A microcontroller based spider bot using Klann mechanism

• Main Author: Rajkumar, A.
• Format: Conference Proceeding
• Language: English
• Subjects: Hazardous materials; Materials handling; Microcontrollers; Movement; Police; Stairways; Walking
• ISSN: 0094-243X; 1551-7616
• DOI: 10.1063/5.0096353

As the wheels of any moving bodies are not effective on rough areas, robot with legs incorporating Klann mechanism becomes advantageous for innovative walking vehicles. It can easily step over verges, climb stairs and move over areas that are not effortlessly accessible with wheels. This paper deals with the design and fabrication of a microcontroller based Spider Bot with six legs using Klann mechanism. One of the most important benefits of this mechanism is that, it is controlled by Arduino board which is then connected to a computer, where it is connected with the Arduino development environment. Any user can write the Arduino code and upload it to the microcontroller which executes the code, resulting in the required movement of the Spider Bot. The link mechanisms are coupled by pivot joints, which convert the rotary motion of the crank into foot movement which is similar to walking of an animal. This Spider Bot is useful while handling hazardous materials, clearing of minefields or securing any area without placing human beings at risk. Many segments of human forces like Military, Police units, Explosive Disposal units, Private security organisations, etc. could benefit from the application of this Spider Bot. It also performs well as a platform to handle stair cases and other hindrances when compared to wheeled vehicles.