The document describes a project to design an eight-legged spider robot using a Theo Jansen linkage mechanism. The robot would use two DC motors connected to gears to drive the eight legs in synchrony. An Arduino microcontroller and RF module would allow the robot to be remotely controlled with forward, backward, left and right movement. The linkage mechanism is intended to provide multidirectional motion to the legs and allow the robot to traverse irregular terrain for applications such as hazardous inspections.

1. EIGHT LEGGED SPIDER ROBOT
KNS INSTITUTE OF TECHNOLOGY
Project Phase –I Presentation
Department of Mechanical Engineering
Students Name USN no.
•AMARESH 1KN19ME004
•MANOJ K M 1KN19ME009
•MOHAMMED ZOHARAB MA 1KN19ME012
•ZUBER AHMED V 1KN19ME021
Internal Guide
VIJAY MAHANTESH
Assistant Professor
MechanicalDepartment
KNSIT.

2. Overview of the presentation
1. Introduction
2. Literature Survey
3. Objective of the research
4. Selection of Materials / Selection of model
5. Design procedure
6. Linkage Mechanism
7. Overall Mechanism
8. Advantages & Disadvantages
9. Applications
10. Conclusion

3. Introduction
• In this project, I analyzed a eight-legged form of the Theo Jansen Walker linkage design.
• Theo Jansen, the initial inventor of this design, has been creating this type of sustainable
kinematic contraptions since 1990.
• They are referred to as ‘Strandbeests’, because their first existence started on the beach.
• Their strong characteristic of these walkers is the fact that they do not require any sensors,
motors, or other technology to control or power its movements.
• This report will highlight the design strengths of this beast by showing the motion and
kinematic analysis performed by the ‘leg movements’ of the walker when powered by a
hypothetical motor.

4. • SW Kim, H Jung,Y Kim, H Kim, SH Han, DH Kim. Analysis and Design of a Legged Walking Robot
Based on Jansen Mechanism. In SCIS & ISIS, 2010.
• S Patnaik. Analysis Of Theo Jansen Mechanism (Strandbeest) And Its Comparative Advantages Over
Wheel Based Mine Excavation System, Analysis, 5(7), 2015.
• F Moldovan, V Dolga, C Sticlaru. A New Type of Walking Robot Based upon Jansen Mechanism.
Advanced Materials Research, 463, 2012.
• GK Regulan, G Kaliappan, M Santhakumar. Development of an Amphibian Legged Robot Based on
Jansen Mechanism for Exploration Tasks, Advancements in Automation, Robotics and Sensing, 2016.
• L Chord, Eight human gait ladder-type linkage mechanism Foot best design and multi-legged robot
designed to mimic the ladder. Department of Mechanical Engineering Thesis Kung University, 2016.
Literature Survey

5. Objective of the research
• Design a model of a eight-legged spider robot which mimics the movement of archid.
• This spider robot makes use of kinematic motion that is run by Theo Jansen Linkages.
• This system uses a dual motor setup paired to six gears which in turn actuate the eight legs in synchrony.
• Its remote control operation enables the operator to control this robot wirelessly.
• This robot is a wheel free movement.

6. Selection of Materials / Selection of Model
Arduino uno
Arduino UNO Board or Genuino UNO Board is an open-source microcontroller board based on
ATmega328p chip. Arduino UNO features 14 digital I/O pins (6 pins can be used as PWM), 6 analogue
inputs, a 16 MHz quartz crystal, a USB connection, Power Jack and a Reset Button
Components of Arduino UNO
Micro Controller.
USB Connector . Power Port .
USB Interface Chip . Digital I/O
Pins .
Analog Input Pins .
Power Pins.
Power Pins .
Master Reset Button.
ICSP Header Pins .

