Design and Prototyping of a Motorized Legged Robot with Klann Linkage Mechanism

This paper focuses on the design and prototyping of a legged robot with Klann linkages, which are powered by two DC worm gear motors. The aims of the project are to understand the detailed prototyping process, and to demonstrate the functionality of the Klann linkages for the legged robot. The prototyping process involves 3D modelling using Solid Works, selecting material and motor, performing fabrication and assembly and carrying out walking and load transfer test. Results show that the legged robot, which was built using PolyEthylene Terephthalate Glycol (PETG), can succesfully walk at a speed of 33 cm/s while carrying a 1 kg load.This study opens up other opportunities to fully utilize the benefits of Klann linkage's walking robot by integrating practical sensors or cameras.