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This was a project I took on with a classmate in my dynamics of machinery class. The objective of this project was to create a robot which could walk with a linkage mechanism. Although our robot had functioned fine, we broke our gearbox the day before our project was due when the robot dropped too low and stalled trying to lift itself up. While the project was unsuccessful, I feel that I learned a lot through designing and building our robot.
We based our linkage design off a Klann six bar linkage. We modified our linkage lengths in Solidworks and plotted the motion path of the output leg to determine the best linkage design for our purpose.
SolidWorks model of our project. We used this model to run motion simulations to design optimal linkages.
The drive mechanism of the walking robot. A motor paired with a gearbox which output to a timing pulley to power the 4 legs.
An image of the motion study conducted on the model. The goal of this study was to find a linkage design which would provide smooth horizontal motion along the bottom sweep. Output velocity values were calculated and linkage lengths determined through equations in an Excel spreadsheet.
The body of our robot was constructed out of wood and steel shafts. The linkage mechanism was made from 1/8" aluminum flat stock.
Power from the motor was driven to the linkages by a timing belt from a 3D printer. A 12V motor paired with a gearbox powered the motion of the robot.
The final product of our project is shown to the right. If I were to build the robot again, I would use plastic to make the body and linkages in order to lighten the robot. I would also flip the position of the motor with the timing belt for better power distribution. Lastly, I would have added upright supports that prevented the robot from dropping too low and stalling the motor, which was the primary issue that caused our robot to fail.
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