Open Access Open Access  Restricted Access Subscription or Fee Access


Rahul Ligade, Abhijeet Kadam, Saurabh Madale, Suyash Mali, Saurabh Shinde


In many application of material transport or surveillance it is required to move on different terrains or road conditions. Thus the vehicle under consideration will have two mode of transport namely the wheel transport or the kinematic walking mechanism transport mode. The present project combines the advantages of both the mechanism where in the wheel transport mode will make vehicle move faster on plain road , where as the walking mechanism mode will make it possible to move roads which is muddy or rough . The project designs either mechanism, as well as it design the jacking mechanism. The major application will find in military sector.


six legged robot; various terrains; four bar mechanism; surveillance; prototype

Full Text:



Servet Soyguder and Hasan Alli, Design and prototype of a six-legged walking insect robot Design and ssprototype of a six-legged walking insect robot, Mechanical Engineering Department, Firat University, Elazig, Turkey, 2007, pp. 412-422.

Zhiying Wang, Xilun Ding, Alberto Rovetta, Alessandro Giusti, Mobility analysis of the typical gait of a radial symmetrical six-legged robot, Mechatronics 21, 2011, pp. 1133–1146.

Shibendu Shekhar Roy, Dilip Kumar Pratihar, Dynamic modeling, stability and energy consumption analysis of a realistic six-legged walking robot, Robotics and Computer-Integrated Manufacturing 29, 2013, pp. 400–416.

Tolga Karakurt, Akif Durdu, and Nihat Yilmaz, Design of Six Legged Spider Robot and Evolving Walking Algorithms, International Journal of Machine Learning and Computing, Vol. 5, No. 2, 2015, pp. 96-100.

Bin Zhong, Youcheng Zhou, Xiaoxiang Li, Min Xu, Shiwu Zhang,,Locomotion Performance of the Amphibious Robot on Various Terrains and Underwater with Flexible Flipper Legs, Journal of Bionic Engineering 13, 2016, pp. 525–536.

R.Arjunraj, A.Arunkumar, R.Kalaiyarasan, B.Gokul, R.Elango,Fabrication of Six Legged Kinematic Moving Mechanism, South Asian Journal of Engineering and Technology Vol.2, No.23, 2016, pp. 83 – 96.

Mahdi Agheli, Stephen. S. Nestinger, Force-based stability margin for multi-legged robots, Robotics and Autonomous Systems 83, 2016, pp. 138–149.

Chen Gang, Jin Bo, Chen Ying, Nonsingular fast terminal sliding mode posture control for six-legged walking robots with redundant actuation, Mechatronics 50, 2018, pp. 1–15.

Vinayak Borge, Mukesh Sakat, Chinmai Keni, Tanay Bagul, Sunil Gaikwad, Design and Manufacturing of Six Leg Moving Support Mechanism, IRJET, 2018, pp. 1010-1013.