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Intro Labsguru Lgrb018

Intro Labsguru Lgrb018

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Published by Rahul Agarwal

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Published by: Rahul Agarwal on Oct 16, 2010
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09/02/2013

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www.Labsguru.com Lucknow Branch: 3rd floor, Vaibhav Complex, Maruti Puram, Opposite Lekhraj Khazana, Faizabad Road, Lucknow-226016, Phone: 09793202258 / 0522 4026611,Mumbai Branch: Mobile: 09793202258Bhopal Branch: Mobile: 09793202258
 
 
www.Labsguru.com Lucknow Branch: 3rd floor, Vaibhav Complex, Maruti Puram, Opposite Lekhraj Khazana, Faizabad Road, Lucknow-226016, Phone: 09793202258 / 0522 4026611,Mumbai Branch: Mobile: 09793202258Bhopal Branch: Mobile: 09793202258
For Free Synopsis,
Email us at
synopsis@labsguru.com
, with Name, Email Id, Mobile Number, and College Name. 
LGRB018: 2 LEGGED WALKING ROBOT
1.
 
Scope of work/research and key features
 
Understanding of Mechanical Designing’.
 
Development of Robot chassis and control.
 
Concept of ‘Degree of Freedom’.
 
Concept of ‘Positional control’.
 
Concept of ‘End Effectors’.
 
Understanding of ‘Locomotion mechanism & environment’.
 
Effectiveness of leg joints relating to the walking.
 
Locations of leg joints.
 
Movable extent of leg joints.
 
Dimension, weight and center of gravity of a leg.
 
Torque placed on leg joints during the walking
 
.
 
Sensors relating to the walking.
 
Grounding impact on leg joints during the walking.
 
PCB designing and Circuit designing
 
PCB development, Component mounting and soldering.
 
Testing of the circuit.
2.
 
Introduction
Traditionally, most mobile robots have been equipped with wheels. The wheel is easy to controland direct. It provides a stable base on which a robot can maneuver and is easy to build. One of themajor drawbacks of the wheel, however, is the limitation it imposes on the terrain that can besuccessfully navigated. A wheel requires a relatively flat surface on which to operate. Rocky or hillyterrain, which might be found in many applications as forestry, waste clean-up and planetaryexploration, imposes high demands on a robot and precludes the use of wheels. A second approachto this problem would be to use tracked wheel robots. For many applications this is acceptable,especially in very controlled environments. However, in other instances the environment cannot becontrolled or predicted and a robot must be able to adapt to its surroundings. Such a surroundingcan be places where robots would have to step over the obstacles such as a surface where pipes arerunning and where they have to move on discontinuous terrain like steps. Research into leggedrobotics promises to overcome these difficulties.The complexity of control required for a legged robot to navigate over unfamiliar terrain has madethem difficult to build. Recent developments in embedded controller technology have yielded very
 
 
www.Labsguru.com Lucknow Branch: 3rd floor, Vaibhav Complex, Maruti Puram, Opposite Lekhraj Khazana, Faizabad Road, Lucknow-226016, Phone: 09793202258 / 0522 4026611,Mumbai Branch: Mobile: 09793202258Bhopal Branch: Mobile: 09793202258
sophisticated computing devices in relatively small, easily programmed modules. With theseadvanced components, it is now possible to control relatively complex and sophisticated devices.
3.
 
Motivation
In comparison with the industrial manipulators, the task of building an adaptable, walking machineis more difficult. Walking machines have more active degrees of freedom (DOF) than i
 
ndustrialrobots. To enlarge the work-space of the legend, and thus enhance the machine’s ability to adapt tothe terrain, each leg should have at least 3 DOF, which results in a total of 12 DOF for aquadruped or 18 DOF for a hexapod. All those joints must be controlled adequately in real time.This also means that the hardware and software systems must meet more critical requirements thanthose formulated for industrial robot controllers. Moreover, fully autonomous vehicles use only on-board controllers and so those controllers have to be miniaturized to an utmost extent.Mechanical structure of a walking machine should not only imitate the leg structure of livingcreatures (e.g., insects, spiders), but should also take into account the actuating systems properties(e.g., size, weight and power of the motors) and constraints (e.g., size of the body and the leg work-space).The need for a general solution to the problem of robot legs design that can be used either by two-,four- or six-legged vehicles, is clear. However the ability to meet this need has been hampered bythe lack of adequate joint mechanisms and controls. Joint technology is a key problem in thedevelopment of such vehicles because hip and ankle joints require, at a minimum, pitch and yawmotion about a common center with remote location of actuation sources analogous to ourmuscles and joints.The lack of simple, compact, cost-effective and reliable actuator packages has also been a majorstumbling block in current designs. And all this motivated us to put an effort to develop a 2-leggedrobot’
4.
 
Objective(S)
Although the appearance and the capabilities of robots vary vastly, all robots share the feature of amechanical, movable structure under some form of control.The Control of robot involves three distinct phases: - perception, processing and action. Generallysensors/or command receivers are preceptors mounted on the robot, processing is done by the on-board microcontroller, and the task is performed using motors or with some other actuators. Herethe aim is to understand the concept of mechanical designing in case of 2-legged robot. And therole of various concepts like Degree of freedom, Positional control, End effectors etc in it.
5.
 
Project Overview
This project describes designs of the leg drive mechanisms, hardware architecture and the legcontrol methods for walking machines. The body of knowledge that applies to mobile wheeled

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