Ant robot report
- 1. 6 LEGGED ANT ROBOT by 14mmt1027 Abstract: In this project proposal of my paper is to make a 6 legged ant robot. It is taken mainly with reference from Theo Jansen mechanism and from Klenn mechanism. It is hypothesized to make a motion in the form of ant by providing different motions through linkages. This analysis may shed light on the future expandability of the linkage mechanism in bio-inspired robots. Methodology: - Take the make it kit 12-14 holes link. - The link which we used is the frame for the robot. - Screws and nuts are fitted at the extreme positions of link. - In between screw and nut keep a straw in order to get balance between screw and nut. - Use dc hobby gear motor of 100 RPM and fit the motor into one of the holes of link. It will be better if we choose centre of the link. - Prepare the links/legs for ant of front end and rear end. - Prepare links/legs for the middle of the robot these links should be individual links and it should be attached with dc motor. - Use terminal block and connect it to the end of rotor output of dc motor. - From terminal block insert crank in it. - Connect the middle legs to crank. - Make a link from front to rear end and from front end to crank. - Use battery holder and connect the connections from battery holder to dc hobby motor. - It finally produces ant walking mechanism which middle legs drive the front link and from front to rear connected link drives the rear end. Working mechanism: - Terminal block and crank are the main keys for converting rotational motion into linear motion. - Middle legs which are made in such a form to connect the crank. - Overall 3 links are connected to crank in which 2 middle legs and 1 link of front end to it, One more link is from front end to rear end. - Now we can clearly visualise the mechanism.
- 2. - The crank when starts rotating from terminal block it moves the middle legs and it drives the front end. - Front end which is already linked with rear drives the motion automatically as the front moves the rear link starts moving. - This is the overall mechanism of 6 legged ant robot. Working model: Results: Ant robot walking mechanism is done by the reference of Theo Jansen mechanism.