)
      • RC Strider
    • Mechanical Spider >
      • Klann Mechanical Spider - Climbing Mod
      • Klann's Spider, EV3 Long Legs
      • Klann High-Step Mod
      • Klann's Spider, Ver 2
      • Mindstorms Klann
      • Klann's Spider, Ver 1
      • Klann's Linkage Plans
    • Strandbeest
    • LEGO Spot Micro
    • Linkage Warm Ups >
      • Lever Paradox
      • LEGO Biters
      • LEGO Punchers (4 bar linkage warm-up)
      • LEGO Hopping Robot
    • Hiro Labo
    • Whegs (wheel-legs)
  • Customize
    • Strider Linkage Optimizer
    • Klann Linkage Optimizer
    • Strandbeest Optimizer for LEGO
    • TrotBot Optimizer
    • 4 Bar Linkage Optimizer
    • 4 Bar Walking Linkage
    • 6 Bar Walking Linkage
  • Linkage Simulation
    • Python Linkage Simulator
    • Scratch Linkage Simulator
  • Blog