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FIGURE 24-16 One of six legs, completed (shown already attached to the robot).
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FIGURE 24-17 A close-up detail of the leg cam.
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BUILDING A HEAVY-DUTY SIX-LEGGED WALKING ROBOT
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The motors used in the prototype Walkerbot were surplus finds originally intended as the driving motors in a child s motorized bike or go-cart. The motors have a fairly high torque at 12 V DC and a speed of about 600 r/min. A one-step reduction gear was added to bring the speed down to about 230 r/min. The output speed is further reduced to about 138 r/min by using a drive sprocket. For a walking machine, that s about right, although it could stand to be a bit slower. Electronic speed reduction can be used to slow the motor output down to about 100 r/min. You can use other motors and other driving techniques as long as the motors have a (prereduced) torque of at least 6 lb-ft and a speed that can be reduced to 140 r/min or so. Mount the motors inside two 61 2-by-11 2-in mending plate Ts. Drill a large hole, if necessary, for the shaft of the motor to stick through, as shown in Fig. 24-18 (refer to the parts list in Table 24-3). The motors used in the prototype came with a 12-pitch 12-tooth nylon gear. The gear was not removed for assembly, so the hole had to be large enough for it to pass through. The 30-tooth 12-pitch metal gear and 18-tooth 1 4-in chain sprocket were also sandwiched between the mending plates. The 1 4-in shaft of the driven gear and sprocket is free running. You can install a bearing on each plate, if you wish, or have the shaft freely rotate in oversize holes. The sprocket and gear have 1 2-in ID hubs, so reducing bushings were used. The sprocket and gear are held in place with compression. Don t forget the split washers. They provide the necessary compression to keep things from working loose. Before attaching the two mending plates together, thread a 281 2-in length of #25 roller chain over the sprocket. The exact length can be one or two links off; you can correct for any variance later on. Assemble the two plates using 8 32 by 3-in bolts and 8 32 nuts and lock washers. Separate the plates using 2-in spacers. Attach the two 177 8-in lengths of angle bracket on the robot, as shown in Fig. 24-19. The stock mounts directly under the two end pieces. Use 1 2-in-by-8 32 bolts and nuts to secure the crosspieces into place. Secure the leg shafts using 11 4-in bearings and U-bolts. Mount the motor to the newly added inner mounting rails using 3-by-1 2-in mending plate Ts. Fasten the plates onto the motor mount, as shown in Fig. 24-20, with 8 32 by 1 2-in bolts and nuts. Position the shaft of the motor approximately 7 in from the back of the robot (you can make any end of the shaft the back; it doesn t matter). Thread the roller chain over the center sprocket and the end sprocket. Position the motor until the roller chain is taut. Mark holes and drill. Secure the motor and mount to the frame using 8 32 by 1 2-in bolts and nuts. Repeat the process for the opposite motor. The final assembly should look like Fig. 24-21. Thread a 281 2-in length of #25 roller chain around sprockets of the center and front legs. Attach an idler sprocket 71 2 in from the front of the robot in line with the leg mounts. Use a diameter as close to 2 in as possible for the idler; otherwise, you may need to shorten or lengthen the roller chain. Thread the roller chain around the sprocket, and find a position along the rail until the roller chain is taut (but not overly tight). Make a mark using the center of the sprocket as a guide and drill a 1 4-in hole in the rail. Attach the sprocket to the robot. Figs. 24-22 through 24-24 show the motor mount, idler sprocket, and roller chain locations.
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