3D Printed Walking Robot Based on a Minimalist Approach

摘要

3D printing technology enables the design and testing of highly complex robot prototypes and joints. Here an original idea for a walking robot is presented, based on a minimalist approach. Although the robot has a simple mechanical structure using only 2 motors, it can walk, turn around its central axis and climb high obstacles. The simple design ensures higher reliability in terms of mechanics and control. A design principle is suggested, which minimizes power consumption during climbing. The kinematics and static conditions for overcoming an obstacle are analyzed and the movements of the robot are simulated. A 3D-printed prototype of the robot is created. It is used for experiments to test the efficiency of different materials and shapes for the robot’s feet when climbing. The results are ranked and compared with the efficiency of other walking robots.