vb.net barcode reader BUILD A HEAVY-DUTY SIX-LEGGED WALKING ROBOT in Software

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354 BUILD A HEAVY-DUTY SIX-LEGGED WALKING ROBOT
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FIGURE 22.25 The walking gait. a. The alternating tripod walking style of the Walkerbot, shared with thousands of crawling insects; b. The positioning of the legs for proper walking (front and back legs in synchrony; middle leg 180 degrees out of sync). The middle leg doesn t hit either the front or back leg because it is further from the body of the robot.
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Once the robot is aligned, run it through its paces by having it walk over level ground, step over small rocks and ditches, and navigate tight corners. Keep an eye on your watch to see how long the batteries provide power. You may need to upgrade the batteries if they cannot provide more than an hour of fun and games. The Walkerbot is ideally suited for expansion. Fig. 22.26 shows an arm attached to the front side of the robot. You can add a second arm on the other side for more complete dexterity. Attach a dome on the top of the robot, and you ve added a head on which you can attach a video camera, ultrasonic ears and eyes, and lots more. Additional panels can be added to the front and back ends; attach them using hook-and-loop (such as Velcro) strips. That way, you can easily remove the panels should you need quick access to the inside of the robot.
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FIGURE 22.26 An arm attached to the front side of the Walkerbot.
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Working with metal Robot locomotion styles, including wheels, treads, and legs Using DC motors Additional locomotion systems based on the Walkerbot frame Constructing an arm for the Walkerbot
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10, Building a Metal Platform 16, Robot Locomotion Principles 18, Working with DC Motors 23, Advanced Locomotion Systems 25, Build a Revolute Coordinate Arm
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ADVANCED LOCOMOTION SYSTEMS
wo drive wheels aren t the only way to move a robot across the living room or workshop floor. If you read 22, you learned how to build a six-legged walking robot. Here, in this chapter, you ll learn the basics of applying some other unique drive systems to propel your robot designs, including a stair-climbing robot, an outdoor tracked robot, and even a six-wheeled Buggybot.
Track o My Robot
There is something exciting about seeing a tank climb embankments, bounding over huge boulders as if they were tiny dirt clods. A robot with tracked drive is a perfect contender for an automaton that s designed for outdoor use. Where a wheeled or legged robot can t go, the tracked robot can roll in with relative ease. Experimental tracked robots, using metal tracks just like tanks, have been designed for the U.S. Navy and U.S. Army and are even used by many police and fire departments. Everyone has liked what they ve seen so far; development of tracked autonomous vehicles continues still. Using a heavy metal track for your personal robot is decidedly a bad idea. The track is too heavy and much too hard to fabricate. For a homebrew robot, a rubber track is more than adequate. You can use a large timing belt, even an automotive fan belt, for the track.
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358 ADVANCED LOCOMOTION SYSTEMS
Another alternative I ve used with some success is rubber wetsuit material. Most diving shops have long strips of the rubber lying around that they ll sell or give to you. You can mend the rubber using a special waterproof adhesive. You can glue the strip together to make a band, then glue small rubber cleats on to the band. Fig. 23.1 shows the basic idea. The drive train for a tracked robot must be specifically engineered or modified for the task of driving a track. The Walkerbot described in 22 makes a good base for a tracked robot. Remove the legs and install three small drive pulleys, as diagrammed in Fig. 23.2. The track fits inside the groove of the pulleys, so it won t easily slip out. You must add rollers to the bottom of the carriage against which the track passes. Unless the track is
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