Scribd Logo
Upload

Welcome to Scribd!

  • RC 6-Legged Robot Crawler Head & Leg Design

    Uploaded by

    Gurmit Singh
    48 views18 pages
    This document summarizes the design and development of an autonomous 6-legged crawling robot. Key points include: - The robot was designed on PC and its body and leg parts were milled from wood plates and nylon bars. - It has 14 servo motors - 6 for the legs and 2 for a pan/tilt head system. The microcontroller used is an Atmel AT90S8515. - Various improvements were made to the leg design to improve stability and performance on carpet. A gamepad was also added for testing. - A camera and sensors were added to the head unit. Video clips demonstrate the robot crawling and head movement.

    Original Description:

    Original Title

    robot kit

    Copyright

    © Attribution Non-Commercial (BY-NC)

    Available Formats

    DOCX, PDF, TXT or read online from Scribd

    Did you find this document useful?

    Is this content inappropriate?

    Report this Document
    This document summarizes the design and development of an autonomous 6-legged crawling robot. Key points include: - The robot was designed on PC and its body and leg parts were milled from wood plates and nylon bars. - It has 14 servo motors - 6 for the legs and 2 for a pan/tilt head system. The microcontroller used is an Atmel AT90S8515. - Various improvements were made to the leg design to improve stability and performance on carpet. A gamepad was also added for testing. - A camera and sensors were added to the head unit. Video clips demonstrate the robot crawling and head movement.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as DOCX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    48 views18 pages

    RC 6-Legged Robot Crawler Head & Leg Design

    Uploaded by

    Gurmit Singh
    This document summarizes the design and development of an autonomous 6-legged crawling robot. Key points include: - The robot was designed on PC and its body and leg parts were milled from wood plates and nylon bars. - It has 14 servo motors - 6 for the legs and 2 for a pan/tilt head system. The microcontroller used is an Atmel AT90S8515. - Various improvements were made to the leg design to improve stability and performance on carpet. A gamepad was also added for testing. - A camera and sensors were added to the head unit. Video clips demonstrate the robot crawling and head movement.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as DOCX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    of 18

     

    www.webx.dk Start page


     MY little Radio Control page
     MY little homemade electronics collection page
     The Autonomous/RC crawling 6 legged robot with 14 RC servo

    First the design idea was made on PC, See bigger picture


    Two plates plywood, 3mm thick, 51x30cm each, was used.
    After the milling machine had been busy for a few hr.
    I guess if I had not been able to get access to a milling machine, this project would
    have been dropped.
    Really nice and accurate work.

    Each item was hand milled out from the large stencil, really fast and easy.
    Each of the 6 legs are made like this, nylon barings was used, the ones used to mount
    TO-220 transistors.

    Leg detail
    More leg detail.

    Main body part have 8 servos, 6 for the legs, and two for the head pan tilt system, will
    be added later.
    The holes I have added is used to fit the cables.

    Bottom plate glued like this.


    The legs with some servos mounted.

    I had to visit the local hobby shop a few times to get all the small fittings I needed.

    Check, servo=centre, Leg=centre, quite ok, the rest will be adjusted in software.
    Crawling

    Looking good , but a little bit slow and unstable in the beginning.
    After a few adjustments it goes ok.

    The microcontroller I have used: Atmel AT90S8515 at 8 Mhz, Compiler used:


    WinAVR free GCC GNU-C
    Here is the 6 legged robot crawler with his new legs.

    The crawling is much improved now, since the legs goes more straight up, so they
    don't get stuck in carpet and stuff.
     
    Close-up leg up and down position. 

    now I have added a plug for a playstation gamepad so I can test all the walk cycles
    and change several parameters while it walk.
    here is the DB9 plug mounted

    Battery and power supply mounted at the bottom plate.


    This simple switcher LM2673 convert 9V to 5V almost without loss, and handle 3A
    load, this board is cut out from a much bigger board I found.

    Video clips in AVI format: first crawl cycle straight. with first version of legs.
    Video clips in AVI format: Idea how to design the new version of legs.
    Video clips in AVI format: New crawl cycle straight. with new version of legs.
    Video clips in AVI format: Crawl close-up with new version of legs.
    Video clips in AVI format: Fast crawl with parallel updating of servos, much faster
    response and much more power.
    Video clips in AVI format: Fast crawl with sound new walking table more efficient
    timings

    the walk cycle 2-4 mode on the video is 100% stolen from this
    link: http://home.hccnet.nl/raymond.van.elst/sixleg.htm
    The design for the head unit is made on PC, See bigger picture

    After milling, all the parts needed for the head.


    After some gluing and mounting of servo.
    Now ready for camera unit and sonar distance sensors and some more software.

    Video clips in AVI format: Head camera mounting moving and head moving.

    Made: Dec. 2005 - Jan. 2006 - Thomas Scherrer OZ2CPU.

    You might also like