7. Selection of Materials / Selection of Model
ATmega Microcontroller
ATMega Microcontrollers belong to the AVR family of microcontrollers and is manufactured by Atmel Corporation.
An ATMega Microcontroller is an 8-bit microcontroller with Reduced Instruction Set (RISC) based Harvard
Architecture. It has standard features like on-chip ROM (Read Only Memory), Data RAM (Random Access Memory),
data EEPROM (Electrical Erasable Programmable Read Only Memory), Timers and Input / Output Ports, along with extra
peripherals like Analog to Digital Converters (ADC), Serial Interface Ports etc. They have 120 and more instruction set
and program memory ranges from 4K to 256K Bytes.

8. Selection of Materials / Selection of Model
DC MOTOR
A DC motor is any of a class of rotary electrical
material that converts direct current (DC) electrical
energy into mechanical energy. The most common
types relay on the forces produced by magnetic
fields. Nearly all types of DC motors have some
internal mechanism, either electromechanical or
electronic, to periodically change the direction of
current in part of the motor.

9. Selection of Materials / Selection of Model
Linkages and Joints
The Jansen linkage mechanism, a one degree-of-freedom planar linkage of eight links, seven revolute joints-one
of them involving there binary links, and three independent loops. This paper reports a toe speed control
approach to achieving complex gaits with the Jansen linkage mechanism.

10. Selection of Materials / Selection of Model
RF Module (Transmitter & Receiver)
The RF module, as the name suggests, operates at Radio Frequency. The
corresponding frequency range varies between 30 kHz & 300 GHz. In this
RF system, the digital data is represented as variations in the amplitude of
carrier wave. This kind of modulation is known as Amplitude Shift Keying
(ASK).
Transmission through RF is better than IR (infrared) because of many
reasons. Firstly, signals through RF can travel through larger distances
making it suitable for long range applications. Also, while IR mostly
operates in line-of-sight mode, RF signals can travel even when there is an
obstruction between transmitter & receiver.

11. Design procedure

12. Design procedure
• The spider robot makes use of a kinematic motion that is run by theo jansen linkages.
• The robot makes use of 2 x DC motors to dive the mechanism. The motors are mounted on 2 opposite
sides of the robotic chassis or main frame.
• The drive produced by the motors are used to drive a gear which in turn is connected to 2 more gears.
The 3 gears are used to drive a combination of 8 legs.
• This linkage structure allows to provide all direction motion to the combination of 8 legs. The spider
controller is made using a microcontroller based circuitry.
• The user makes use of a remote controller with 4 x Push buttons. The push buttons when pressed send a
particular direction command wirelessly.
• The receiver controller mounted on robot receives this command and sends it to microcontroller for
processing.
• The microcontroller receives this command and uses the motor drivers to power motors in desired
direction thus achieving forward backward left and right direction movement of the spider robot.

13. Linkage Mechanism

14. Overall Mechanism

15. Advantages
•Can work with lower sound.
• Stronger to work in bad terrain.
• Can move more freely on irregular surfaces.
• Not easy to mine because the distance from the body to the
surface can be adjusted.
• More efficient movement mechanism.
•They are more versatile than wheeled robots and can
traverse many different terrains.
•This linkage structure allows to provide all direction
motion to the combination of 8 legs.

16. Disadvantages
•Robots need a supply of power.
•The people can lose jobs in factories.
•They need maintenance to keep them running.
•It costs a lot of money to make or buy robots.
•The software and the equipment that you need to use
with the robot cost much money.
•Robots are also susceptible to errors and malfunctions and
cannot adapt to unexpected situations

17. Applications
In this project our main focus is on to design a robot using Theo Jansen
mechanism and to highlight its application as follows,
Applications are:
•The military, law enforcement, Explosive Ordinance Disposal units and
private security firms.
•A Mechanical spider can be used for inspection in hazardous place,
such as Boiler in which we cannot enter inside but for inspection of
inner place we can use the mechanical spiders.

18. Conclusion
• The most forcefull motivation for studying legged robots is to give access to place that are
inaccessible are too difficult to work for human beings.
• Thus, in our project we have proposed a method to replace the function of conventional
methods for various applications.
• Tried to give a new approach in order to overcome the difficulty of working in such uneven
terrain.