683
Figure 7. Extended trajectory of Klann mechanism.
Figure 8. Asymmetrical trajectory of Klann mechanism with maximum on one side.
Figure 9. Trajectory of Klann mechanism with rotated orientation.
the trajectory can be changed as shown in Figure 9. The change in orientation allows overcoming higher obstacles under a constant slope, ex. a robot with such a trajectory is able to walk
effectively up the stairs, but this solution does not work on a flat surface.
Designing the right lengths of the parts and the angles between them in the Klann mechanism to obtain the desired trajectory shape is a complex task requiring the optimization of
Figure 7. Extended trajectory of Klann mechanism.
Figure 8. Asymmetrical trajectory of Klann mechanism with maximum on one side.
Figure 9. Trajectory of Klann mechanism with rotated orientation.
the trajectory can be changed as shown in Figure 9. The change in orientation allows overcoming higher obstacles under a constant slope, ex. a robot with such a trajectory is able to walk
effectively up the stairs, but this solution does not work on a flat surface.
Designing the right lengths of the parts and the angles between them in the Klann mechanism to obtain the desired trajectory shape is a complex task requiring the optimization of