Mechanical Design, Analysis and Simulation of a Quadruped Robot
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Publisher:The Ohio State University
Series/Report no.:The Ohio State University. Department of Mechanical and Aerospace Engineering Honors Theses; 2019
Wheeled and legged robots are two essential kinds of locomotion robots that have different limitations on speed and mobility. The wheeled robot can move faster on the well-structured, while legged robots which have high mobility can move more smoothly on the rough terrains. The previous researcher in the Design, innovation and simulation lab at the Ohio State University have designed and prototyped a transformative robotic leg that combined these two features to obtain both high moving speeds on the flat surface and high mobility on irregular terrains. However, the previous design of having the servo motor directly connect the lower and upper limb failed to consider the motor weight can cause great undesired inertia to another motor at the shoulder, which can lead to waste of power, high expense, and increase of the potential risk of breaking the motors. This research has been focusing on designing the quadruped robot legs using the 5-bar linkage mechanism to reduce the inertia and simulating the robot model under different scenarios, such as walking, trotting, pacing, and bounding. The final design was capable to walk and has small body size (0.4m*0.342m*0.24m). The components used in this design were either commercially available or 3D printed resulting in a low-cost and replicable platform so that it will be good for commercial and educational use.
Academic Major: Mechanical Engineering
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