Hexapod walking mechanism based on the klann linkage for a 2dof amphibious robot

This paper presents the kinematics analysis, the structure design, and the prototype building process of a Klann walking mechanism for an amphibious robot, which can walk on land and water. The proposed mechanism is based on a six-legs platform, with three-aligned-legs per side where each side is joined to a motor through gears. Therefore, the entire mechanism has two DoF. Each leg is based on a Klann linkage, whose dimensions are optimized considering the land-water-walking. An ABS propotype, with an experimentally obtained foot shape, is build as part of this paper in order to validate our kinematic analysis, displacement and balance simulations. This prototype considers a freely-floating structure through its styrofoam base.