Design and Implementation of a 4-Leg Biomimetic Robot
碩士 === 朝陽科技大學 === 資訊工程系碩士班 === 102 === This thesis proposed the design and implementation of a 4-leg biomimetic robot. The Scotch yoke mechanism is used to drive the motion of the robot’s legs to imitate cockroach gait. This robot contains 5 motors, microcontroller, wireless communication module, el...
| Main Authors: | , |
|---|---|
| Other Authors: | |
| Format: | Others |
| Language: | zh-TW |
| Published: |
2014
|
| Online Access: | http://ndltd.ncl.edu.tw/handle/2kkcs5 |
| Summary: | 碩士 === 朝陽科技大學 === 資訊工程系碩士班 === 102 === This thesis proposed the design and implementation of a 4-leg biomimetic robot. The Scotch yoke mechanism is used to drive the motion of the robot’s legs to imitate cockroach gait. This robot contains 5 motors, microcontroller, wireless communication module, electronic speed control device and battery. There are 4 servo-motors to control the robot’s moving direction and one brushless motor connecting with Scotch yoke to push-pull the steel wires of legs. Users can wirelessly transmit the demands from the computer to remotely control the robot in time. The experimental results show that this robot can walk on rugged and tilted terrain with the fast and lowest speed of 2.8 m/s and 1.1 m/s, respectively. The robot also possesses variable speed of 8 levels and 16 rolling angles for each motor.
|
|---|