Design and Prototyping of a Transformable Quadruped Robot
Keywords:robotics design transformable quadruped
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Publisher:The Ohio State University
Series/Report no.:The Ohio State University. Department of Mechanical and Aerospace Engineering Honors Theses; 2018
Quadruped robotic mechanism is a legged robotic structure using four legs to move. In many legged robotic structures, quadruped is the ideal one for mobility performance and efficiency. Quadruped robots features more stable and more smooth movement than wheeled robots on rough and complex terrains. Wheeled robots featuring moving on wheels is another structure different than legged robotic structure. It can move faster on flat and less rough terrains than the quadrupeds. For quadruped and wheeled structures, either one can fail to move properly once the terrains are inappropriate. Correspondingly, to have a robotic structure performing well under whatever terrain conditions is highly demanded. To solve the demand, the transformation mechanism is a solution. This research designs and prototypes a transformable quadruped robot with its transformation mechanism, so it can transform between the quadruped type and the wheeled type freely depending on the terrain conditions. The research requires the knowledge and the techniques of dynamics, kinematics, materials, and machining. Due to the time limit, the project ends up at the 1st complete prototype of one identical leg with a transformation mechanism. Actuator test is complete, and more tests and future work are in the plan.
Academic Major: Mechanical Engineering
National Science Foundation
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