A micro quadruped crawling robot manufactured from PLA material

Abstract

In order to meet the requirement of the movement flexibility of crawling robot, a kind of crawling robot imitating spider gait manufactured from polylactic acid (PLA)material was proposed. The motion mechanism of the robot is analyzed by gait decomposition method. Based on the Arduino platform, the control system of bionic spider gait crawling robot is developed. The mobile App software and Bluetooth module are used to realize the wireless control of the robot and the motion performance test. The experimental results show that when the steering angle is 30°, the average moving speed of the spider gait crawling robot is 4.5 mm/s. The movement speed of each leg of the crawling robot increases non-linearly with the increase of steering gear angle. And with the stride time changes, the crawling speed of the robot changes steadily. Besides, the turning angle of the robot increases with the increase of the steering angle of the steering gear. The results lay a foundation for improving the overall performance of spider gait mimicking crawling robot.