My Robot
The goal of this projects is to create an autonomous robot being able to solve certain tasks from sketch.
The Robot
The body of the robot has six legs consisting of three parts each. Each leg is connected to the body by a cardan joint and the parts are connected by hinges. A head is located to the front of the body. It is connected by a ball joint and gives housing to a camera and proximity sensors. Attached to the head wih hinges are two pincers with rubber-coated endings.
Forces
- Servo Stall Torque: 18 kg·mm
- Worst Leg Leverage:
- 15 mm leverage at servo
- 180:120 transmission → 22.5 mm
- Total Effective Leg Length: 240 mm
- Effective Force at Foot: ~0.250 kg
Materials
- Board Material
- MDF (600 kg/m³–1000 kg/m³)
- Acrylglas (1180 bis 1190 kg/m³)
- Axles & Tendon Insertions
- Brass Tube (3 mm)
Parts Needed
- MMA7455 Chip Tilt Slant Angle Sensor Accelerometer Module DC 5V / 3,3V
- SunFounder PCA9685 16 Channel 12 Bit PWM Servo Driver for Arduino and Raspberry Pi
- Servos:
- KY66 SG90 Micro Servo Motor (data sheet)
- Reely Mini-Servo S0009 Analog-Servo (Getriebe-Material: Metall, Stecksystem: JR, data sheet)
- MakerHawk Raspi UPS HAT Board für Raspberry Pi 3 Modell B Pi 2B B + A + und 2500mAh Lithium Akku (data sheet)
- WINGONEER Lithium-Akku-Erweiterungskarten-Netzteil mit Schalter für Himbeer-Pi 3 Modell B, 2 Modell B und 1 Modell B + Banana Pi 3800mAh 5V / 1.8A (data sheet)