Robot Studios ME555

January 2023 - April 2023

Abstract

For my robot studios class, I was tasked with designing a walking robot from scratch. I was able to design the robot in SolidWorks, 3D-print and laser cut major components, as well as create a functional electrical harness to safely move the robot. I used Python to then create multiple gaits in which Beach Ball Bot could use to cross terrain.

Goals

Create a walking robot in one semester‍
Program an autonomous walking sequence.
Document the engineering design process in a final recap video.

Targets

Create a quadrapedal leg design.
Have various walking modes.
Include a special leg retraction feature.

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Subassembly: Cap

The cap was originally planned to have a screw-like lid that held the electrical components underneath. This plan was heavily altered to accommodate for the size of the cap. Instead inserts were added to hold up 4 separate sections of the cap that converged at the top of the cap.

Subassembly: Body

The body consists of a pulley mechanism and 4 identical legs. The pulley system extends the legs outwards to accommodate for more leg reach and stability. Each leg contains 2 motors that can lift and rotate their linkages.

Movement

I created 3 different methods of walking based on the organic movement of different animals (crab, turtle, dog). These movements were based on manipulated sin waves that moved the motors in a series of movements in a loop.