Designing a chassis and mobility system for a bio-inspired mini hexapedal robot (R-Hex) for locomotion on rough terrain.
INTRODUCTION
Drawing inspiration from the MiniRHex at Carnegie Mellon University's Robomechanics Lab, the primary objectives revolve around minimizing weight and costs for educational purposes. Initial designs are crafted with a basis in bio-inspiration, and various transmission methods are explored to identify an efficient mechanism that fulfils all technical requirements. These concepts undergo further development and iteration, culminating in the creation of a comprehensive CAD assembly using Autodesk Fusion 360.
HIGHLIGHTS
Bipedal Gait + Brake System
Full CAD assembly + rendering
MY ROLE
Mechanism design, CAD, FEA
DURATION
Jan - March 2023
MECHANISM
The propulsion mechanism of the robot incorporates a 1:96 gear train meticulously designed to propel the robot at a speed of 5 m/s. Power distribution to the whegs is achieved through a belt system. Additionally, a brake system has been implemented to enable precise power allocations to specific legs and facilitate steering.
WHEG & BODY DESIGN
The whegs, or robot legs, underwent iterative design using Finite Element Analysis (FEA) tools. The ultimate iteration is crafted from ABS plastic, ensuring its ability to withstand a 2-meter drop. The structural skeleton of the robot is intentionally designed for ease of assembly and additive manufacturing with ABS. Moreover, the overall design ensures that the robot adheres to IP54 standards, making it water and dust resistant.
FINAL ASSEMBLY
The ultimate product represents the most weight-optimized solution, achieved through a meticulous iterative process and thorough testing. For a comprehensive understanding, the detailed report on this achievement can be accessed here >>>
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