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Klann's Linkage Dimensions

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​Below are the linkage dimensions from Joe Klann's patent along with a LEGO approximation.  Also, you can find a Klann linkage optimizer and other configurations of Klann here.

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​1. Patent's standard version, with Klann's linkage measurements scaled so that the crank's length equals 3:
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2. Standard Version - LEGO Approximation used for Klann Ver 2:
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Note: the angle of the knee's bend (B5 to B7) is 29 degrees
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Klann's Standard Bar Lengths, Patent vs LEGO
Below are the foot-paths, and the speed of the feet when in contact with the ground.  Klann's foot-speed varies a lot, and the feet essentially come to a stop at each corner of the foot-path.  Here's one idea to reduce the speed variability.
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Linkage from Klann's Patent and a LEGO Approximation
Simulation of our LEGO approximation of Klann's linkage
  • Home
  • Walker ABC's
  • Build Instructions
    • TrotBot Builds >
      • TrotBot Linkage Plans
      • TrotBot's Legs Simplified
      • Quadruped TrotBot
      • Hexapod TrotBot
      • TrotBot
      • TrotBot, Ver 3
      • Mindstorms TrotBot, Ver 3
      • Wooden TrotBots by Automata Korea Design
      • 3D Printed TrotBot by Scott Anderson
      • 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