These six legs move synchronously with several angular
intervals in between them so that they give a walking motion just like a six-legged insect. Four fixed links surround the linkages and support their movement. Actually eight of these fixed links are needed with each of the linkage having two of these on either side. As these fixed links, extend over to the other side of the common rod they are counted as four. Each of these linkage functions as a leg by giving a reciprocating motion.
Four bar linkage are the closed loop kinematic linkage; they perform a wide variety of motions with a few simple parts. This project discusses the design & fabrication of one such mechanism (four bar mechanism). In this project Six Leg Kinematic movement works
on Grashof's principle which states that the sum of the length of the shortest and longest links must be less than or equal to the some of the other two links. However this condition is necessary but nor sufficient. Mechanism satisfying this condition will fall into crank-rocker mechanism, double crank mechanism and double rocker mechanism. A frame, connecting rod, crank & a lever constitute to obtain the required motion. In this project we tried to show mainly the application of simple four bar mechanism.