Survey on design and development of hexapod walking robot, automated guided vehicle and drone
[ 1 ] Instytut Technologii Mechanicznej, Wydział Budowy Maszyn i Zarządzania, Politechnika Poznańska | [ P ] employee
2018
chapter in monograph / paper
english
- hexapod walking robot
- design
- modeling
- line follower
- UAV
- UGV
EN This paper presents scope of work performed by Students in R&D Group “Mechatron”, where student can develop own ideas under supervision of experienced tutors. The work carried out mostly on autonomous machines and issues related with their control. In recent years, few interesting designs have been developed by Students, three chosen are presented in this paper. In the first section, two designs were presented and it means automated guided vehicle and drone. Presented line follower and its designer participate successfully in nationwide competitions. This vehicle is a result of three years of learning and gaining experience, which allowed for fabrication such complex design. Next described project is a drone, where students prepared 3D printed reinforced lightweight frame. The purpose of this drone is to carriage, e.g., first aid or rescue equipment like ropes. The following and the biggest part of the paper is focused on walking robot. Authors analyzed different kinematics for movement generation and finally, it was decided to perform legs like a cockroach. Based on a kinematic chain, inverse kinematic approach and oscillators Authors successfully evaluated control algorithm which was used for walking generation.
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