Kráčející robot se servomechanizmy - mechanická konstrukce

Walking robot with servomechanisms - mechanical construction

conference paper

Czech

Mechanical construction of a walking robot is very complex problem. We have been given only one condition. Robot has to be powered by servomechanisms. Because of this condition, there is need to find trade-off between kinematics and power requirements which have to be met, for success of the design. Basic overview about the servomechanisms characteristic and control algorithms of their positioning is in paragraph two and tree. All information about the possibilities of different kinds of construction of walking robots with servomechanisms is listed in paragraph five. In paragraph six have been made a decision about which construction will meet our requirements for kinematics and dynamic abilities of the robot. Later on, the robot has been built out of light materials that are often used for RC models. It gives the robot very light mechanical construction nevertheless very firm and robust. Project has reached the point, when the mechanical construction has been finished and the robot has been equipped with sensor system, which supplies the basic information about obstacles and surrounding environment. The robot has been supplemented with micro controller with walking algorithms that are able to lead the robot across the obstacles and change the walking direction, for testing.

Mechanical construction of a walking robot is very complex problem. We have been given only one condition. Robot has to be powered by servomechanisms. Because of this condition, there is need to find trade-off between kinematics and power requirements which have to be met, for success of the design. Basic overview about the servomechanisms characteristic and control algorithms of their positioning is in paragraph two and tree. All information about the possibilities of different kinds of construction of walking robots with servomechanisms is listed in paragraph five. In paragraph six have been made a decision about which construction will meet our requirements for kinematics and dynamic abilities of the robot. Later on, the robot has been built out of light materials that are often used for RC models. It gives the robot very light mechanical construction nevertheless very firm and robust. Project has reached the point, when the mechanical construction has been finished and the robot has been equipped with sensor system, which supplies the basic information about obstacles and surrounding environment. The robot has been supplemented with micro controller with walking algorithms that are able to lead the robot across the obstacles and change the walking direction, for testing.

walking, robot, servomechanism

HROUZEK, M.

2002

25. 4. 2002

VUT Brno

Brno

80-214-2114-2

Student EEICT 2002

29

31

3