1) The document describes how to build a 6-legged robot mechanism inspired by the work of Theo Jansen. 2) The robot is built using a make-it kit base, drinking straws, aluminum wire, a gear motor, and other basic parts. 3) A linkage system connects the motor to middle legs using a crank and terminal block, driving the front and rear legs in a walking motion similar to an ant.

1. 6 legged animal robot mechanism
by
deekshit Kumar
14mmt1027

2. THEME: To make a model of 6 legged ant mechanism. To
which the motion should be in form similar to ant.
REFERENCE:
• It is the mechanism taken reference from Theo Jansen
mechanism.
• Theo Jansen has gave a motion for klenn mechanism by
making a model of 6 legged animal mechanism.

3. Parts used to make the ant robot:
• Battery holder
• Gear motor
• Make it kit as base
• Drinking straw
• Aluminium wire
• 1 terminal block of 4 mm
• 2 bolts, nuts and lock nuts

4. How to prepare ant robot?
- Take the make it kit 12-14 holes link.
- The link which we used is the frame for the robot.
- Screws and nuts are fitted at the extreme positions of link.
- In between screw and nut keep a straw in order to get
balance between screw and nut.
- Use dc hobby gear motor of 100 RPM and fit the motor into
one of the holes of link. It will be better if we choose centre
of the link.

5. - Prepare the links/legs for ant of front end and rear end.
- Prepare links/legs for the middle of the robot these links
should be individual links and it should be attached with dc
motor.
- Use terminal block and connect it to the end of rotor output
of dc motor.
- From terminal block insert crank in it.
- Connect the middle legs to crank.
- Make a link from front to rear end and from front end to
crank.

6. - Use battery holder and connect the connections from
battery holder to dc hobby motor.
- It finally produces ant walking mechanism which middle legs
drive the front link and from front to rear connected link
drives the rear end.

7. How linkage mechanism works in this ant robot?
- Terminal block and crank are the main keys for converting
rotational motion into linear motion.
- Middle legs which are made in such a form to connect the
crank.
- Overall 3 links are connected to crank in which 2 middle
legs and 1 link of front end to it.
- One more link is from front end to rear end.

8. - Now we can clearly visualise the mechanism.
- The crank when starts rotating from terminal block it moves
the middle legs and it drives the front end.
- Front end which is already linked with rear drives the motion
automatically as the front moves the rear link starts moving.
- This is the overall mechanism of 6 legged ant robot.

9. Working pics of ant robot

10. Conclusion:
To make a 6 legged ant mechanism with a basis of theo
jansen mechanism.