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Mechanical structure and software development will be discussed in detail. The various design issues faced and how they were resolved based on analytical thinking and researching other techniques to accomplish the task. Overall Design
Mechanical structure and software development will be discussed in detail. The various design issues faced and how they were resolved based on analytical thinking and researching other techniques to accomplish the task. Overall Design
The project can primarily be divided into 3 parts- the gait algorithm, the mechanics of the leg and its control with servos and the pressure sensors that will provide pressure reading at each foot. Each of these components needs to be researched and their concepts implemented in the development of the robot. The gait algorithm of the robot needs to be developed in such a manner that the readings achieved at the base of the foot solely needed for balancing. Similar techniques have been used earlier but in conjunction with gyroscopes to ensure the robot is leveled with respect to the ground. In our proposed design balancing should solely depend upon the values attained by the pressure sensors.
The second component- the mechanics of the leg is another important aspect of this project. The design of the leg is different from that of other robots built in previous thesis projects and in spider like robots. These robots are built in such a way that they are always balanced when on a plain surface. They are attached from the side of the body and protrude outwards to maintain a large area of center of gravity, hence maintaining stability.
The legs of the proposed balancing robot though will be attached to the side of the robot platform but it will not be protruding outwards, but will be more animal like- straight down from the side. The proposed leg design will have 2 servo motors, one to control lateral motion and the other for up-down motion (the knee). This design needs to be enhanced and developed ensuring that the motors can support the weight of the robot and that the mechanics of the motor are according to the specified design. These motors also need to be integrated with the PIC microprocessor that will be responsible for deciding the requisite position of the leg.
The third component- the pressure measuring sensors are going to be used to measure force on each leg. These sensors should be able to give out linear variations when different forces are applied on it. After these values are fed to the microprocessor it will determine what the center of gravity of the entire robot and what action that needs to be taken. The sensors values should also not change if the sensor gets deformed over time due to extensive force applied to the feet. This is necessary otherwise the readings fed into the PIC microprocessor will be different and a different action may be performed.
Mechanical Design
Mechanical Design
Dimensions
Standing/Seated Positions
Leg Assembly
Major Physical Components
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